Error 1447 (Software limit -A5 out of range) when starting the program.

Software limit switch messages usually are Turn issues. Your programmed turn for the Ptp leads to a position behind the limits.

Fubini

What's a mtd file. Never heard of it,

Status and Turn are part of the positional information you program for a motion. Turn is defined by the bits in the T struct of a e6pos. What they are precisely is explained in the system integrators manual. Just look it up.

Just programming xyzabc does not define uniquely a robots position in space. Each set of xyzabc can be reached by more than one set of robot axis positions. Hence Status and Turn are used as additional information to decide which axis values to choose from the sets of possibilities. Some set may be feasible some not. In your case the chosen set is not feasible because it would violate axis 5 limits.

Some times it's easiest to not program Status and Turn directly and leave them out of the e6pos. This allows the system to choose according some internal strategy that often lead to the best solution. The strategy in detail is part of documentation and can be found in the forum as well if you search for keywords Status and Turn.

Fubini

What robot do you have?

What are the tool_data and base_data?

change turn value from 'B10011' to 'B00011' and try again.

or better do not use Cartesian position as first point, use Axis position.

and as already mentioned, program must set correct tool and base.

btw that code appears to lack initialization of motion parameters and therefore cannot even run on its own. or.. it is buried in some fold in which case you may want to take a closer look.

Status and Turn are matching the values for start position!

the next ptp includes $TOOL and $BASE (unknown data)

Why are You using E6POS? Do You have any addidtional axes?

If no: it is a waste of memory