Okay! Thank you all for your help! I think we have a fix, Taking what has been suggested here and by KUKA themselves I have been able to track down a setting in RoboDk that changes the minimum arc size from what it was originally set as, 0.1mm, to 1mm and this seems to have solved the issues we have been getting.
I don't know much about the code with the software I'm using, because it is all generated by the programs and I just change settings, but this seems to have worked. I will repost if I have any more problems. Thank you for all your help!