Sorry for the very late reply, I somehow missed your post!
Regarding your post, the challenge is that while the robot can individually reach every position, A6 winds itself up.
There is no immediate, easy fix as it you are covering a large range of movement.
I would approach that from the order of movements, because if you are e.g. continuously incrementing A6 (you see the A6 value go up from 20 to 600 which is out of range), you could instead set the start position to -340 degrees, then the 600 degrees before would be 260, which is inside the range of the robot.
Or instead try to arrange that so that every movement with a "positive" effect on A6 is followed by a "negative" movement.
The "ultimate" solution would be to simply set the A6 to infinite rotation, which is possible, however you run a high risk of damaging the cables of your endeffector if you wind it up too much. I generally try to avoid that for "powered" tools.