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How to control synchronized robot and linear base track simultaneously?

I tried all i could to move my robot (KUKA KR 60 HA) which is mounted on a mobile linear base  (KUKA KL 250-3) to move to points X0 X1 X2 X3 X4 as shown in figure from its home position. I get the exception: target not reachable. Only solution I found to this  problem is to give the joint values of each target. But I want to use moveL not moveJ. 

Kindly help me out to move my robot in a straight line between above mentioned points.

ps: robot and the base are synchronized.
i am comfortable with both gui and python api

Attached Files Thumbnail(s)
Hi Mohammed, 

See the attached project to create linear movement using a robot and a synchronized external axis. 

Have a great day. 

Attached Files
.rdk   Kuka and external axis.rdk (Size: 203.93 KB / Downloads: 664)

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