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To optimize the positioner(external_axis)

     I'm trying to weld a pipe using a 2-axis positioner. I have attached a robodk station for better understanding. 

I want my 6 axis robot to stay at one position or have very little movement and the positioner to rotate and move. I tried the option optimizing the external axis, but it did not work. Most of the work is done by robot instead of the positioner. 

I also found a similar thread "External Axis Optimization", But It did not work. 

Please let me know what could be done here.

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.rdk   angle_pipe_test_tn_random forum_test.rdk (Size: 15.22 MB / Downloads: 181)

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