Hi, I'm making a small application for a robotic bar. I'm trying to create a motion for a cocktail shake. But everytime I try to make a spline to move 7th joint fast (back and forth), I receive "Software axis limit violation" on 5th or 7th joint. I don't want robot to stop in margin positions, and the only (known) way I can achieve it through spline.
Is such a motion possible? What is the best way to program it?
I have KCR4, lbr iiwa 7 R800.