Measurement checklist:

Robot to robot measurements

Use the zero tool, same base and the short spike with both robots when saving the points. Create new programs for both robots and jog them so that their spikes are aligned. Save a PTP point for both robots and jog them aroung the work envelope so, that the points form the corners of a cube. Try to cover as big of an area as possible to get the best possible accuracy. Repeat this until you have 8 points.

After robot-robot calibration, you should have 2 programs with 8 points each.

After taking the measurements

Save all the subprograms to a USB-stick from the controller.