Creating safety configuration

[priyampnchl]

I am trying to replicate https://github.com/IFL-CAMP/iiwa_stack/wiki/safetyconf with limited (+/- 20 degrees) joint angle limits, but I am unable to implement more than 3 separate axes at a time in Customer PSM. I would like to know if it is possible that there is some error in configuration that is preventing me from doing this. If you could share your safety configuration file, that would also be appreciated.

If you look at the above image, when the 6th row is selected there is also a dotted outline on row 3 AMF1 column. This "instance" list leads me to believe that I cannot use more than three of such safety rows. Please tell me if I am wrong, or how to proceed. (I checked KUKA Sunrise Workbench Manual supplied with the robot, but was unable to get any such examples.)