[Karl]

if nominal accuracy is 2-5 mm I don't think that redoing your mastering and recalibrating again will give you better accuracy with the calibrated model

My nominal accuracy at the moment is probably 2mm at best, I just tried a 4-point TCP and had an error of 1.7mm, and the TCP drifts at least 5mm.

I calibrated with mastering parameters only, then mastered the robot, then recalibrated with full calibration. At this point my mastering should be about as good as it can get, shouldn't it? Using the Kuka mastering tool I was able to get our other kuka arm to a 0.3mm error TCP (just the tool, no software like RoboDK to calibrate)