Robot movements smoothness

Could you post a sample of your milling file, with the header and approx 20 lines of code? Depending on motion parameter/zone settings, point spacing, speed, direction etc. this can be solved without diving too far into anything else.

If jogging produces the same problem then the programmed path isn't as suspect (although the points appear pretty close together for the speed). I don't see anything in this that jumps out at me - I've seen in some cases where tool-changing was happening, a tool was activated and either the LOAD_DATA wasn't changed, or there wasn't anything in the LOAD_DATA for that tool.

Make sure this:
; LOAD_TOOL(1)
BAS(#TOOL,1)

is activating the right LOAD_DATA. You can also force it out ... I don't have the syntax in front of me so you'll have to look it up but it was something like

$LOAD_DATA = LOAD_DATA[1]

or if using Tool 2

$LOAD_DATA = LOAD_DATA[2]

and each tool will have to have the specified load data in it.

When jogging after running a program its possible to still have LOAD_DATA[2] activated while jogging with TOOL1 if changed manual.