... axes (Left/Right, Front/Rear, Up/Down, Rotation, Torch-Twisting, Torch-Lifting). 4. Machine has pipe upper-surface touch-sensor and ... pipe conditions. 5. Machine has independent torch-lifting axes to make compensation for torch position, which ensures the relative position between ... efficiently. 7. Machine can be equipped with plasma or gas torch to process three kinds of beveling angle (fixing angle, ...