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My biggest question is if it is possible to align the last frame in any other way than having x3 being horisontal as shown in the picture?I am not very good with this stuff yet, but if I understand correctly, the only way to implement the a3-length into the parameter table is to use the length in the direction of x3 OR the direction of z2. And z2 is forced to be in the direction showed in the picture, so we have to use x3 to get the a3-length.