First thing I see wrong is that you are using a L movement to move "lineary" to a position that I assume you are storing on "Joint position" coordinates.
Your assumption is wrong, and I don't see any reason for it in my post.
The position is Cartesian.
Second thing is that you are also using another L movement after switching the axis 6 to 90 degrees.
It should be a J movement if you want the robot to respect the speed you are commanding with the 5deg/sec speed....
I am using linear motion, because I need it to be linear. According to the manuals, deg/sec speed specification is fully applicable to linear motions.
Third thing... when you modify PR on the program directly, motion planner calculates a path, then you are modifying the 6th axis position while in movement.
I think motion planner do not look ahead the same way with "PR" as with "P" points, and it may do a fine point instead because of this.
It does not do a fine point.
... as far as I know if you edit PR while on movement the program pointer will stop briefly on every PR assignment before the next move path is calculated....
From my exprience, Yaskawa Motoman does this, but not Fanuc.
If you can, you should use an additional PR just to be sure.
Yes, and I will try asap, but I want to understand the reason of the issue.