Configurable joint, rotation limiting

I rotate object on desired angle with this:

 public void rotate(Vector3 rotation)
 {
     joint.targetRotation = Quaternion.Euler(rotation) * joint.targetRotation;    
 }

And i need to limit possible rotation of my object.
I tried to just sum the input angles and compare them with limits but it does not work, because in one position axisX responsible for 'roll', while in other position axisX is 'yaw'. Same with built-in angular limits.
I'm really stuck on this, can somebody help?