In order to plan and simulate complex welding tasks the internal data structure of the RobotMotionCenter has been extended to be able to load and visualize external axes, i.e. a turn-tilt table. The progress of adapting and enhancing the existing functions to this new data structure has already begun and a communication based on the COWBOI protocol definitions has been set up. Also a path planner based on bidirectional single query rapidly exploring random trees has been implemented. The further work besides adjusting the existing functions to the new data structure will be on adapting the path planner to the implemented k-Opt heuristic and on smoothing the trajectory resulting by the planner.