We have a small problem to reach a point.
Our Fanuc robot has a cable housing to the robot wrist. We can reach every point but, the way to this point is limited.
In a new application we send a pick coordinate to the robot. This is in world coordinate frame (x y z w p r).
Around the 6the axis, we want to rotate between 50° and -310°. So if the endpoint asks a rotation around the 6the axis of 60°, I want that the robot reach the endpoint clock wise. If the coordinate is 45 ° , the point has to be reached counterclockwise around the 6the axis.
With the WJNT, you can limit the rotation. But this is always limited between 0-180 or 180-360 degrees.