STOP due to Software limit switch +A3

that means robot cannot move more than requested. you need to modify your program so that all points are within work envelope of the robot. if needed, you may have to offset the piece you are working on, or consider using additional axis such as positioner or linear rail.

Read about status and turn in KUKA manuals for your robot and software version. For your initial turn of A3 the shortest path to the final axis values leads through a software limit switch. Either add a ptp in front of the lin to change A3 turn or shift base so the robot can reach target position without limit switch violations. If stuff works inside simulation but not on robot usually is caused by simulation not being a digital twin of the real robot. So check simulation setup for tools, bases, .... compared to real robot.