Touchup position saving problem. Point is lower than programed

Hello nad welcome everybody!

I have a problem with kuka krc2 robot. I create a New program, move robot to required position for instant P1(robot cords aprox x2000, y100, z500), click touchup. After that i will move robot to other position. Next if I try to move robot to point P1, it move to coords) x2000, y100, z495) aprox 5mm lower than programmed position. I have no idea why robot change The position. Please help me to solve that problem.
Regards
Tomek

Hey, thanks for reply. I set current tool chwytak1 nad base płyta. I move The robot to position, linę a second pictrue, click touchup nad next i start The program nad robot move to p1 with different coordinates.
I try to change a different mass in tool loda data etc. And The problem od The same.
E6pos? What are You mean?

I was check something. I moved to od to destination ( for instant z=1000, x nad Y not important) click touchup P1, next deadman and program start button (T1 nad stepbystep program controll). And then robot move to P1 z=~995mm (mechanical nad in robot coords). I was check a .dat file nad in .dat file od a z=1000 position (like i click touchup) but robot move to 5mm lower position. Any ideas?

panic mode:
Attachment scaled but not yet in english (I will change it as soon as possible)

SkyeFire:
E6POS for P1 in *.dat file are the same as when assignment by Touch Up. But after start the program in T1 and step by step mode, robot move to diffrent point (aprox. 5mm lower than programmed, (mechanical and in cartesian coordinates)

Fubini:
"Has your robot absolute accuracy installed" The robot has absolute encoders I do not know if that is the point.
I changed tool and additional load data, But that did not change too much.

Tomek

Fubini:

It was a good idea to check it out.

I changed a state od $abs_accur variable in OPTIONS.DAT (from true to false).
Now the position is saved, and robot moved correctly

But now there is another problem. I prepare the controll buttons for two grippers https://www.robot-forum.com/robotforum/kuk…ntroll-buttons/

Everything was fine until I changed $abs_accur from true to false. Now if I start a submit interpreter i have a GLOBAL_2 stop (like in attachment)
I can controll grippers by buttons, but I cant move robot in auto. Any ideas why?

Tomek

Hello, I'm still try to solve this problem. Somebody can help me?