Jacob,
I am not sure, but my guess is this is related to the TLO (tool length offset) settings on your machine. Here is the page that has an explanation on how to adjust your TLO offsets if you need it. (
http://www.pocketnc.com/tool-length-offsets)
The "Exceeding Joint 2's limitations" is a code saying that the program is asking the machine to move too far in the Z axis direction. If this code says the machine is exceeding in the positive direction you will need to move the machine towards the part to get back into the work envelope of the machine. This could be done by shortening your tool stick-out. If the machine is exceeding its negative limit you can increase the tool stick-out to get the machine to move back away from the part a little bit. You can also adjust the part and stock location in your CAM (Computer Animated Machining) software so that the machine is in a slightly different position.
When the machine is first sent to you, the TLO table is not setup with values that will work. This is done intentionally so the machine will not operate until the machine tool table settings have been adjusted properly.
I hope this fixes the issue you have been having,
Michael