Cycle time on KRC2

I have one problem on KRC 2 with the L150 extention. I would like to save some cycle time. The robot picks some object in 2 diferent ways(one time rotating only axis 6 while moving to drop position) and one time without rotating axis 6. If robot rotates the object 180 degrees(axis 6) the robot is almost 3 seconds slower if not rotating the object. the diference is only the ptp where it rotates , everything else is at maximum(speeds, accel).

Would it be maybe better if i split rotating 180 PTP to two 90 degrees PTP motions or i increase the $VEL_AXIS_MA[6] in the machine.dat cause it is really annoying that axis 6 slows down the robot so much.

It's rotating the A6 while moving. if it doesn't rotate A6 on the same lenght of the path, it is faster for about 3 seconds.

it is KR2210L150 robot, the $VEL_AXIS_MA[6]=4100, the KSS is 5.6.11. I did some tests on the robot with smaller payload KR150L110 the motor is the same, only diference is in $RAT_MOT_AX[6] gear ratio in machine.dat and the KR150L110 rotates faster A6.

I just checked the manual for the robot KR2210L150 and the speed for axis 6 is 184/s compaired to KR150L110 which is 238/s.