SPTP_REL problem

Hello,

I'm solving small problem with my kuka robot.

Initial A6 angle is 0.

I use SPTP_REL {A6 720} for turning A6 all around twice. Robot stops exactely back at A6 0. But the problem is, that after this motion there is another slight rotation (+-2°). Than it goes via LIN to next point (also with A6 0).

Don't you know what this small rotation means and how to remove it?

Thank you

Is this problem? I'm quite new at programing, so I don't know. PTP after SPTP_REL would be better?

EDIT: PTP after SPTP_REL didn't help

OK, I understand, but whatever I use I have same problem. After SPTP_REL (A6 starts and ends in same coordinate 0 - thats correct) A6 makes small rotation 1,2° and than go to P1.

&ACCESS RVP1
&REL 81
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program\ALUCAST\SM\SM_2
DEF SM3_9( )
;***** TEST PROGRAM *****
;FOLD INI;%{PE}
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    ;Make your modifications here

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)

;FOLD PTP P1 CONT Vel=20 % PDAT1 Tool[1]:alucast Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:C_DIS, 5:20, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,20)
PTP XP1 C_DIS
;ENDFOLD

;FOLD LIN p15 CONT Vel=0.2 m/s CPDAT19 Tool[1]:alucast Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:p15, 3:C_DIS C_DIS, 5:0.2, 7:CPDAT19
$BWDSTART=FALSE
LDAT_ACT=LCPDAT19
FDAT_ACT=Fp15
BAS(#CP_PARAMS,0.2)
LIN Xp15 C_DIS C_DIS
;ENDFOLD

SPTP_REL {A6 360}

;FOLD PTP p1 CONT Vel=20 % PDAT27 Tool[1]:alucast Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:p1, 3:C_DIS, 5:20, 7:PDAT27
$BWDSTART=FALSE
PDAT_ACT=PPDAT27
FDAT_ACT=Fp1
BAS(#PTP_PARAMS,20)
PTP Xp1 C_DIS
;ENDFOLD
END

Ok, but if I use all motions with S, I get very same result. My orig program is not important as I have this problem in this simple program too. I understand I cant mix these motions together. So please is there any different possibility how to rotate A6 by 720°C without SPTP_REL? I tried "FOR" function but it is important for me to set acceleration and speed of rotation. I thing I can't set this parameters in "FOR" function. Can I?

Sorry for my lame access, but I'm not very experienced in this and because of COVID I can't attend any training course....Thanks