Have a continuous rotation of 6th robot axis

Hi!
This is kind of hard to describe but is it possible, without limitations, to rotate the 6th axis of an IRB1600 continuously and just reset the configuration after lets say 4 rotations, without it going back to 0 (4 rotations becomes the new 0). Why I'm asking is for example to enable a robot to screw in a product, release, and then go to the next product without having to rotate back to its original configuration. If anything wasn't clear in what I said, feel free to ask!