[Kbutts]

The RoboDK cell: Fanuc P-350iA45 on a synchronized linear rail. Four part rotators (essentially horizontal turntables) that are not synchronized with the robot controller.

To move a specific rotator to a specified angle, the robot program calls INDEX_START(x), where x is the destination angle. The specific rotator that moves is defined by a group output on the robot controller that is set at the beginning of the robot program. The rotator motion is then handled by the PLC.

How can I set these rotate commands up in RoboDK such that 1) the desired rotator moves in simulation, and 2) the post processor inserts the INDEX_START(x) command into the final program where needed?

[Sergei]

Yes, this task can be solved with RoboDK. You can create a simulation and generate the necessary code for non-synchronized positioners.

First, it is necessary to create mechanisms in RoboDK corresponding to your turntables and add them to the target station.
You can find a description of the example of how to create a turntable in our online documentation:
https://robodk.com/doc/en/General.html#Model1x

Then motion programs should be created to move these rotary tables to the desired indexing positions.
After that, you can insert Program Call instructions with these indexing programs into the main program of the robot on rails.

You will now be able to simulate your process.

Modification of the postprocessor is necessary to generate the required code.
I assume that you can simply modify the RunCode method of the postprocessor.
Using specific naming for table indexing programs, you will be able to call the required actions.