The CMS motion system uses a PLC-based motion controller and an HMI controller interface that provides controls for gantries with up to three linear axes (X, Y, Z ) and three rotary axes (A, B, C ). It combines compact modules with mounting brackets, servomotors, controllers, cables, cable management, and other necessary components. The system handles payloads up to 25 kg, speeds up to 1.0 m/sec, and acceleration rates up to 15 m/sec ². It can execute strokes up to 1,000 mm in the X axis, 700 mm in the Y axis, and 800 mm in the Z axis.