Joint 4 = B axis
If the error is on joint 2 (Z axis), check if your tool length offset is set correctly. See the “Tool Length Offset” tutorial for more information.
If the error is for exceeding the negative limit of joint 2 and the tool length offset is correct, increase the tool stickout or switch to a longer tool holder.
If the error is for exceeding the positive limit of joint 2 and the tool length offset is correct, decrease the tool stickout or switch to a shorter tool holder.
Check if your toolpath is asking the machine to exceed its limits of travel. Open your code in a text editing program and use the search bar (CTRL + F) to search for any values that are greater than the limits of travel for the Pocket NC mill.