Hyundai robot rotates before going next point

I hope that might be a supporting step for Robot. You can delete that step, if it is unnecessary.

It's a very Simple problem.

Check S20 and S21 Coordinate value.

look that rX value. what's different?

S20 start from Negative rX(-177.998) value then S21 start from Positive rX(177.682) Value.

this effect possible other maker's robots.

anyway, Just separation starting point and end point without twist running.

S19 -> S20 is clock wise right?

S20(Start) -> S19 -> S18 ... S1 -> ..... S27 -> S26 -> S25 ... S22(End) (Counter clock wise)