IAI America XSEL-KX - Manual (Page 289)

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Part 4 Commands
(2) Movement comment based on end point specified by point data --- ARCH
Perform arch motion using an end point specified by position data.
In the case of a linear movement in parallel with an actuator, operation can be performed only with
two axes including the applicable axis and the PZ-axis.
Arch motion must be set.
ACHZ 3
ATRG 13 11
ARCH 10 12
Highest point of arch motion
Position No. 12
Start-point arch trigger
Position No. 13
End-point arch trigger
Position No. 11
Start point End point
Position No. 10
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