[PaoloPaparella]

Do you mean that RoboDK should ignore joint 5?
Could you send us a program generated with your robot controller that includes pulse data and another one with Cartesian data?

你好,
其实你不需要的东西to have developed a program or instructions , because you only need to insert the robot and move it from the pad to understand that it moves not like a paletizer but like a 5 axis robot , not respecting the work area from motoman datasheet .
if you insert another MPL model ( categorized as a paletizer ) you will see that the robot's wrist goes straight down keeping the wrist always straight .
The mpl 80 model should also do the same .

thank you very much