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Revision to ConfiguringRepRapFirmwareSCARAPrinter

David Crocker

The crosstalk factors define how much the motors interfere with each other. If they are all zero then it is assumed that the X motor affects only the angle between the proximal arm and the X axis, the Y motor affects only the angle between the distal arm and the X axis (not the proximal-to-distal arm angle as you might expect), and the Z motor affects only the nozzle height. If this is true for your printer, you can omit the C parameter. Otherwise, if the parameter is of the form ''Caaa:bbb:ccc'', then:
 
'''aaa''' is the amount by which the X motor (whose primary function is to control the proximal arm) affects the angle between the distal arm and the X axisproximal arm. For example, if movement of the proximal motor does not affectaffects the proximal-to-distal joint angle, thenangle in reverse (so that an X motor movement that causes one degree of proximal arm movement also changes the angle between the distal arm and the X axis by one degree, anddegree in the opposite direction) then this crosstalk factor is 1.
'''aaa''' is the amount by which the X motor (whose primary function is to control the proximal arm) affects the angle between the distal arm and the X axisproximal arm. For example, if movement of the proximal motor does not affectaffects the proximal-to-distal joint angle, thenangle in reverse (so that an X motor movement that causes one degree of proximal arm movement also changes the angle between the distal arm and the X axis by one degree, anddegree in the opposite direction) then this crosstalk factor is 1.
 
'''bbb''' is the amount by which the X motor affects the Z height. A positive value indicates that anticlockwise rotation of the proximal arm increases the nozzle height above the print surface.

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