it is your Config_Data.cfg_turn_no3 that becomes +1 or -1 in you calculation, but because you don't take care of that, the robot will turn 360 degrees, to fulfill the position you are demanding. I bet that when you look at the Joint representation of the point you are moving to, then the 6'th axis joint will represent the point you are moving to.
are you using Karel or TP programs?
There is a fix for it. We are doing it all the time.
/Flemming
there are several possibilities.
We have developed a piece of software we call "Weld End Detection" that will make the robot terminate if one of the plates in a fillet weld stops.
The other is a Karel program that will change the values of the end point or stop the weld when the required welding length has been reached.
/Flemming
Textfiles can only be operated in the FR drive. So the file_name should be 'fr:\file_name.ext'
'AP' means APpend
'RW' means ReWrite - and thus makes the file anew
'RO' means Read Only
/Flemming
you can use
$group[1].$accel_ovrd = 200 (100) is normal
I also think you should use
$userelaccel = true
just be careful because the increased accelleration will increase the wear on the robot and can even damage the robot because the forces becomes really big.
/Flemming
Karel is an extremely powerful programming language for the Fanuc Robots. It will let you do anything that you would dream about. It is almost as powerful as any PC programming language. It is derived from Pascal and is very similar to that.
The Karel source code files has the extension .kl and are pure ASCII files that can be read in any text editor like Wordpad or Notepad. When the source codes are compiled, they are transformed to .pc files that cannot be decompiled, and therefore not be read by anybody.
There is a compiler in Roboguide as well as an editor. if your Cell browser, under the robot controller there is a tab called "Files" if you right click on that tab, you can ADD a new file, and select KAREL source file. When you do that an editor window opens, and you are able to enter you first Karel code 
It is absolutely worthwhile to look into this incredible programming option.
/Flemming
just for the sake of the topic (maybe it's of no interest):
using LPos or Jpos or using CurPos(0,0) in Karel is not very accurate if the robot is moving.
The variables will give you the Calculated position and not the actual position. Not that it means a lot in this connection, but in other situations it will give you a difference of up to 1 mm or even more. Running a welding program where you are Weaving will show you a big difference between the calculated and the actual position. There's a more accurate way to get the actual position.
/Flemming
