diff --git a/src/STEPControl/STEPControl_ActorRead.cxx b/src/STEPControl/STEPControl_ActorRead.cxx
index 3ea8eb46c7..4c9dc89be3 100644
--- a/src/STEPControl/STEPControl_ActorRead.cxx
+++ b/src/STEPControl/STEPControl_ActorRead.cxx
@@ -1612,22 +1612,32 @@ Standard_Boolean STEPControl_ActorRead::ComputeTransformation (const Handle(Step
   // corresponding reps and fix case of inversion error
   Handle(StepGeom_Axis2Placement3d) org = Origin;
   Handle(StepGeom_Axis2Placement3d) trg = Target;
-  Standard_Integer code1=0, code2=0, i;
-  for ( i=1; code1 != 1 && i <= OrigContext->NbItems(); i++ ) {
-    if ( OrigContext->ItemsValue(i) == org ) code1 = 1;
-    else if ( OrigContext->ItemsValue(i) == trg ) code1 = -1;
+  Standard_Boolean isOKOrigin = Standard_False, isSwapOrigin = Standard_False;
+  Standard_Boolean isOKTarget = Standard_False, isSwapTarget = Standard_False;
+  for (Standard_Integer i=1; i <= OrigContext->NbItems(); i++)
+  {
+    if (OrigContext->ItemsValue(i) == org) 
+      isOKOrigin = Standard_True;
+    else if (OrigContext->ItemsValue(i) == trg) 
+      isSwapTarget = Standard_True;
   }
-  for ( i=1; code2 != 1 && i <= TargContext->NbItems(); i++ ) {
-    if ( TargContext->ItemsValue(i) == org ) code2 = -1;
-    else if ( TargContext->ItemsValue(i) == trg ) code2 = 1;
+  for (Standard_Integer i=1; i <= TargContext->NbItems(); i++)
+  {
+    if (TargContext->ItemsValue(i) == trg)
+      isOKTarget = Standard_True;
+    else if (TargContext->ItemsValue(i) == org)
+      isSwapOrigin = Standard_True;
   }
-  if ( code1 != 1 && code2 != 1 ) {
-    if ( code1 == -1 && code2 == -1 ) {
-      Handle(StepGeom_Axis2Placement3d) swp = org; org = trg; trg = swp;
+  if (! isOKOrigin || ! isOKTarget)
+  {
+    if (isSwapOrigin && isSwapTarget)
+    {
+      std::swap (org, trg);
       TP->AddWarning ( org, "Axis placements are swapped in SRRWT; corrected" );
     }
-    else {
-      TP->AddWarning ( ( code1 == 1 ? trg : org ), 
+    else
+    {
+      TP->AddWarning ( (isOKOrigin ? trg : org),
                        "Axis placement used by SRRWT does not belong to corresponding representation" );
     }
   }
diff --git a/tests/bugs/step/bug30087 b/tests/bugs/step/bug30087
new file mode 100644
index 0000000000..ce222478c7
--- /dev/null
+++ b/tests/bugs/step/bug30087
@@ -0,0 +1,19 @@
+puts "# ====================================================================="
+puts "# 30087: Data Exchange, STEP - invalid result of translation of assembly when relating and related products are mixed in the SRR entity"
+puts "# ====================================================================="
+puts ""
+
+set filepath [locate_data_file bug30087.stp]
+stepread $filepath a *
+tpcompound result
+
+puts "Check dimensions of the result -- will be different if some parts are misplaced"
+set values [bounding result]
+set expected { -0.66 -0.33 -11. 70.66 140.66 10. }
+set components {XMin YMin ZMin XMax YMax ZMax }
+for {set i 0} {$i < 6} {incr i} {
+  checkreal [lindex $components $i] [lindex $values $i] [lindex $expected $i] 0.1 0
+}
+
+puts "Make snapshot to have visual check as well"
+checkview -display result -2d -path ${imagedir}/${test_image}.png
diff --git a/tests/de/step_2/F3 b/tests/de/step_2/F3
index c116800ad9..9bead17619 100644
--- a/tests/de/step_2/F3
+++ b/tests/de/step_2/F3
@@ -1,5 +1,4 @@
 # !!!! This file is generated automatically, do not edit manually! See end script
-puts "TODO CR23096 ALL: TPSTAT : Faulty" 
 puts "TODO CR23096 ALL: NBSHAPES : Faulty" 
 puts "TODO CR23096 ALL: LABELS : Faulty" 
 puts "TODO CR23096 ALL: LAYERS : Faulty" 
@@ -9,7 +8,7 @@ set filename bm4_db_conn_d.stp
 
 set ref_data {
 DATA        : Faulties = 0  ( 0 )  Warnings = 0  ( 0 )  Summary  = 0  ( 0 )
-TPSTAT      : Faulties = 0  ( 0 )  Warnings = 16  ( 8 )  Summary  = 16  ( 8 )
+TPSTAT      : Faulties = 0  ( 0 )  Warnings = 16  ( 40 )  Summary  = 16  ( 40 )
 CHECKSHAPE  : Wires    = 0  ( 0 )  Faces    = 0  ( 0 )  Shells   = 0  ( 0 )   Solids   = 0 ( 0 )
 NBSHAPES    : Solid    = 60  ( 3 )  Shell    = 60  ( 3 )  Face     = 2526  ( 504 ) 
 STATSHAPE   : Solid    = 114  ( 114 )  Shell    = 114  ( 114 )  Face     = 4044  ( 4044 )   FreeWire = 0  ( 0 )