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ABB external axis

I have a robotic cell configuration with an ABB 6-axis robot and a 2-Axis turntable integrated in the same controller. I want to know if there is a driver and api available to work online with the turntable, since the version I have of RDK_DriverSocket sends the 6 positions of robot joints, but it does not implement external axis.

Also, the axis ID number of the turntable are 8 and 9 (7 is reserved for a linear track which is not currently integrated). Although I can change this in the ABB postprocessor for offline programming, Is there a way to specify the ID of the turntable axis in the Robodk configuration?


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