[Borgis1]

I have a toolpath, not a specific job but more of a howto question.
Positioner turns ccw and cw and while welding. I know I can handle this with just moving the robot. This is more like a case study to further my knowhow.
I have read the part that robodk is very particular on code vs how it is deciphered. How do I get the robot to just stand still in X-Y and rotate the positioner, not just on the first layer, but every layer.

[Albert]

I recommend you to use the Optimize Turntable option instead of the Smart Optimization option. The Optimize Turntable features were created exactly for the purpose of making the turntable move as much as possible for a robot machining or a 3D printing operation.

The Smart Optimization option was added later to allow additional controls based on additional priorities you would like to have.
   

To make the Optimize Turntable option to work properly you shouldn't enter any RX or RY rotations on the End-effector shift (I noticed in your project you entered a RX rotation of 180 to flip the Z axis upwards), otherwise you may see a strange behavior when using the Optimize Turntable option. To be able to properly create the turntable, you should adjust the rotation on the Base shift parameters. See the following image:
   

To make a robot machining or 3D printing project work well I recommend you to account for these settings:

1. Select the Minimum tool change algorithm unless you need to follow the orientation along the path.
   
2. Set the preferred tool X axis along the X axis when you have a 3-axis project on top of the turntable. This together with the Auto compensation enabled will maintain the Tool of the robot as static as possible.
   
3. If you have the Z axis of the tool pointing inwards of the tool (like a CNC), apply the Tool offset of Rx 180 deg instead of the Path to tool offset (see the following point).
   
4. I recommend you to use the path to tool offset to adjust a relative rotation around the Z axis of the tool if you need.
   
5. The Shift turn allows you to control what plane angle of the turntable you want to be working on. A shift turn of 0 deg means you'll be working on the XZ plane of the turntable.
   
6. I recommend you to set the Allow a tool z rotation around the turntable to +/- 180 deg while you are trying to find the optimal parameters for your project. Once you find found a set of robot machining parameters that work and you are familiar with these settings, you can reduce this value or set it to 0 deg and it should work without issues while you should get faster calculations.
   

I attached your project modified and working as you requested by applying these recommendations.

[Borgis1]

Thanks Albert. I try to digest all this information.
So you gave me back quite a static and nice toolpath in the simulation, It just so happens that it stutters on the turntable/robot and the welder will melt the walls. I try to find the reason for this and there ARE some small movements on the robot so it is not 100% static. I made a new nc file and you can now very clearly see with the arrows on that when X on tool and X on turntable aligns the torch turns abruptly. Why is this?

I try to upload the new .rdk file. It is smaller than previous files but I get " Uploaded file exceeded upload_max_filesize directive in php.ini. Please contact your forum administrator with this error. "
The only change is the nc file I attach here.