Axis 6 is capable of infinite degrees of rotation provided that any cabling to the whatever is mounted to the 6th axis can meet the amount of rotation you require. ABB offers independent motion.... this allows you to update the revolution counter (rev count) to the exact place it was within the current 360 revolution. Just a thought perhaps you need to unwind then just go to the MOC (motion) parameters then sub catagory ARM and set the upper or lower joint bound to the rotaion you need....this value is in radians so convert the angle to radians