(Gantry3 [...] . The 'Gantry3C' kinematic transformation consists of 3

100 F1 3D requires [...] 3D Mode G code : [...] the 3D plane function

position 1/2/3 [...] : N010 G01 X1 Y2 Z3 [...] code : G1 Function :

, 1, 3, and 4 [...] –Hartenberg parameter d3 . . Note: a1, a3, d4, and d

axis 1 [...] , while axes 1 and 2 tilt [...] °, 180°[ Axis 1: [-90

. Syntax G38 O<Bit> I<Param1Value> J<Param2Value> K<Param3Value> G39 O<Bit> I<Param1

: Scaling factor >= 1e-3 [...] > 1

with the Kin_Scara3 [...] V3 controller [...] the libraries SM3

(orientation axis A3) of a [...] the setting nPeriodA3 , [...] how the ambiguity for axis A3

_Gantry2 (FB) Gantry3 ✓ Kin_Gantry3 [...] _HGantry2 (FB) HGantry3 ✓ Kin_HGantry3 [...] ) Scara3 with Z-axis --