Robot modeling

I have a gantry STEP module, and I modeled it on Template 3-Axis Cartesian, but there were some problems with the simulation.The Gantry had no problem in the first three cycles,but started having problem in the fourthGantry Robot.vcmx (11.1 MB)

The jacobian kinematics solver is likely running out of iterations since the working area is large.
I quickly tested your robot and increased the position step size and maximum iterations from the script. Now the robot finds the positions better.

I suggest playing around with the parameters to tune those to your robot. Setting the values too large could slow down the performance or cause instability in smaller motions.