I've done an application like this once - there parts were rotors for shredding machines, in form of cylinders with "teeth" welded to them on the outside. The problem was that the cylinders were randomly fixed to their faceplates (which were in turn mounted on the positioner).
It is doable, but quite complicated. First, you need to find your "zero point" of the part by turning the positioner slowly and searching for it (TS or SKIP-function). You need to save the positioner's joint position and compare it with the "master piece" (which I recommend to keep for reference) - this will give you the offset for the rotary axis, which you need to add to the TS results.
Hope it's clear what I mean