[Borgis1]

I have a hard time moving the welding paths the way I want.
I rather have rotation on the turntable than movement on the robot.
The optimization tab seems to be a lot newer than the documentation, but there are several forum posts available for this topic. I like this one: https://robodk.com/forum/Thread-External...timization.
Simple, easy, but I cannot replicate the settings to do the same. It only uses axes optimization.
And the bottom of the " Synchronize Additional Axes " I find this tip: "If you have a turntable you should use the Turntable Optimization options to control the pose of the tool with respect to the moving reference. "

The difference from the forum post and my station is the nc file vs curve. I tried the curve option to but with the same result.
What is it that I am missing.

[Sergei]

If NC codes are imported, the optimization result is sensitive to the content of the NC program.

If you can share the APT program you used, I can take a look at it and try to find what might be making the optimization difficult.

I attached an example of optimizing a simple circular path (using curves) with the robot holding the torch stationary and the positioner rotating.

Here are the optimization settings I used for this:

   

Also please take a look at the following stations with synchronization examples in our online library:

https://robodk.com/stations#filter?appli...on+welding

[Borgis1]

Hi, thanks for the help. It got me going there for a while and I learned quite a lot about positioners!
MY positioner will NOT go past 450 degrees (or thousands of pulses) and I have not discovered a way in robodk to rewind the positioner past this limit. It will just fail on updating toolpath.
Is it an option to check for this, or is it proper for me to fix some kind of rewind in the gcode postprocessor beforehand?

When making similar programs on the robot and looking at the code vs post from robodk, I have two very different programs. Is there a way to make robodk post code like the motoman controller?
Added program show welder do robot positions and positioner do pulses. This way seems to make smoother movements than just pulses and I do wonder about these lines
///GROUP1 RB1,ST1
vs
///GROUP1 RB1
///GROUP2 ST1

What difference does it make except they are not campatible in each other program just like RJ is not working in pulses.
I do have a LOT (A LOT) of stuttering in the sync movement of the robot and positioner (to many lines of code... OR... is it some other part of the code).?.

attached is a short piece from the motoman controller which shows how pulses and positions work together.
I will also fint the APT program for a troublesome workpiece as soon as I have more time available.

[Sergei]

You can try splitting the original g-code and using parts of it with multiple machining projects.
You can then set the initial position of the rotary table for each machining project:

   

Alternatively, you can try setting the positioner endless rotation option and change the corresponding limits in RoboDK:

   

I do have a LOT (A LOT) of stuttering in the sync movement of the robot and positioner (to many lines of code... OR... is it some other part of the code).?.

You can try to set the EXTAXES_USE_SMOVL = True
First, it's necessary to load the PostProcessorEditor add-in (Tools - Add-ins - PostProcessorEditor.dll )
Then, you can edit the postprocessor options (Program - Add/Edit Postprocessor - Motoman)