Check out this thread:
https://www.robot-forum.com/robotforum/index.php?topic=15157.0
Joint moves to a cartesian point with offsets can make for an unpredictable configuration.
Similarly, linear moves to a Cartesian point will, by default, ignore config and take the shortest rotation. That can cause the wrist to rotate a different way when approaching a point from different starting points.
Use_turns variable changes behavior for joint moves. Wjnt motion option changes behavior for linear moves.
I think what you are trying will not cause an issue (using a joint move to a joint rep PR with a Cartesian offset).
Usually, I will not offset a joint move. I use them for non-critical movements to an approach position. Then use linear moves for more critical movements and especially for movements requiring offsets.
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