Re: katana 6dof found 3 consecutive non-intersecting axes ??
It can take a long time to finish. It might not be hanging up, it might just still be working. On my robot arm I had to lower the precision in order for it to finish (like in this post http://openrave-users-list.185357.n3.nabble.com/ikfast-Transform6D-failing-on-our-robot-model-td3665281.html). If it is taking longer than 10 minutes to solve try setting your precision down to 5 or 6 (I think "precision" means the number of significant figures the solver uses, the default is 8 but you'd never really need it that accurate in real life).