change bond kinematic

[laLemon]

hi
i would to change kinematic bond(jacobian matrix) in a cartesian kinematic...but i don't find a documentation for that.

if someone suggest where i watch to change bond and how the position and velocity vectors are define or where i find detailed documentation I would be really grateful to him

sorry if i ask commonplace question but i am not a dev, i am mechanical eng. without fear and i don't hope doing a disasters

[droftarts]

@lalemon M669 controls the kinematics. You can define your own matrix. See https://duet3d.dozuki.com/Wiki/Gcode#Section_M669_Set_kinematics_type_and_kinematics_parameters
I’m not sure what a Jacobian matrix is, though! Please explain more if you need more help.

Ian