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How to make the tool coordinate system follow the path coordinate system in a curved path?

Robot_TIG
Robot_TIG ✭
in RAPID Programming
I want to move the tool from A to C via B, ABC is a curve, while keep the tool X axis tangent to the curved path.
In other words, I want to keep the tool coordinate system same as path coordinate system ( which is changing due to curve shape) at all time.
Is there any commands can use?

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