- Record Type -
Every position(Step) contain Cartesian or Joint angles.
(Except ie - Global & Local P*** data.)
So, You can change position type in "Quick Open"menu.
I think should better use Cartesian(XYZ,rXrYrZ).
Because readability better than Joint angles.
- One position(Step) mix Different Options? -
The answer is No.
but you can use refer below instruction.
S1 MOVE L,P1,S=30%,A=3,T=0
S2 MOVE L,P1,S=30%,A=3,T=2
When you Record Global Position Number 1 and define Tool data at No.2, robot wiil be reach different position.
P1 is absolute Position.But S2 instruction define Move by Other Tool_Frame
Actually, robot's all postion from Sevro motors Encoder Value(HEX)
- Guess 1 -
Ah.. is that Step instruction include R(Shift) ?
When calculated data out of robot's stroke, Some error popup message showing.
- Guess 2 -
Step Motion type P(Joint) and L(Linear) .....
When nearst Singularity (Joint 4,5,6 Flat figure) motion...
You can solve use Motion with P.
um... Can you explain your program ?
I can't guess your problem's main point 
Not exist easy way for teach.
U should better explain your process or Layout.
Teach before need understand Concept.
Concept from Interface, Tool, Layout.
