Hmmm... The easiest way might be to use axis movements in between larger movements.
So the robot finishes a path, moves in Z away from the object, makes a PTP movement to a safe position while the turntable rotates, then moves back and continues your linear motion paths.
You will need to identify paths with significant repositioning time (e.g. by comparing the E1 values), because if it just moves 20mm, then in turn the PTP motion is a major waste of time.
Best,
Johannes
So the robot finishes a path, moves in Z away from the object, makes a PTP movement to a safe position while the turntable rotates, then moves back and continues your linear motion paths.
You will need to identify paths with significant repositioning time (e.g. by comparing the E1 values), because if it just moves 20mm, then in turn the PTP motion is a major waste of time.
Best,
Johannes