Igor, You have options with EMC2. You can use two different configuration files. One configuration file to position the knee and use the quill as the Z axis as Stephan suggests. Another configuration file to use the knee as the Z axis and the quill as the W axis. You can use the tool length compensation along the Z axis or the W axis. You would even be able to move both the Z and W at the same time during a program. Stuart
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