Skyfire pretty much hits all the points.
I'll add in terms of joint configuration representation. In Kukas, the J6 representation is whether or not to solve the point with J6 above zero degrees (+), or below zero degrees (-), where as Fanuc represents it with how many "Turns". A turn of 0 means J6 should fall between -180 and +180, a turn of 1 should fall between +180 and +540.