[Borgis1]

Albert: I changed angles for vectors per your tips:
https://robodk.com/forum/Thread-ABC-angl...rientation
That just worked immediatly for the correct vector in the visualisation and welding torch.

What is not working as great is how the end deflector is rotation while welding with the turntable. It is stable for parts of the path and changes abruptly at certain points. I recon this has something to do with the vectors being fed during the automatic recogniced rotation. Simulation does complete and is possible, but the robot does not handle the sudden rotation of the arm

Do you have any hints for me here on what to do?
Can I more forcibly lock the torch to, let's say 100 degrees?

[Albert]

I'm happy to hear the IJK vector format in your gcode helped properly define the orientation.

To properly define your tool orientation when you have the part mounted on a turntable like the project you shared I recommend you to follow these steps:

1. Double click on your robot machining project
   
2. Select the + button right beside the teach button
   
3. Click on the Z+ preset.
   
4. Click on Update and it should work as expected,
   

This will set the reference orientation for the tool the Z axis of the turntable. Since the turntable can move it forces a constant reference for the tool orientation (basically, the tool X axis is referenced by the turntable Z axis).

With your current setup you are working close to a singularity so I recommend you to slightly change the shift turn of the turntable by +/- 20 deg or tilt the axis 1 of the turntable a little bit (this value is constant unless you use the smart optimization option).

Alternatively, since you use the turntable optimization option you could use the Auto compensation option which helps isolate the tool orientation from the turntable orientation changes.

[Borgis1]

Fabulous!

[Albert]

Happy to help! Let us know if you need more info or tips to properly fine tune the behavior of the turntable.