IAI America XSEL-KET - Manual (Page 260)

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Part 4 Commands
INTELLIGENT ACTUATOR
 The arch-motion Z-axis will come down after a rise-process command value is output. Therefore, the
operation may follow the locus in Fig. 5 given in the aforementioned explanation of PACH command,
depending on the settings of arch-trigger points and Z point. In this case, change the arch triggers and
Z point to increase the operation efficiency.
 As for the arch-trigger end-point data, if there is any valid axis data other than the data of the arch-
motion Z-axis, then operation will be started/ended for the applicable axes in the same manner—but
above the arch triggers.
 If arch-trigger composition is set, any valid axes other than those set in the end-point data or the arch-
motion Z-axis will also be operated as long as data is available for such axes. In this case, operation of
the applicable axes will also be started/ended above the arch triggers.