This article focuses on the possibility of using a SCARA robot with an alternative Beckhoff control system for 3D printing. The technologies and components required for implementation will be listed. Furthermore, the detailed design of the control program to execute the g-code will be described, including shortcomings and possible solutions. Also included is a tutorial that will guide the user through the setup of the slicer and will specify the necessary subsequent modifications to the g-code in order to run it. Finally, the achieved results and further development possibilities will be presented.