; Axis definitions, see https://duet3d.dozuki.com/Wiki/ConfiguringRepRapFirmwareSCARAPrinter ; End stops M574 X0 Y0 Z0 S1 ; proximal and distal homing switches trigger when the arm is fully clockwise and are active high ; Motor settings M569 P0 S1 ; Drive 0 (X) goes forwards M569 P1 S0 ; Drive 1 (Y) goes backwards according to https://www.thingiverse.com/thing:2487048 Configuration.h M569 P2 S1 ; Drive 2 (Z) goes forwards M906 X900 Y900 Z1050 ; set motor currents (mA) ; acceleration and speed M201 X3000 Y3000 Z3000; maximum acceleration mm^2/second M203 X18000 Y18000 Z360; maximum speeds mm/minute ; setup SCARA kinematics ; P, D from https://www.thingiverse.com/thing:2487048 Configuration.h ; A and B guesswork ; X from https://www.thingiverse.com/thing:2487048 Configuration.h ; Y guesswork M669 K4 P98.41 D100.66 A-108:108 B-108:0 ; setup SCARA kinematics M208 X400 Y400 Z160; ; steps per axis ; values from https://www.thingiverse.com/thing:2487048 Configuration.h ; for red (A4988?) drivers M92 X28.6738351 Y28.6738351 Z2560; ; axis travel limits M208 X110 Y160 Z160; ; startup M552 S1; enable wifi M80; turn on AtX power