$BASE and $TOOL do not affect an E6AXIS position, but the Inline Forms require setting them to something valid, regardless. Technically, one could execute a PTP motion to an E6AXIS position with $BASE and $TOOL undefined (#DECLARED but not #INITIALIZED, in VARSTATE terms), but KUKA appears to have decided it's simpler to standardize the Inline Forms instead of having them change dynamically based on the destination being E6POS or E6AXIS.
I understand
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