So you just changed motion from PTP to LIN.... so code you posted is still not the code you had there when you got the error message. And you wonder why it is hard to help you? Here is an idea - when you get the problem and error message, and want help with it.... post THAT code.
Did I ever said why it is hard to get some help? not sure about that. I think people is answering very quickly despite my poor english and do the their best in short amount of time. So I think I get help from this forum way better than I expected and I thank everyone for that but don't tell thing I didn't say or thought.
Anyway, I just change that PTP mouvement into a linear one. So here is the code : you change LIN to PTP and you get the error. No need to re-post it.
As suggested, this is related to Status and Turn (more specifically to Turn). CP motions do use Status and Turn but... they ignore programmed values of S &T, instead - they calculate their own. PTP motion does not do that so when you get to axis reversal for example, PTP motion would try to go all around to reach commanded position (instead of just few degrees using shortest path).
That is very helpful , I'm looking toward system variable to change geometrical operation. A6 is the problem so I might try to create another point in order to force Axis 6 in the direction I want.