How to limit axis 1 KUKA KRC2 ED5

Simply use forum search with keywords $WORKSPACE or $AX_WORKSPACE. You will find a lot of posts dealing with this.

But beware $WORKSPACE/$AX_WORKSPACE is not allowed for human safety. If safe interaction with humans is required you need SafeOperation.

In KSS 8.5.6 you find this on menu>configuration>miscellaneous

Fubini

STATE allows activation an deactivation of the workspace on the fly. E.g. inside your program.

Signals are if I remember correctly predefined. I can not look it up right now but I think they were called $AX_WORKSPACESTATE1 or something quite similar. You need to assign a $OUT[x] channel to them. Could be defined either in STEU/$machine.dat or $custom.dat if not directly in R1/$machine.dat. At least one of these 3 files should be the one. Something quite in the back of my head tries to tell me…