try to reduce the upper limit point and create a point using ULIMIT function.
Then you can check if the JT4 angle of the desired location is > ulimit JT4 (-360degrees) or < ulimit JT4 (360 degrees)
Joint angles will never take the shortest route as there is ONLY ONE possible route due to the joint angle start and joint angle finish = Joint displacement.
You will need to use transformation values instead.
Why not just use a precision pose instead of a regular transformation to make the robot end up in the exact pose you want.
A regular transformation is a point in space and the robot can reach it in multiple different ways especially if it's a 6 axis robot. It's denoted as X[mm] Y[mm] Z[mm] O[deg] A[deg] T[deg]
If you teach a pose with #location_name then it's a precision pose and the robot will always end up in that location in exactly the same pose since the values are denoted in Joint angles of each joint. eg .JT1 JT2 JT3 JT4 JT5 JT6 -131.550 75.765 -76.967 -138.799 0.000 0.000
Also robot's are lazy, they take usually take the path with the least joint displacement by default unless specifically told other wise.
If you are using calculated positions, just remember the can convert between transformations and precision poses but you'll need to reference it, else the robot assumes you are referencing to #here and creates a precision point closest to it's current position and thus uses the least joint displacement.
I'll just leave this here , happy experimenting:
