IAI America XSEL-QX - Manual (Page 329)

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Part 4 Commands
z ACHZ (Declare arch-motion Z-axis)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional ACHZ
Axis
number
Prohibited CP
Specify the axis number representing the arch-motion Z direction.
The axis number specified in operand 1 will be set as the axis number representing the arch-motion Z
direction.
If the output field is specified, the output will turn ON after this command is executed.
(Note 1) A SCARA axis other than the Z-axis on the load coordinate system (axis No. 3) cannot be
specified as the arch-motion Z-axis.
[Example] ACHZ 3