Modifying the configuration by hand can be tricky. For this reason, we will use the RepRap Firmware Configurator to set up the printer's configuration.
The configuration files that the configurator produces are detailed on the wiki page for configuring RepRapFirmware for a Cartesian printer. These files can be edited by hand (and sometimes this is required) so it's worth reading that article.
If you have a delta, corexy or other printer this guide is still a useful start point, as is the wiki page linked above. After that check the wiki pages for your specific printer type:
Configuring RepRapFirmware for a Delta printer
Configuring RepRapFirmware for a CoreXY printer
Configuring RepRapFirmware for an IDEX printer
Configuring RepRapFirmware for a SCARA printer
Configuring RepRapFirmware for a Polar printer Configuring RepRapFirmware for a Hangprinter printer
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