diff --git a/pcbnew/kicad_plugin.cpp b/pcbnew/kicad_plugin.cpp
index 61a1cd0e9f..f42dcfff36 100644
--- a/pcbnew/kicad_plugin.cpp
+++ b/pcbnew/kicad_plugin.cpp
@@ -1140,8 +1140,10 @@ void PCB_IO::format( MODULE* aModule, int aNestLevel ) const
             m_out->Print( aNestLevel+1, "(model %s\n",
                           m_out->Quotew( bs3D->m_Filename ).c_str() );
 
-            // Model offset is in mm
-            m_out->Print( aNestLevel+2, "(at (xyz %s %s %s))\n",
+            /* Write 3D model offset in mm
+             * 4.0.x wrote "at" which was actually in inches
+             */
+            m_out->Print( aNestLevel+2, "(offset (xyz %s %s %s))\n",
                           Double2Str( bs3D->m_Offset.x ).c_str(),
                           Double2Str( bs3D->m_Offset.y ).c_str(),
                           Double2Str( bs3D->m_Offset.z ).c_str() );
diff --git a/pcbnew/kicad_plugin.h b/pcbnew/kicad_plugin.h
index 8cbd10d029..0c0792a36b 100644
--- a/pcbnew/kicad_plugin.h
+++ b/pcbnew/kicad_plugin.h
@@ -46,7 +46,8 @@ class NETINFO_MAPPING;
 //#define SEXPR_BOARD_FILE_VERSION    20170920  // long pad names and custom pad shape
 //#define SEXPR_BOARD_FILE_VERSION    20170922  // Keepout zones can exist on multiple layers
 //#define SEXPR_BOARD_FILE_VERSION    20171114  // Save 3D model offset in mm, instead of inches
-#define SEXPR_BOARD_FILE_VERSION      20171125  // Locked/unlocked TEXTE_MODULE
+//#define SEXPR_BOARD_FILE_VERSION    20171125  // Locked/unlocked TEXTE_MODULE
+#define SEXPR_BOARD_FILE_VERSION      20171130  // 3D model offset written using "offset" parameter
 
 #define CTL_STD_LAYER_NAMES         (1 << 0)    ///< Use English Standard layer names
 #define CTL_OMIT_NETS               (1 << 1)    ///< Omit pads net names (useless in library)
diff --git a/pcbnew/pcb_parser.cpp b/pcbnew/pcb_parser.cpp
index cea3766816..4d9faa8d4c 100644
--- a/pcbnew/pcb_parser.cpp
+++ b/pcbnew/pcb_parser.cpp
@@ -360,25 +360,30 @@ MODULE_3D_SETTINGS* PCB_PARSER::parse3DModel()
                 Expecting( T_xyz );
 
             /* Note:
-             * Prior to SEXPR_BOARD_FILE_VERSION 20171114,
-             * 3D model offset was read and written in inches
-             *
-             * Now, the offset is explicitly written in mm.
-             * If a board is read with an older version,
-             * the offset is converted from inches to mm
+             * Prior to KiCad v5, model offset was designated by "at",
+             * and the units were in inches.
+             * Now we use mm, but support reading of legacy files
              */
 
+            n3D->m_Offset.x = parseDouble( "x value" ) * 25.4f;
+            n3D->m_Offset.y = parseDouble( "y value" ) * 25.4f;
+            n3D->m_Offset.z = parseDouble( "z value" ) * 25.4f;
+            NeedRIGHT();
+            break;
+
+        case T_offset:
+            NeedLEFT();
+            token = NextTok();
+
+            if( token != T_xyz )
+                Expecting( T_xyz );
+
+            /*
+             * 3D model offset is in mm
+             */
             n3D->m_Offset.x = parseDouble( "x value" );
             n3D->m_Offset.y = parseDouble( "y value" );
             n3D->m_Offset.z = parseDouble( "z value" );
-
-            if(m_requiredVersion < 20171114L)
-            {
-                n3D->m_Offset.x *= 25.4f;
-                n3D->m_Offset.y *= 25.4f;
-                n3D->m_Offset.z *= 25.4f;
-            }
-
             NeedRIGHT();
             break;
 
@@ -409,7 +414,7 @@ MODULE_3D_SETTINGS* PCB_PARSER::parse3DModel()
             break;
 
         default:
-            Expecting( "at, scale, or rotate" );
+            Expecting( "at, offset, scale, or rotate" );
         }
 
         NeedRIGHT();