[Jeroen_F]

FYI: this issue was likely due to the physical robot being in/near a wrist singularity, causing the robot controller to behave differently from the simulation.

[Albert]

You can control how permissive RoboDK is in the vicinity of a singularity by changing these parameters:

1. Select Tools-Options
   
2. Select the Motion tab
   

You can change the Tolerance values you can find towards the bottom of the window in deg and mm.