@dc42 What a silly mistake on my part! Thanks for pointing that out.
Could you help me understand a little better how the R parameter works in the M669 command? From what I understand, it works like a "keep out" circle centered at the origin of the proximal arm. Is that it? Setting it to 0 works as essentially disabling the "keep out" zone?

Hi! This is my first post, so sorry if it is posted on the wrong place. I'm building a serial SCARA printer, but I'm having some trouble configuring it's range of motion. I get the "target position not reachable from current position" error when I try to move the head of the printer closer to what would be the origin of the proximal arm. I've tried modifying the "R" parameter on the M669 command, but it made no difference. When using G1 H2 commands (moving the steppers with angle values), I'm able to reach much further than with regular G0/G1 commands. The proximal arm (100mm) is smaller than the distal arm (130mm), could that be the issue? What does setting the "R" parameter to 0 does to the kinematics of the printer?
Currently my config file in regards to the printer kinematics is set as follows:

; Movement
M669 K4 P100 D130 A-205:25 B-100:100 C0:bb:cc R0 X0 Y0	; set SCARA geometry

; Axis Limits
M208 X230 Y230 Z-5 S1		; set axis minima
M208 X-230 Y-230 Z70 S0		; set axis maxima

; Endstops
M574 X1 S1 P"io6.in"		; configure active-high endstop for high end (fully clockwise) on X proximal) via pin io6.in
M574 Y2 S1 P"io5.in"		; configure active-high endstop for high end (fully anticlockwise) on Y (distal) via pin io5.in

As you can see, I've set the origin of the printer to coincide with the origin of the proximal axis. Prior to this I was setting the origin to be the center of the print table and setting it's dimensions like so:

; Movement
M669 K4 P100 D130 A-205:25 B-100:100 C0:bb:cc R0 X0 Y-165	; set SCARA geometry

; Axis Limits
M208 X60 Y45 Z-5 S1		; set axis minima
M208 X-60 Y-45 Z70 S0		; set axis maxima

; Endstops
M574 X1 S1 P"io6.in"		; configure active-high endstop for high end (fully clockwise) on X proximal) via pin io6.in
M574 Y2 S1 P"io5.in"		; configure active-high endstop for high end (fully anticlockwise) on Y (distal) via pin io5.in

But that also didn't behave the way I wanted. Any clue on what I'm doing wrong? Here's what my monstrosity looks like in case that helps understand it any better...