Avoid axis limit violation and Arbeitraum fehler

Hi,

as the title stated, I have trouble to move the robot flange to certain positions and orientations. For example, from zero position to the frame [900, -25, -500, 1.41, 0.40, -0.28 ]. The angles A, B and C in degree are: 80.90, 23.00, -15.90.

With some other frames, it sometimes moves without any error, but most of the time errors occur, as axis limit violation and arbeitraum fehler (working room failure?). I think it largely depends on the flange's initial way-point and the desired orientation, but got vague when reading the user manual about the singularities and how to solve the problem.

Any suggestion would definitely help.

Thanks!

Thanks for pointing this out!

I thought X axis can be reached up to 1306mm, and Y-axis and z-axis is from -420mm to 420mm. But look likes it is not.