PTP type motions support CDIS and CPTP
CP type motions support CDIS,CVEL,CORI
motion instructions support up to two such parameters and will respond to whichever happens to be the first one encountered along the path.
The supported types are well documented, no questions there, can you elaborate a bit more on "and will respond to whichever happens to be the first one encountered along the path."
What I observed is that around the approximated point during a PTP>LIN move the approximation uses two $APO parameters for both CPTP and CDIS I have attached some ss from KUKA.Sim: it goes CPTP 100/CDIS 100