Allen-Bradley 1756-HYD02 User Manual page 159

Geometries with orientation support
Maximum J6 joint limit condition
The J6 axis is the rotational axis that could have multiple turns. The maximum
number of turns supported is +/-127. Maximum positive and negative range is
checked based on number of turns supported on J6.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Maximum Negative Joint Limit Condition
R = absolute value of (Rb - Re)
Chapter 4
159