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This is an old question, but it's older than my ROS experience... So I hope this answer helps future ROS developers.
I have no idea how your robot looks, but I will guess it is the same problem I got in the past.
When you move the iterative marker(blue sphere) the planner will try to calculate every position+orientation for where you are trying to grab to. And it assumes that you want to keep the orientation and just change the end-effector position, so it's very easy that your robot cant be in some "middle" positions+orientations and it denies from moving.
Well, that iterative marker is designed for 6 DoF robotic arms, so that's not a bug. I think you can grab it if you allow it to select approximately locations+orientations in the Planning menu, but it depends on your robot movement...
(i can't upload an image directly here...) Moveit GUI
It can be in the Context menu in older versions of moveit
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