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Revision to ConfiguringRepRapFirmwareSCARAPrinter

Tony

Serial SCARA printers are supported in RepRapFirmware 1.19 and later.
 
For a general guide to configuring RepRapFirmware, see [[ConfiguringConfiguringRepRapFirmwareCartesianPrinter|Configuring RepRapFirmware for a Cartesian printer]]. Only the differences for SCARA printers are described here.
For a general guide to configuring RepRapFirmware, see [[ConfiguringConfiguringRepRapFirmwareCartesianPrinter|Configuring RepRapFirmware for a Cartesian printer]]. Only the differences for SCARA printers are described here.
 
A serial SCARA printer has two joints. The '''proximal''' joint is the one whose XY position is fixed, and the proximal arm rotates about the proximal joint. The '''distal''' joint in the one on the end of the proximal arm, and the distal arm is the arm between the distal joint and the print head.
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If your [[Glossary_of_Terms#Endstop|endstop]]endstop switches produce active low outputs instead of active high, replace S1 in the M574 command by S0.
If your [[Glossary_of_Terms#Endstop|endstop]]endstop switches produce active low outputs instead of active high, replace S1 in the M574 command by S0.
 
== Homing files ==
File '''homedistal.g''' homes the distal joint. You should use a G1 S1 Ynnn command to move the joint towards the limit switch until it is triggered.
 
File '''homez.g''' is exactly the same as for a Cartesian printer, see [[Configuring_RepRapFirmware_for_a_Cartesian_printer#Homing_ZConfiguringRepRapFirmwareCartesianPrinter#Section_Homing_Z|Homing Z on a Cartesian Printer]]. You may choose to use either an endstop switch or a Z probe for homing.
File '''homez.g''' is exactly the same as for a Cartesian printer, see [[Configuring_RepRapFirmware_for_a_Cartesian_printer#Homing_ZConfiguringRepRapFirmwareCartesianPrinter#Section_Homing_Z|Homing Z on a Cartesian Printer]]. You may choose to use either an endstop switch or a Z probe for homing.
 
File '''homeall.g''' should home all axes in an appropriate order.

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