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Revision to Configuring RepRapFirmware for a FiveAxisRobot

JoergS5

Status:
-* done: documentation, P0 and P2 kinematics and inverse kinematics, A parameter
-* current: working on prototype. Implement changed P2:nnn and new parameter R.
+* done: documentation, P0 and P2 kinematics and inverse kinematics, A parameter, P2:nnn, R parameter
+* current: working on prototype
* open: P1, P3, D, B parameters, 6th axis rail support

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