I suppose you mean -10 degrees for axis 5. The movement for axis six can be limited, but not the others. Just so that you know, the robot does NOT have to be at all zeros for all axes to run the loadidentify. It only must have a starting position in which the flange is perpendicular to the floor. Many combinations of axis 2, 3 and 5 will satisfy that requirement.
Oh really?
Is there any limitations that you know of? This might actually work. However, it probably requires axis 2 to be in a very negative position and 3 to be close to zero.