Robot takes shortest path rather than avoiding joint limit

[de-vri-es]

It sounds like your issue is the same as the problem described here:

Cartesian linear move can "wind up" the wrist

After some more working around the problem, I’m not so sure this is actually a very useful approach. My assumption was that the long rotation would prevent hitting joint limits. However, in some cases we actually had to rotate in the same direction as the short path, but an additional 2*pi. I’m not so sure that this can easily be fixed in movel() without making the robot movement rather unpredictable. So, we did manage to detect what rotation should prevent hitting the wrist3 limit in our setu…

There are some suggested workarounds there you can take a look at.