[David]

You should create target items and move to those targets to have control over the tool position, orientation and joint axes for external axes.

This thread shows how to deal with targets and external axes:
//www.sinclairbody.com/forum/Thread-External...04#pid4304

This is a similar example closer to what you need:

Code:

# Set the value of the external axis
e1 = 45 # in deg for a turntable
e2 = 30 # in deg for a turntable

# Create target and set the desired external axes and pose
t = RDK.AddTarget("MyTarget", reference, robot)
t.setJoints([0,0,0,0,0,0, e1, e2])
t.setPose(robot.Pose())

# Recalculate the joint position based on the new position of the external axis
# Robot joints are updated but not external axis
t.setAsCartesianTarget ()
t.Joints()

jnts = t.Joints()
print(t.Name() + "-Joints: " + str(jnts.list()))

Thanks Albert for your reply. How to move one joint of turntable according to a reference rotational speed ? The others joints should not change.