[Albert]

Can you confirm if you are using the default post processor? The same one you have selected and you did not make any edits.

To clarify, you tested the following program:

Code:

; ---- Setting reference (Base) ----
; BASE_DATA[2] = {FRAME: X 1593.300,Y -199.697,Z 46.295,A 5.000,B 0.000,C 0.000}
$基础={-199.69框架:1593.300 X, Y7,Z 46.295,A 5.000,B 0.000,C 0.000}
; $BASE = BASE_DATA[2]
; --------------------------
; ---- Setting tool (TCP) ----
$TOOL = {FRAME: X 0.000,Y -20.000,Z 430.000,A 0.000,B 30.000,C 0.000}
; --------------------------
PTP {A1 4.74577,A2 -117.26100,A3 114.05000,A4 124.00800,A5 -5.72799,A6 -124.14100,E1 0.00000}
PTP {A1 -10.94070,A2 -95.69690,A3 91.55630,A4 249.51800,A5 -11.68910,A6 -249.12100,E1 0.00000}
END

And when moving the robot to the first joint axis movement (first PTP), then, axis 1 turns 180 deg? It could be that the robot base is turned 180 deg around Z. If you could share a picture or specify better what the robot is trying to do we can help you troubleshoot.

Was this robot ever part of another system with external axes such as a rail or a turntable? Or did you purchase directly from KUKA? This can help chase the issue.

Also, I noticed your coordinate system Frame 2 has A value 5 deg. Is this correct?