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It does support G-code generation, simulation and optimization. It can support external axes control too, so robot cell could contain external axis. No Base and Elbow configuration existing for this type of robot. Thus, it does not change anything by changing the base and elbow configuration setting. (These two setting in GUI will be disabled in future for 3P3R robot. ) No work space zone displayed for 3P3R robot. Only prismatic joints can hold part. The robot with more than one joint holding part can be supported theoretical but is not tested yet. No RTCP case support for 3P3R robot yet. The first build supporting decoupled-3P3R type of robot is Robotmaster_V6.1.4058.
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If the three rotation axes of robot are orthogonal but not intersecting at a common point, same setup as above can be used except
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using robot architecture type "GENERAL_3P3R".
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