restore Branch from Backup

sorry for that

Marlin/Configuration.h

 // example_configurations/delta directory.
 //
 
+//===========================================================================
+//============================= SCARA Printer ===============================
+//===========================================================================
+// For a Delta printer replace the configuration files with the files in the
+// example_configurations/SCARA directory.
+//
+
 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
-// 70 is 500C thermistor for Pico hot end
 
 #define TEMP_SENSOR_0 -1
 #define TEMP_SENSOR_1 -1

Marlin/ConfigurationStore.cpp

 // the default values are used whenever there is a change to the data, to prevent
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
-#ifdef DELTA
-#define EEPROM_VERSION "V11"
-#else
+
 #define EEPROM_VERSION "V10"
+#ifdef DELTA
+	#undef EEPROM_VERSION
+	#define EEPROM_VERSION "V11"
+#endif
+#ifdef SCARA
+	#undef EEPROM_VERSION
+	#define EEPROM_VERSION "V12"
 #endif
 
 #ifdef EEPROM_SETTINGS
   char ver[4]= "000";
   int i=EEPROM_OFFSET;
   EEPROM_WRITE_VAR(i,ver); // invalidate data first 
-  EEPROM_WRITE_VAR(i,axis_steps_per_unit);  
+  EEPROM_WRITE_VAR(i,axis_steps_per_unit);
   EEPROM_WRITE_VAR(i,max_feedrate);  
   EEPROM_WRITE_VAR(i,max_acceleration_units_per_sq_second);
   EEPROM_WRITE_VAR(i,acceleration);
     int lcd_contrast = 32;
   #endif
   EEPROM_WRITE_VAR(i,lcd_contrast);
+  #ifdef SCARA
+  EEPROM_WRITE_VAR(i,axis_scaling);        // Add scaling for SCARA
+  #endif
   char ver2[4]=EEPROM_VERSION;
   i=EEPROM_OFFSET;
   EEPROM_WRITE_VAR(i,ver2); // validate data
     SERIAL_ECHOLN("");
       
     SERIAL_ECHO_START;
+#ifdef SCARA
+SERIAL_ECHOLNPGM("Scaling factors:");
+    SERIAL_ECHO_START;
+    SERIAL_ECHOPAIR("  M365 X",axis_scaling[0]);
+    SERIAL_ECHOPAIR(" Y",axis_scaling[1]);
+    SERIAL_ECHOPAIR(" Z",axis_scaling[2]);
+    SERIAL_ECHOLN("");
+      
+    SERIAL_ECHO_START;
+#endif
     SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
     SERIAL_ECHO_START;
     SERIAL_ECHOPAIR("  M203 X",max_feedrate[0]);
     if (strncmp(ver,stored_ver,3) == 0)
     {
         // version number match
-        EEPROM_READ_VAR(i,axis_steps_per_unit);  
+        EEPROM_READ_VAR(i,axis_steps_per_unit);
         EEPROM_READ_VAR(i,max_feedrate);  
         EEPROM_READ_VAR(i,max_acceleration_units_per_sq_second);
         
         int lcd_contrast;
         #endif
         EEPROM_READ_VAR(i,lcd_contrast);
+		#ifdef SCARA
+		EEPROM_READ_VAR(i,axis_scaling);
+		#endif
 
 		// Call updatePID (similar to when we have processed M301)
 		updatePID();
         axis_steps_per_unit[i]=tmp1[i];  
         max_feedrate[i]=tmp2[i];  
         max_acceleration_units_per_sq_second[i]=tmp3[i];
+		#ifdef SCARA
+		axis_scaling[i]=1;
+		#endif
     }
     
     // steps per sq second need to be updated to agree with the units per sq second

Marlin/Marlin.h

 void calculate_delta(float cartesian[3]);
 extern float delta[3];
 #endif
+#ifdef SCARA
+void calculate_delta(float cartesian[3]);
+void calculate_SCARA_forward_Transform(float f_scara[3]);
+#endif
 void prepare_move();
 void kill();
 void Stop();
 extern float delta_segments_per_second;
 void recalc_delta_settings(float radius, float diagonal_rod);
 #endif
+#ifdef SCARA
+extern float axis_scaling[3];  // Build size scaling
+#endif
 extern float min_pos[3];
 extern float max_pos[3];
 extern bool axis_known_position[3];

Marlin/Marlin_main.cpp

 // M908 - Control digital trimpot directly.
 // M350 - Set microstepping mode.
 // M351 - Toggle MS1 MS2 pins directly.
+
+// ************ SCARA Specific - This can change to suit future G-code regulations
+// M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
+// M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
+// M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
+// M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
+// M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
+// M365 - SCARA calibration: Scaling factor, X, Y, Z axis
+//************* SCARA End ***************
+
 // M928 - Start SD logging (M928 filename.g) - ended by M29
 // M999 - Restart after being stopped by error
 
 #ifdef DELTA
 float endstop_adj[3]={0,0,0};
 #endif
+
 float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
 float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
 bool axis_known_position[3] = {false, false, false};
   float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
   float delta_diagonal_rod_2= sq(delta_diagonal_rod);
   float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
-#endif					
+#endif
+
+#ifdef SCARA                              // Build size scaling
+float axis_scaling[3]={1,1,1};  // Build size scaling, default to 1
+#endif				
 
 //===========================================================================
 //=============================Private Variables=============================
 //===========================================================================
 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
 static float destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
+static float delta[3] = {0.0, 0.0, 0.0};
 static float offset[3] = {0.0, 0.0, 0.0};
 static bool home_all_axis = true;
 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
     }
   }
 #endif
+#ifdef SCARA
+   float homeposition[3];
+   char i;
+   
+   if (axis < 2)
+   {
+   
+     for (i=0; i<3; i++)
+     {
+        homeposition[i] = base_home_pos(i); 
+     }  
+	// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
+   //  SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
+   // Works out real Homeposition angles using inverse kinematics, 
+   // and calculates homing offset using forward kinematics
+     calculate_delta(homeposition);
+     
+    // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
+    // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
+     
+     for (i=0; i<2; i++)
+     {
+        delta[i] -= add_homeing[i];
+     } 
+     
+    // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homeing[X_AXIS]);
+	// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homeing[Y_AXIS]);
+    // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
+    // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
+      
+     calculate_SCARA_forward_Transform(delta);
+     
+    // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
+    // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
+     
+    current_position[axis] = delta[axis];
+    
+    // SCARA home positions are based on configuration since the actual limits are determined by the 
+    // inverse kinematic transform.
+    min_pos[axis] =          base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
+    max_pos[axis] =          base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
+   } 
+   else
+   {
+      current_position[axis] = base_home_pos(axis) + add_homeing[axis];
+      min_pos[axis] =          base_min_pos(axis) + add_homeing[axis];
+      max_pos[axis] =          base_max_pos(axis) + add_homeing[axis];
+   }
+#else
   current_position[axis] = base_home_pos(axis) + add_homeing[axis];
   min_pos[axis] =          base_min_pos(axis) + add_homeing[axis];
   max_pos[axis] =          base_max_pos(axis) + add_homeing[axis];
+#endif
 }
 
 #ifdef ENABLE_AUTO_BED_LEVELING
   }
 }
 #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
+
 void refresh_cmd_timeout(void)
 {
   previous_millis_cmd = millis();
         return;
       }
       break;
+#ifdef SCARA //disable arc support
     case 2: // G2  - CW ARC
       if(Stopped == false) {
         get_arc_coordinates();
         return;
       }
       break;
+#endif
     case 4: // G4 dwell
       LCD_MESSAGEPGM(MSG_DWELL);
       codenum = 0;
           HOMEAXIS(Z);
 
           calculate_delta(current_position);
-          plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
-
+          plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);		  
+		  
 #else // NOT DELTA
 
       home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
-
+	  
       #if Z_HOME_DIR > 0                      // If homing away from BED do Z first
       if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
         HOMEAXIS(Z);
 
         current_position[X_AXIS] = destination[X_AXIS];
         current_position[Y_AXIS] = destination[Y_AXIS];
+		#ifndef SCARA
         current_position[Z_AXIS] = destination[Z_AXIS];
+		#endif
       }
       #endif
 
       if(code_seen(axis_codes[X_AXIS]))
       {
         if(code_value_long() != 0) {
-          current_position[X_AXIS]=code_value()+add_homeing[0];
+		#ifdef SCARA
+		   current_position[X_AXIS]=code_value();
+		#else
+		   current_position[X_AXIS]=code_value()+add_homeing[0];
+		#endif
         }
       }
 
       if(code_seen(axis_codes[Y_AXIS])) {
         if(code_value_long() != 0) {
-          current_position[Y_AXIS]=code_value()+add_homeing[1];
+         #ifdef SCARA
+		   current_position[Y_AXIS]=code_value();
+		#else
+		   current_position[Y_AXIS]=code_value()+add_homeing[1];
+		#endif
         }
       }
 
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 #endif // else DELTA
 
+#ifdef SCARA
+	  calculate_delta(current_position);
+      plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+#endif SCARA
+
       #ifdef ENDSTOPS_ONLY_FOR_HOMING
         enable_endstops(false);
       #endif
              plan_set_e_position(current_position[E_AXIS]);
            }
            else {
-             current_position[i] = code_value()+add_homeing[i];
-             plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+#ifdef SCARA
+		if (i == X_AXIS || i == Y_AXIS) {
+                	current_position[i] = code_value();  
+		}
+		else {
+                current_position[i] = code_value()+add_homeing[i];  
+            	}  
+#else
+		current_position[i] = code_value()+add_homeing[i];
+#endif
+            plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
            }
         }
       }
       SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
 
       SERIAL_PROTOCOLLN("");
+#ifdef SCARA
+	  SERIAL_PROTOCOLPGM("SCARA Theta:");
+      SERIAL_PROTOCOL(delta[X_AXIS]);
+      SERIAL_PROTOCOLPGM("   Psi+Theta:");
+      SERIAL_PROTOCOL(delta[Y_AXIS]);
+      SERIAL_PROTOCOLLN("");
+      
+      SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
+      SERIAL_PROTOCOL(delta[X_AXIS]+add_homeing[0]);
+      SERIAL_PROTOCOLPGM("   Psi+Theta (90):");
+      SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homeing[1]);
+      SERIAL_PROTOCOLLN("");
+      
+      SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
+      SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
+      SERIAL_PROTOCOLPGM("   Psi+Theta:");
+      SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
+      SERIAL_PROTOCOLLN("");
+      SERIAL_PROTOCOLLN("");
+#endif
       break;
     case 120: // M120
       enable_endstops(false) ;
       {
         if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
       }
+	  #ifdef SCARA
+	   if(code_seen('T'))       // Theta
+      {
+        add_homeing[0] = code_value() ;
+      }
+      if(code_seen('P'))       // Psi
+      {
+        add_homeing[1] = code_value() ;
+      }
+	  #endif
       break;
     #ifdef DELTA
 	case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
       PID_autotune(temp, e, c);
     }
     break;
+	#ifdef SCARA
+	case 360:  // M360 SCARA Theta pos1
+      SERIAL_ECHOLN(" Cal: Theta 0 ");
+      //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
+      //SERIAL_ECHOLN(" Soft endstops disabled ");
+      if(Stopped == false) {
+        //get_coordinates(); // For X Y Z E F
+        delta[0] = 0;
+        delta[1] = 120;
+        calculate_SCARA_forward_Transform(delta);
+        destination[0] = delta[0]/axis_scaling[X_AXIS];
+        destination[1] = delta[1]/axis_scaling[Y_AXIS];
+        
+        prepare_move();
+        //ClearToSend();
+        return;
+      }
+    break;
+
+    case 361:  // SCARA Theta pos2
+      SERIAL_ECHOLN(" Cal: Theta 90 ");
+      //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
+      //SERIAL_ECHOLN(" Soft endstops disabled ");
+      if(Stopped == false) {
+        //get_coordinates(); // For X Y Z E F
+        delta[0] = 90;
+        delta[1] = 130;
+        calculate_SCARA_forward_Transform(delta);
+        destination[0] = delta[0]/axis_scaling[X_AXIS];
+        destination[1] = delta[1]/axis_scaling[Y_AXIS];
+        
+        prepare_move();
+        //ClearToSend();
+        return;
+      }
+    break;
+    case 362:  // SCARA Psi pos1
+      SERIAL_ECHOLN(" Cal: Psi 0 ");
+      //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
+      //SERIAL_ECHOLN(" Soft endstops disabled ");
+      if(Stopped == false) {
+        //get_coordinates(); // For X Y Z E F
+        delta[0] = 60;
+        delta[1] = 180;
+        calculate_SCARA_forward_Transform(delta);
+        destination[0] = delta[0]/axis_scaling[X_AXIS];
+        destination[1] = delta[1]/axis_scaling[Y_AXIS];
+        
+        prepare_move();
+        //ClearToSend();
+        return;
+      }
+    break;
+    case 363:  // SCARA Psi pos2
+      SERIAL_ECHOLN(" Cal: Psi 90 ");
+      //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
+      //SERIAL_ECHOLN(" Soft endstops disabled ");
+      if(Stopped == false) {
+        //get_coordinates(); // For X Y Z E F
+        delta[0] = 50;
+        delta[1] = 90;
+        calculate_SCARA_forward_Transform(delta);
+        destination[0] = delta[0]/axis_scaling[X_AXIS];
+        destination[1] = delta[1]/axis_scaling[Y_AXIS];
+        
+        prepare_move();
+        //ClearToSend();
+        return;
+      }
+    break;
+    case 364:  // SCARA Psi pos3 (90 deg to Theta)
+      SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
+     // SoftEndsEnabled = false;              // Ignore soft endstops during calibration
+      //SERIAL_ECHOLN(" Soft endstops disabled ");
+      if(Stopped == false) {
+        //get_coordinates(); // For X Y Z E F
+        delta[0] = 45;
+        delta[1] = 135;
+        calculate_SCARA_forward_Transform(delta);
+        destination[0] = delta[0]/axis_scaling[X_AXIS];
+        destination[1] = delta[1]/axis_scaling[Y_AXIS]; 
+        
+        prepare_move();
+        //ClearToSend();
+        return;
+      }
+    break;
+    case 365: // M364  Set SCARA scaling for X Y Z
+      for(int8_t i=0; i < 3; i++) 
+      {
+        if(code_seen(axis_codes[i])) 
+        {
+          
+            axis_scaling[i] = code_value();
+          
+        }
+      }
+      break;
+	#endif
     case 400: // M400 finish all moves
     {
       st_synchronize();
 void prepare_move()
 {
   clamp_to_software_endstops(destination);
-
   previous_millis_cmd = millis();
+  
+  #ifdef SCARA //for now same as delta-code
+
+float difference[NUM_AXIS];
+for (int8_t i=0; i < NUM_AXIS; i++) {
+	difference[i] = destination[i] - current_position[i];
+}
+
+float cartesian_mm = sqrt(	sq(difference[X_AXIS]) +
+							sq(difference[Y_AXIS]) +
+							sq(difference[Z_AXIS]));
+if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
+if (cartesian_mm < 0.000001) { return; }
+float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
+int steps = max(1, int(scara_segments_per_second * seconds));
+ //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
+ //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
+ //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
+for (int s = 1; s <= steps; s++) {
+	float fraction = float(s) / float(steps);
+	for(int8_t i=0; i < NUM_AXIS; i++) {
+		destination[i] = current_position[i] + difference[i] * fraction;
+	}
+
+	
+	calculate_delta(destination);
+         //SERIAL_ECHOPGM("destination[0]="); SERIAL_ECHOLN(destination[0]);
+         //SERIAL_ECHOPGM("destination[1]="); SERIAL_ECHOLN(destination[1]);
+         //SERIAL_ECHOPGM("destination[2]="); SERIAL_ECHOLN(destination[2]);
+         //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
+         //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
+         //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
+         
+	plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
+	destination[E_AXIS], feedrate*feedmultiply/60/100.0,
+	active_extruder);
+}
+#endif // SCARA
+  
 #ifdef DELTA
   float difference[NUM_AXIS];
   for (int8_t i=0; i < NUM_AXIS; i++) {
                      destination[E_AXIS], feedrate*feedmultiply/60/100.0,
                      active_extruder);
   }
-#else
+  
+#endif // DELTA
 
 #ifdef DUAL_X_CARRIAGE
   if (active_extruder_parked)
   }
 #endif //DUAL_X_CARRIAGE
 
+#if ! (defined DELTA || defined SCARA)
   // Do not use feedmultiply for E or Z only moves
   if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
       plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
   else {
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
   }
-#endif //else DELTA
+#endif // !(DELTA || SCARA)
+
   for(int8_t i=0; i < NUM_AXIS; i++) {
     current_position[i] = destination[i];
   }
 }
 #endif
 
+#ifdef SCARA
+void calculate_SCARA_forward_Transform(float f_scara[3])
+{
+  // Perform forward kinematics, and place results in delta[3]
+  // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
+  
+  float x_sin, x_cos, y_sin, y_cos;
+  
+    //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
+    //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
+  
+    x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1/1000;
+    x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1/1000;
+    y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2/1000;
+    y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2/1000;
+   
+  //  SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
+  //  SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
+  //  SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
+  //  SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
+  
+    delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x;  //theta
+    delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y;  //theta+phi
+	
+    //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
+    //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
+}  
+
+void calculate_delta(float cartesian[3]){
+  //reverse kinematics.
+  // Perform reversed kinematics, and place results in delta[3]
+  // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
+  
+  float SCARA_pos[2];
+  static float L1_2, L2_2, SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi; 
+  
+  SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x;  //Translate SCARA to standard X Y
+  SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y;  // With scaling factor.
+  
+  L1_2 = pow(Linkage_1/1000,2);
+  L2_2 = pow(Linkage_2/1000,2);
+  
+  #if (Linkage_1 == Linkage_2)
+    SCARA_C2 = ( ( pow(SCARA_pos[X_AXIS],2) + pow(SCARA_pos[Y_AXIS],2) ) / (2 * L1_2) ) - 1;
+  #else
+    SCARA_C2 =   ( pow(SCARA_pos[X_AXIS],2) + pow(SCARA_pos[Y_AXIS],2) - L1_2 - L2_2 ) / 45000; 
+  #endif
+  
+  SCARA_S2 = sqrt( 1 - pow(SCARA_C2,2) );
+  
+  SCARA_K1 = Linkage_1/1000+Linkage_2/1000*SCARA_C2;
+  SCARA_K2 = Linkage_2/1000*SCARA_S2;
+  
+  SCARA_theta = (atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2))*-1;
+  SCARA_psi = atan2(SCARA_S2,SCARA_C2);
+  
+  delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG;  // Multiply by 180/Pi  -  theta is support arm angle
+  delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG;  //       -  equal to sub arm angle (inverted motor)
+  delta[Z_AXIS] = cartesian[Z_AXIS];
+  
+  
+  /*
+  SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
+  SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
+  SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
+  
+  SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
+  SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
+  
+  SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
+  SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
+  SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
+  
+  SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
+  SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
+  SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
+  SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
+  SERIAL_ECHOLN(" ");
+  */
+}
+
+#endif
+
 #ifdef TEMP_STAT_LEDS
 static bool blue_led = false;
 static bool red_led = false;

Marlin/example_configurations/SCARA/Configuration.h

+#ifndef CONFIGURATION_H
+#define CONFIGURATION_H
+
+// This configuration file contains the basic settings.
+// Advanced settings can be found in Configuration_adv.h
+// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
+
+//===========================================================================
+//========================= SCARA Settings ==================================
+//===========================================================================
+// SCARA-mode for Marlin has been developed by QHARLEY in ZA in 2012/2013. Implemented
+// and slightly reworked by JCERNY in 06/2014 with the goal to bring it into Master-Branch
+// QHARLEYS Autobedlevelling has not been ported, because Marlin has now Bed-levelling
+// You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested!
+// Uncomment to use Morgan scara mode
+#define SCARA  
+#define scara_segments_per_second 200
+// Length of inner support arm
+#define Linkage_1 150000 //um      Preprocessor cannot handle decimal point...
+// Length of outer support arm     Measure arm lengths precisely, and enter 
+#define Linkage_2 150000 //um      define in micrometer
+
+// SCARA tower offset (position of Tower relative to bed zero position) 
+// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+#define SCARA_offset_x 100 //mm   
+#define SCARA_offset_y -56 //mm
+#define SCARA_RAD2DEG 57.2957795  // to convert RAD to degrees
+
+//===========================================================================
+//========================= SCARA Settings end ==================================
+//===========================================================================
+
+// User-specified version info of this build to display in [Pronterface, etc] terminal window during
+// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
+// build by the user have been successfully uploaded into firmware.
+#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
+#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
+
+// SERIAL_PORT selects which serial port should be used for communication with the host.
+// This allows the connection of wireless adapters (for instance) to non-default port pins.
+// Serial port 0 is still used by the Arduino bootloader regardless of this setting.
+#define SERIAL_PORT 0
+
+// This determines the communication speed of the printer
+// This determines the communication speed of the printer
+#define BAUDRATE 250000
+
+// This enables the serial port associated to the Bluetooth interface
+//#define BTENABLED              // Enable BT interface on AT90USB devices
+
+
+//// The following define selects which electronics board you have. Please choose the one that matches your setup
+// 10 = Gen7 custom (Alfons3 Version) "https://github.com/Alfons3/Generation_7_Electronics"
+// 11 = Gen7 v1.1, v1.2 = 11
+// 12 = Gen7 v1.3
+// 13 = Gen7 v1.4
+// 131 = OpenHardware.co.za custom Gen7 electronics
+// 2  = Cheaptronic v1.0
+// 20 = Sethi 3D_1
+// 3  = MEGA/RAMPS up to 1.2 = 3
+// 33 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Bed)
+// 34 = RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Bed)
+// 35 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Fan)
+// 4  = Duemilanove w/ ATMega328P pin assignment
+// 5  = Gen6
+// 51 = Gen6 deluxe
+// 6  = Sanguinololu < 1.2
+// 62 = Sanguinololu 1.2 and above
+// 63 = Melzi
+// 64 = STB V1.1
+// 65 = Azteeg X1
+// 66 = Melzi with ATmega1284 (MaKr3d version)
+// 67 = Azteeg X3
+// 68 = Azteeg X3 Pro
+// 7  = Ultimaker
+// 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare)
+// 72 = Ultimainboard 2.x (Uses TEMP_SENSOR 20)
+// 77 = 3Drag Controller
+// 8  = Teensylu
+// 80 = Rumba
+// 81 = Printrboard (AT90USB1286)
+// 82 = Brainwave (AT90USB646)
+// 83 = SAV Mk-I (AT90USB1286)
+// 84 = Teensy++2.0 (AT90USB1286) // CLI compile: DEFINES=AT90USBxx_TEENSYPP_ASSIGNMENTS HARDWARE_MOTHERBOARD=84  make
+// 9  = Gen3+
+// 70 = Megatronics
+// 701= Megatronics v2.0
+// 702= Minitronics v1.0
+// 90 = Alpha OMCA board
+// 91 = Final OMCA board
+// 301= Rambo
+// 21 = Elefu Ra Board (v3)
+// 88 = 5DPrint D8 Driver Board
+
+#ifndef MOTHERBOARD
+#define MOTHERBOARD 33
+#endif
+
+// Define this to set a custom name for your generic Mendel,
+// #define CUSTOM_MENDEL_NAME "This Mendel"
+
+// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
+// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
+// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
+
+// This defines the number of extruders
+#define EXTRUDERS 1
+
+//// The following define selects which power supply you have. Please choose the one that matches your setup
+// 1 = ATX
+// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
+
+#define POWER_SUPPLY 1
+
+// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
+// #define PS_DEFAULT_OFF
+
+//===========================================================================
+//=============================Thermal Settings  ============================
+//===========================================================================
+//
+//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
+//
+//// Temperature sensor settings:
+// -2 is thermocouple with MAX6675 (only for sensor 0)
+// -1 is thermocouple with AD595
+// 0 is not used
+// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
+// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
+// 3 is Mendel-parts thermistor (4.7k pullup)
+// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
+// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
+// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
+// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
+// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
+// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
+// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
+// 10 is 100k RS thermistor 198-961 (4.7k pullup)
+// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
+// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
+// 20 is the PT100 circuit found in the Ultimainboard V2.x
+// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
+//
+//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
+//                          (but gives greater accuracy and more stable PID)
+// 51 is 100k thermistor - EPCOS (1k pullup)
+// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
+// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
+//
+// 1047 is Pt1000 with 4k7 pullup
+// 1010 is Pt1000 with 1k pullup (non standard)
+// 147 is Pt100 with 4k7 pullup
+// 110 is Pt100 with 1k pullup (non standard)
+
+#define TEMP_SENSOR_0 1
+#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_BED 1
+
+// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
+//#define TEMP_SENSOR_1_AS_REDUNDANT
+#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
+
+// Actual temperature must be close to target for this long before M109 returns success
+#define TEMP_RESIDENCY_TIME 10  // (seconds)
+#define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
+#define TEMP_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.
+
+// The minimal temperature defines the temperature below which the heater will not be enabled It is used
+// to check that the wiring to the thermistor is not broken.
+// Otherwise this would lead to the heater being powered on all the time.
+#define HEATER_0_MINTEMP 5
+#define HEATER_1_MINTEMP 5
+#define HEATER_2_MINTEMP 5
+#define BED_MINTEMP 5
+
+// When temperature exceeds max temp, your heater will be switched off.
+// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
+// You should use MINTEMP for thermistor short/failure protection.
+#define HEATER_0_MAXTEMP 275
+#define HEATER_1_MAXTEMP 275
+#define HEATER_2_MAXTEMP 275
+#define BED_MAXTEMP 150
+
+// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
+// average current. The value should be an integer and the heat bed will be turned on for 1 interval of
+// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
+//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4
+
+// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS
+//#define EXTRUDER_WATTS (12.0*12.0/6.7) //  P=I^2/R
+//#define BED_WATTS (12.0*12.0/1.1)      // P=I^2/R
+
+// PID settings:
+// Comment the following line to disable PID and enable bang-bang.
+#define PIDTEMP
+#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
+#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
+#ifdef PIDTEMP
+  //#define PID_DEBUG // Sends debug data to the serial port.
+  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
+  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
+                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
+  #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
+  #define K1 0.95 //smoothing factor within the PID
+  #define PID_dT ((OVERSAMPLENR * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
+
+// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
+// Ultimaker
+    #define  DEFAULT_Kp 22.2
+    #define  DEFAULT_Ki 1.08
+    #define  DEFAULT_Kd 114
+
+// MakerGear
+//    #define  DEFAULT_Kp 7.0
+//    #define  DEFAULT_Ki 0.1
+//    #define  DEFAULT_Kd 12
+
+// Mendel Parts V9 on 12V
+//    #define  DEFAULT_Kp 63.0
+//    #define  DEFAULT_Ki 2.25
+//    #define  DEFAULT_Kd 440
+#endif // PIDTEMP
+
+// Bed Temperature Control
+// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
+//
+// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
+// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
+// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
+// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
+// If your configuration is significantly different than this and you don't understand the issues involved, you probably
+// shouldn't use bed PID until someone else verifies your hardware works.
+// If this is enabled, find your own PID constants below.
+//#define PIDTEMPBED
+//
+//#define BED_LIMIT_SWITCHING
+
+// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
+// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
+// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
+// so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
+#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
+
+#ifdef PIDTEMPBED
+//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
+    #define  DEFAULT_bedKp 10.00
+    #define  DEFAULT_bedKi .023
+    #define  DEFAULT_bedKd 305.4
+
+//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+//from pidautotune
+//    #define  DEFAULT_bedKp 97.1
+//    #define  DEFAULT_bedKi 1.41
+//    #define  DEFAULT_bedKd 1675.16
+
+// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
+#endif // PIDTEMPBED
+
+
+
+//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
+//can be software-disabled for whatever purposes by
+#define PREVENT_DANGEROUS_EXTRUDE
+//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
+#define PREVENT_LENGTHY_EXTRUDE
+
+#define EXTRUDE_MINTEMP 170
+#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
+
+//===========================================================================
+//=============================Mechanical Settings===========================
+//===========================================================================
+
+// Uncomment the following line to enable CoreXY kinematics
+// #define COREXY
+
+// coarse Endstop Settings
+//#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
+
+#ifndef ENDSTOPPULLUPS
+  // fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
+  // #define ENDSTOPPULLUP_XMAX
+  // #define ENDSTOPPULLUP_YMAX
+   #define ENDSTOPPULLUP_ZMAX  // open pin, inverted
+   #define ENDSTOPPULLUP_XMIN  // open pin, inverted
+   #define ENDSTOPPULLUP_YMIN  // open pin, inverted
+  // #define ENDSTOPPULLUP_ZMIN
+#endif
+
+#ifdef ENDSTOPPULLUPS
+  #define ENDSTOPPULLUP_XMAX
+  #define ENDSTOPPULLUP_YMAX
+  #define ENDSTOPPULLUP_ZMAX
+  #define ENDSTOPPULLUP_XMIN
+  #define ENDSTOPPULLUP_YMIN
+  #define ENDSTOPPULLUP_ZMIN
+#endif
+
+// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
+const bool X_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool Y_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool Z_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+//#define DISABLE_MAX_ENDSTOPS
+//#define DISABLE_MIN_ENDSTOPS
+
+// Disable max endstops for compatibility with endstop checking routine
+#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
+  #define DISABLE_MAX_ENDSTOPS
+#endif
+
+// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
+#define X_ENABLE_ON 0
+#define Y_ENABLE_ON 0
+#define Z_ENABLE_ON 0
+#define E_ENABLE_ON 0 // For all extruders
+
+// Disables axis when it's not being used.
+#define DISABLE_X false
+#define DISABLE_Y false
+#define DISABLE_Z false
+#define DISABLE_E false // For all extruders
+#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
+
+#define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true
+#define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
+#define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
+#define INVERT_E0_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+
+// ENDSTOP SETTINGS:
+// Sets direction of endstop	s when homing; 1=MAX, -1=MIN
+#define X_HOME_DIR 1
+#define Y_HOME_DIR 1
+#define Z_HOME_DIR -1
+
+#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
+#define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.
+
+// Travel limits after homing
+#define X_MAX_POS 200
+#define X_MIN_POS 0
+#define Y_MAX_POS 200
+#define Y_MIN_POS 0
+#define Z_MAX_POS 225
+#define Z_MIN_POS MANUAL_Z_HOME_POS
+
+#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
+#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
+#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
+//============================= Bed Auto Leveling ===========================
+
+//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
+
+#ifdef ENABLE_AUTO_BED_LEVELING
+
+// There are 2 different ways to pick the X and Y locations to probe:
+
+//  - "grid" mode
+//    Probe every point in a rectangular grid
+//    You must specify the rectangle, and the density of sample points
+//    This mode is preferred because there are more measurements.
+//    It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
+
+//  - "3-point" mode
+//    Probe 3 arbitrary points on the bed (that aren't colinear)
+//    You must specify the X & Y coordinates of all 3 points
+
+  #define AUTO_BED_LEVELING_GRID
+  // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
+  // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
+  // and least squares solution is calculated
+  // Note: this feature occupies 10'206 byte
+  #ifdef AUTO_BED_LEVELING_GRID
+
+    // set the rectangle in which to probe
+    #define LEFT_PROBE_BED_POSITION 15
+    #define RIGHT_PROBE_BED_POSITION 170
+    #define BACK_PROBE_BED_POSITION 180
+    #define FRONT_PROBE_BED_POSITION 20
+
+     // set the number of grid points per dimension
+     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
+    #define AUTO_BED_LEVELING_GRID_POINTS 2
+
+
+  #else  // not AUTO_BED_LEVELING_GRID
+    // with no grid, just probe 3 arbitrary points.  A simple cross-product
+    // is used to esimate the plane of the print bed
+
+      #define ABL_PROBE_PT_1_X 15
+      #define ABL_PROBE_PT_1_Y 180
+      #define ABL_PROBE_PT_2_X 15
+      #define ABL_PROBE_PT_2_Y 20
+      #define ABL_PROBE_PT_3_X 170
+      #define ABL_PROBE_PT_3_Y 20
+
+  #endif // AUTO_BED_LEVELING_GRID
+
+
+  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
+  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
+
+  //#define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
+                                        // Be sure you have this distance over your Z_MAX_POS in case
+
+  #define XY_TRAVEL_SPEED 8000         // X and Y axis travel speed between probes, in mm/min
+
+  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
+  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
+
+
+  //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
+  //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
+  // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
+
+//  #define PROBE_SERVO_DEACTIVATION_DELAY 300
+
+
+//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
+//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
+
+ // #define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.
+                          // When defined, it will:
+                          // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
+                          // - If stepper drivers timeout, it will need X and Y homing again before Z homing
+                          // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
+                          // - Block Z homing only when the probe is outside bed area.
+
+  #ifdef Z_SAFE_HOMING
+
+    #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)
+    #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)
+
+  #endif
+
+#endif // ENABLE_AUTO_BED_LEVELING
+
+
+// The position of the homing switches
+#define MANUAL_HOME_POSITIONS  // If defined, MANUAL_*_HOME_POS below will be used
+//#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)
+
+//Manual homing switch locations:
+// For deltabots this means top and center of the Cartesian print volume.
+// For SCARA: Offset between HomingPosition and Bed X=0 / Y=0
+#define MANUAL_X_HOME_POS -20
+#define MANUAL_Y_HOME_POS -48
+#define MANUAL_Z_HOME_POS 0.1  // Distance between nozzle and print surface after homing.
+
+
+//// MOVEMENT SETTINGS
+#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
+#define HOMING_FEEDRATE {40*60, 40*60, 10*60, 0}  // set the homing speeds (mm/min)
+
+// default settings
+
+//#define DEFAULT_AXIS_STEPS_PER_UNIT   {85.6,85.6,200/1.25,970}  // default steps per unit for Ultimaker
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {109,109,200/1.25,970}  // default steps per unit for Ultimaker
+#define DEFAULT_MAX_FEEDRATE          {200, 200, 30, 45}    // (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {300,300,30,1500}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
+
+#define DEFAULT_ACCELERATION          300    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+
+// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
+// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
+// For the other hotends it is their distance from the extruder 0 hotend.
+// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
+// #define EXTRUDER_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis
+
+// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
+#define DEFAULT_XYJERK                10.0    // (mm/sec)
+#define DEFAULT_ZJERK                 10.0     // (mm/sec)
+#define DEFAULT_EJERK                 5.0    // (mm/sec)
+
+//===========================================================================
+//=============================Additional Features===========================
+//===========================================================================
+
+// Custom M code points
+//#define CUSTOM_M_CODES
+#ifdef CUSTOM_M_CODES
+  #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+  #define Z_PROBE_OFFSET_RANGE_MIN -15
+  #define Z_PROBE_OFFSET_RANGE_MAX -5
+#endif
+
+
+// EEPROM
+// The microcontroller can store settings in the EEPROM, e.g. max velocity...
+// M500 - stores parameters in EEPROM
+// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
+// M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
+//define this to enable EEPROM support
+#define EEPROM_SETTINGS
+//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
+// please keep turned on if you can.
+#define EEPROM_CHITCHAT
+
+// Preheat Constants
+#define PLA_PREHEAT_HOTEND_TEMP 180
+#define PLA_PREHEAT_HPB_TEMP 70
+#define PLA_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
+
+#define ABS_PREHEAT_HOTEND_TEMP 240
+#define ABS_PREHEAT_HPB_TEMP 100
+#define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
+
+//LCD and SD support
+//#define ULTRA_LCD  //general LCD support, also 16x2
+//#define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+//#define SDSUPPORT // Enable SD Card Support in Hardware Console
+//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
+//#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication
+//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
+//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
+//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+//#define ULTIPANEL  //the UltiPanel as on Thingiverse
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
+
+// The MaKr3d Makr-Panel with graphic controller and SD support
+// http://reprap.org/wiki/MaKr3d_MaKrPanel
+//#define MAKRPANEL
+
+// The RepRapDiscount Smart Controller (white PCB)
+// http://reprap.org/wiki/RepRapDiscount_Smart_Controller
+//#define REPRAP_DISCOUNT_SMART_CONTROLLER
+
+// The GADGETS3D G3D LCD/SD Controller (blue PCB)
+// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
+//#define G3D_PANEL
+
+// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)
+// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
+//
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
+
+// The RepRapWorld REPRAPWORLD_KEYPAD v1.1
+// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
+//#define REPRAPWORLD_KEYPAD
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click
+
+// The Elefu RA Board Control Panel
+// http://www.elefu.com/index.php?route=product/product&product_id=53
+// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARUDINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
+//#define RA_CONTROL_PANEL
+
+//automatic expansion
+#if defined (MAKRPANEL)
+ #define DOGLCD
+ #define SDSUPPORT
+ #define ULTIPANEL
+ #define NEWPANEL
+ #define DEFAULT_LCD_CONTRAST 17
+#endif
+
+#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
+ #define DOGLCD
+ #define U8GLIB_ST7920
+ #define REPRAP_DISCOUNT_SMART_CONTROLLER
+#endif
+
+#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
+ #define ULTIPANEL
+ #define NEWPANEL
+#endif
+
+#if defined(REPRAPWORLD_KEYPAD)
+  #define NEWPANEL
+  #define ULTIPANEL
+#endif
+#if defined(RA_CONTROL_PANEL)
+ #define ULTIPANEL
+ #define NEWPANEL
+ #define LCD_I2C_TYPE_PCA8574
+ #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
+#endif
+
+//I2C PANELS
+
+//#define LCD_I2C_SAINSMART_YWROBOT
+#ifdef LCD_I2C_SAINSMART_YWROBOT
+  // This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
+  // Make sure it is placed in the Arduino libraries directory.
+  #define LCD_I2C_TYPE_PCF8575
+  #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
+  #define NEWPANEL
+  #define ULTIPANEL
+#endif
+
+// PANELOLU2 LCD with status LEDs, separate encoder and click inputs
+//#define LCD_I2C_PANELOLU2
+#ifdef LCD_I2C_PANELOLU2
+  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
+  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
+  // (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
+  // Note: The PANELOLU2 encoder click input can either be directly connected to a pin
+  //       (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
+  #define LCD_I2C_TYPE_MCP23017
+  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
+  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
+  #define NEWPANEL
+  #define ULTIPANEL
+
+  #ifndef ENCODER_PULSES_PER_STEP
+	#define ENCODER_PULSES_PER_STEP 4
+  #endif
+
+  #ifndef ENCODER_STEPS_PER_MENU_ITEM
+	#define ENCODER_STEPS_PER_MENU_ITEM 1
+  #endif
+
+
+  #ifdef LCD_USE_I2C_BUZZER
+	#define LCD_FEEDBACK_FREQUENCY_HZ 1000
+	#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100
+  #endif
+
+#endif
+
+// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
+//#define LCD_I2C_VIKI
+#ifdef LCD_I2C_VIKI
+  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
+  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
+  // Note: The pause/stop/resume LCD button pin should be connected to the Arduino
+  //       BTN_ENC pin (or set BTN_ENC to -1 if not used)
+  #define LCD_I2C_TYPE_MCP23017
+  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
+  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
+  #define NEWPANEL
+  #define ULTIPANEL
+#endif
+
+// Shift register panels
+// ---------------------
+// 2 wire Non-latching LCD SR from:
+// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
+//#define SR_LCD
+#ifdef SR_LCD
+   #define SR_LCD_2W_NL    // Non latching 2 wire shift register
+   //#define NEWPANEL
+#endif
+
+
+#ifdef ULTIPANEL
+//  #define NEWPANEL  //enable this if you have a click-encoder panel
+  #define SDSUPPORT
+  #define ULTRA_LCD
+  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
+    #define LCD_WIDTH 20
+    #define LCD_HEIGHT 5
+  #else
+    #define LCD_WIDTH 20
+    #define LCD_HEIGHT 4
+  #endif
+#else //no panel but just LCD
+  #ifdef ULTRA_LCD
+  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
+    #define LCD_WIDTH 20
+    #define LCD_HEIGHT 5
+  #else
+    #define LCD_WIDTH 16
+    #define LCD_HEIGHT 2
+  #endif
+  #endif
+#endif
+
+// default LCD contrast for dogm-like LCD displays
+#ifdef DOGLCD
+# ifndef DEFAULT_LCD_CONTRAST
+#  define DEFAULT_LCD_CONTRAST 32
+# endif
+#endif
+
+// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
+//#define FAST_PWM_FAN
+
+// Temperature status LEDs that display the hotend and bet temperature.
+// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
+// Otherwise the RED led is on. There is 1C hysteresis.
+//#define TEMP_STAT_LEDS
+
+// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
+// which is not ass annoying as with the hardware PWM. On the other hand, if this frequency
+// is too low, you should also increment SOFT_PWM_SCALE.
+//#define FAN_SOFT_PWM
+
+// Incrementing this by 1 will double the software PWM frequency,
+// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
+// However, control resolution will be halved for each increment;
+// at zero value, there are 128 effective control positions.
+#define SOFT_PWM_SCALE 0
+
+// M240  Triggers a camera by emulating a Canon RC-1 Remote
+// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
+// #define PHOTOGRAPH_PIN     23
+
+// SF send wrong arc g-codes when using Arc Point as fillet procedure
+//#define SF_ARC_FIX
+
+// Support for the BariCUDA Paste Extruder.
+//#define BARICUDA
+
+//define BlinkM/CyzRgb Support
+//#define BLINKM
+
+/*********************************************************************\
+* R/C SERVO support
+* Sponsored by TrinityLabs, Reworked by codexmas
+**********************************************************************/
+
+// Number of servos
+//
+// If you select a configuration below, this will receive a default value and does not need to be set manually
+// set it manually if you have more servos than extruders and wish to manually control some
+// leaving it undefined or defining as 0 will disable the servo subsystem
+// If unsure, leave commented / disabled
+//
+//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
+
+// Servo Endstops
+//
+// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
+// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+//
+//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
+//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+
+#include "Configuration_adv.h"
+#include "thermistortables.h"
+
+#endif //__CONFIGURATION_H

Marlin/example_configurations/SCARA/Configuration_adv.h

+#ifndef CONFIGURATION_ADV_H
+#define CONFIGURATION_ADV_H
+
+//===========================================================================
+//=============================Thermal Settings  ============================
+//===========================================================================
+
+#ifdef BED_LIMIT_SWITCHING
+  #define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
+#endif
+#define BED_CHECK_INTERVAL 5000 //ms between checks in bang-bang control
+
+//// Heating sanity check:
+// This waits for the watch period in milliseconds whenever an M104 or M109 increases the target temperature
+// If the temperature has not increased at the end of that period, the target temperature is set to zero.
+// It can be reset with another M104/M109. This check is also only triggered if the target temperature and the current temperature
+//  differ by at least 2x WATCH_TEMP_INCREASE
+//#define WATCH_TEMP_PERIOD 40000 //40 seconds
+//#define WATCH_TEMP_INCREASE 10  //Heat up at least 10 degree in 20 seconds
+
+#ifdef PIDTEMP
+  // this adds an experimental additional term to the heating power, proportional to the extrusion speed.
+  // if Kc is chosen well, the additional required power due to increased melting should be compensated.
+  #define PID_ADD_EXTRUSION_RATE
+  #ifdef PID_ADD_EXTRUSION_RATE
+    #define  DEFAULT_Kc (1) //heating power=Kc*(e_speed)
+  #endif
+#endif
+
+
+//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
+//The maximum buffered steps/sec of the extruder motor are called "se".
+//You enter the autotemp mode by a M109 S<mintemp> B<maxtemp> F<factor>
+// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
+// you exit the value by any M109 without F*
+// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
+// on an Ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
+#define AUTOTEMP
+#ifdef AUTOTEMP
+  #define AUTOTEMP_OLDWEIGHT 0.98
+#endif
+
+//Show Temperature ADC value
+//The M105 command return, besides traditional information, the ADC value read from temperature sensors.
+//#define SHOW_TEMP_ADC_VALUES
+
+//  extruder run-out prevention.
+//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+//#define EXTRUDER_RUNOUT_PREVENT
+#define EXTRUDER_RUNOUT_MINTEMP 190
+#define EXTRUDER_RUNOUT_SECONDS 30.
+#define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
+#define EXTRUDER_RUNOUT_SPEED 1500.  //extrusion speed
+#define EXTRUDER_RUNOUT_EXTRUDE 100
+
+//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
+//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
+#define TEMP_SENSOR_AD595_OFFSET 0.0
+#define TEMP_SENSOR_AD595_GAIN   1.0
+
+//This is for controlling a fan to cool down the stepper drivers
+//it will turn on when any driver is enabled
+//and turn off after the set amount of seconds from last driver being disabled again
+#define CONTROLLERFAN_PIN -1 //Pin used for the fan to cool controller (-1 to disable)
+#define CONTROLLERFAN_SECS 60 //How many seconds, after all motors were disabled, the fan should run
+#define CONTROLLERFAN_SPEED 255  // == full speed
+
+// When first starting the main fan, run it at full speed for the
+// given number of milliseconds.  This gets the fan spinning reliably
+// before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu)
+//#define FAN_KICKSTART_TIME 100
+
+// Extruder cooling fans
+// Configure fan pin outputs to automatically turn on/off when the associated
+// extruder temperature is above/below EXTRUDER_AUTO_FAN_TEMPERATURE.
+// Multiple extruders can be assigned to the same pin in which case
+// the fan will turn on when any selected extruder is above the threshold.
+#define EXTRUDER_0_AUTO_FAN_PIN   -1
+#define EXTRUDER_1_AUTO_FAN_PIN   -1
+#define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+
+
+//===========================================================================
+//=============================Mechanical Settings===========================
+//===========================================================================
+
+#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+
+
+//// AUTOSET LOCATIONS OF LIMIT SWITCHES
+//// Added by ZetaPhoenix 09-15-2012
+#ifdef MANUAL_HOME_POSITIONS  // Use manual limit switch locations
+  #define X_HOME_POS MANUAL_X_HOME_POS
+  #define Y_HOME_POS MANUAL_Y_HOME_POS
+  #define Z_HOME_POS MANUAL_Z_HOME_POS
+#else //Set min/max homing switch positions based upon homing direction and min/max travel limits
+  //X axis
+  #if X_HOME_DIR == -1
+    #ifdef BED_CENTER_AT_0_0
+      #define X_HOME_POS X_MAX_LENGTH * -0.5
+    #else
+      #define X_HOME_POS X_MIN_POS
+    #endif //BED_CENTER_AT_0_0
+  #else
+    #ifdef BED_CENTER_AT_0_0
+      #define X_HOME_POS X_MAX_LENGTH * 0.5
+    #else
+      #define X_HOME_POS X_MAX_POS
+    #endif //BED_CENTER_AT_0_0
+  #endif //X_HOME_DIR == -1
+
+  //Y axis
+  #if Y_HOME_DIR == -1
+    #ifdef BED_CENTER_AT_0_0
+      #define Y_HOME_POS Y_MAX_LENGTH * -0.5
+    #else
+      #define Y_HOME_POS Y_MIN_POS
+    #endif //BED_CENTER_AT_0_0
+  #else
+    #ifdef BED_CENTER_AT_0_0
+      #define Y_HOME_POS Y_MAX_LENGTH * 0.5
+    #else
+      #define Y_HOME_POS Y_MAX_POS
+    #endif //BED_CENTER_AT_0_0
+  #endif //Y_HOME_DIR == -1
+
+  // Z axis
+  #if Z_HOME_DIR == -1 //BED_CENTER_AT_0_0 not used
+    #define Z_HOME_POS Z_MIN_POS
+  #else
+    #define Z_HOME_POS Z_MAX_POS
+  #endif //Z_HOME_DIR == -1
+#endif //End auto min/max positions
+//END AUTOSET LOCATIONS OF LIMIT SWITCHES -ZP
+
+
+//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
+
+// A single Z stepper driver is usually used to drive 2 stepper motors.
+// Uncomment this define to utilize a separate stepper driver for each Z axis motor.
+// Only a few motherboards support this, like RAMPS, which have dual extruder support (the 2nd, often unused, extruder driver is used
+// to control the 2nd Z axis stepper motor). The pins are currently only defined for a RAMPS motherboards.
+// On a RAMPS (or other 5 driver) motherboard, using this feature will limit you to using 1 extruder.
+//#define Z_DUAL_STEPPER_DRIVERS
+
+#ifdef Z_DUAL_STEPPER_DRIVERS
+  #undef EXTRUDERS
+  #define EXTRUDERS 1
+#endif
+
+// Same again but for Y Axis.
+//#define Y_DUAL_STEPPER_DRIVERS
+
+// Define if the two Y drives need to rotate in opposite directions
+#define INVERT_Y2_VS_Y_DIR true
+
+#ifdef Y_DUAL_STEPPER_DRIVERS
+  #undef EXTRUDERS
+  #define EXTRUDERS 1
+#endif
+
+#if defined (Z_DUAL_STEPPER_DRIVERS) && defined (Y_DUAL_STEPPER_DRIVERS)
+  #error "You cannot have dual drivers for both Y and Z"
+#endif
+
+// Enable this for dual x-carriage printers.
+// A dual x-carriage design has the advantage that the inactive extruder can be parked which
+// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
+// allowing faster printing speeds.
+//#define DUAL_X_CARRIAGE
+#ifdef DUAL_X_CARRIAGE
+// Configuration for second X-carriage
+// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
+// the second x-carriage always homes to the maximum endstop.
+#define X2_MIN_POS 80     // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
+#define X2_MAX_POS 353    // set maximum to the distance between toolheads when both heads are homed
+#define X2_HOME_DIR 1     // the second X-carriage always homes to the maximum endstop position
+#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position
+    // However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software
+    // override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
+    // without modifying the firmware (through the "M218 T1 X???" command).
+    // Remember: you should set the second extruder x-offset to 0 in your slicer.
+
+// Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
+#define X2_ENABLE_PIN 29
+#define X2_STEP_PIN 25
+#define X2_DIR_PIN 23
+
+// There are a few selectable movement modes for dual x-carriages using M605 S<mode>
+//    Mode 0: Full control. The slicer has full control over both x-carriages and can achieve optimal travel results
+//                           as long as it supports dual x-carriages. (M605 S0)
+//    Mode 1: Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so
+//                           that additional slicer support is not required. (M605 S1)
+//    Mode 2: Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all
+//                           actions of the first x-carriage. This allows the printer to print 2 arbitrary items at
+//                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
+
+// This is the default power-up mode which can be later using M605.
+#define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+
+// As the x-carriages are independent we can now account for any relative Z offset
+#define EXTRUDER1_Z_OFFSET 0.0           // z offset relative to extruder 0
+
+// Default settings in "Auto-park Mode"
+#define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder
+#define TOOLCHANGE_UNPARK_ZLIFT 1        // the distance to raise Z axis when unparking an extruder
+
+// Default x offset in duplication mode (typically set to half print bed width)
+#define DEFAULT_DUPLICATION_X_OFFSET 100
+
+#endif //DUAL_X_CARRIAGE
+
+//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
+#define X_HOME_RETRACT_MM 3
+#define Y_HOME_RETRACT_MM 3
+#define Z_HOME_RETRACT_MM 3
+//#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
+#ifdef SCARA
+	#define QUICK_HOME //SCARA needs Quickhome
+#endif
+
+#define AXIS_RELATIVE_MODES {false, false, false, false}
+
+#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
+
+//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
+#define INVERT_X_STEP_PIN false
+#define INVERT_Y_STEP_PIN false
+#define INVERT_Z_STEP_PIN false
+#define INVERT_E_STEP_PIN false
+
+//default stepper release if idle
+#define DEFAULT_STEPPER_DEACTIVE_TIME 240
+
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
+#define DEFAULT_MINTRAVELFEEDRATE     0.0
+
+// Feedrates for manual moves along X, Y, Z, E from panel
+#ifdef ULTIPANEL
+#define MANUAL_FEEDRATE {50*60, 50*60, 10*60, 60}  // set the speeds for manual moves (mm/min)
+#endif
+
+//Comment to disable setting feedrate multiplier via encoder
+#ifdef ULTIPANEL
+    #define ULTIPANEL_FEEDMULTIPLY
+#endif
+
+// minimum time in microseconds that a movement needs to take if the buffer is emptied.
+#define DEFAULT_MINSEGMENTTIME        20000
+
+// If defined the movements slow down when the look ahead buffer is only half full
+//#define SLOWDOWN
+#ifdef SCARA
+ #undef SLOWDOWN
+#endif
+// Frequency limit
+// See nophead's blog for more info
+// Not working O
+//#define XY_FREQUENCY_LIMIT  15
+
+// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
+// of the buffer and all stops. This should not be much greater than zero and should only be changed
+// if unwanted behavior is observed on a user's machine when running at very slow speeds.
+#define MINIMUM_PLANNER_SPEED 0.05// (mm/sec)
+
+// MS1 MS2 Stepper Driver Microstepping mode table
+#define MICROSTEP1 LOW,LOW
+#define MICROSTEP2 HIGH,LOW
+#define MICROSTEP4 LOW,HIGH
+#define MICROSTEP8 HIGH,HIGH
+#define MICROSTEP16 HIGH,HIGH
+
+// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
+#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16]
+
+// Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
+#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+
+// uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
+//#define DIGIPOT_I2C
+// Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8
+#define DIGIPOT_I2C_NUM_CHANNELS 8
+// actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
+#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}
+
+//===========================================================================
+//=============================Additional Features===========================
+//===========================================================================
+
+//#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
+#define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
+
+#define SD_FINISHED_STEPPERRELEASE true  //if sd support and the file is finished: disable steppers?
+#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place.
+
+#define SDCARD_RATHERRECENTFIRST  //reverse file order of sd card menu display. Its sorted practically after the file system block order.
+// if a file is deleted, it frees a block. hence, the order is not purely chronological. To still have auto0.g accessible, there is again the option to do that.
+// using:
+//#define MENU_ADDAUTOSTART
+
+// The hardware watchdog should reset the microcontroller disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation.
+//#define USE_WATCHDOG
+
+#ifdef USE_WATCHDOG
+// If you have a watchdog reboot in an ArduinoMega2560 then the device will hang forever, as a watchdog reset will leave the watchdog on.
+// The "WATCHDOG_RESET_MANUAL" goes around this by not using the hardware reset.
+//  However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
+//#define WATCHDOG_RESET_MANUAL
+#endif
+
+// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
+//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+
+// Babystepping enables the user to control the axis in tiny amounts, independently from the normal printing process
+// it can e.g. be used to change z-positions in the print startup phase in real-time
+// does not respect endstops!
+//#define BABYSTEPPING
+#ifdef BABYSTEPPING
+  #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
+  #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
+  #define BABYSTEP_Z_MULTIPLICATOR 2 //faster z movements
+
+  #ifdef COREXY
+    #error BABYSTEPPING not implemented for COREXY yet.
+  #endif
+
+  #ifdef DELTA
+    #ifdef BABYSTEP_XY
+      #error BABYSTEPPING only implemented for Z axis on deltabots.
+    #endif
+  #endif
+  
+  #ifdef SCARA
+    #error BABYSTEPPING not implemented for SCARA yet.
+  #endif
+  
+#endif
+
+// extruder advance constant (s2/mm3)
+//
+// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
+//
+// Hooke's law says:		force = k * distance
+// Bernoulli's principle says:	v ^ 2 / 2 + g . h + pressure / density = constant
+// so: v ^ 2 is proportional to number of steps we advance the extruder
+//#define ADVANCE
+
+#ifdef ADVANCE
+  #define EXTRUDER_ADVANCE_K .0
+
+  #define D_FILAMENT 1.75
+  #define STEPS_MM_E 836
+  #define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
+  #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
+
+#endif // ADVANCE
+
+// Arc interpretation settings:
+#define MM_PER_ARC_SEGMENT 1
+#define N_ARC_CORRECTION 25
+
+const unsigned int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
+
+// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted
+// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT
+// in the pins.h file.  When using a push button pulling the pin to ground this will need inverted.  This setting should
+// be commented out otherwise
+#define SDCARDDETECTINVERTED
+
+#ifdef ULTIPANEL
+ #undef SDCARDDETECTINVERTED
+#endif
+
+// Power Signal Control Definitions
+// By default use ATX definition
+#ifndef POWER_SUPPLY
+  #define POWER_SUPPLY 1
+#endif
+// 1 = ATX
+#if (POWER_SUPPLY == 1)
+  #define PS_ON_AWAKE  LOW
+  #define PS_ON_ASLEEP HIGH
+#endif
+// 2 = X-Box 360 203W
+#if (POWER_SUPPLY == 2)
+  #define PS_ON_AWAKE  HIGH
+  #define PS_ON_ASLEEP LOW
+#endif
+
+// Control heater 0 and heater 1 in parallel.
+//#define HEATERS_PARALLEL
+
+//===========================================================================
+//=============================Buffers           ============================
+//===========================================================================
+
+// The number of linear motions that can be in the plan at any give time.
+// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ring-buffering.
+#if defined SDSUPPORT
+  #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
+#else
+  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
+#endif
+
+
+//The ASCII buffer for receiving from the serial:
+#define MAX_CMD_SIZE 96
+#define BUFSIZE 4
+
+
+// Firmware based and LCD controlled retract
+// M207 and M208 can be used to define parameters for the retraction.
+// The retraction can be called by the slicer using G10 and G11
+// until then, intended retractions can be detected by moves that only extrude and the direction.
+// the moves are than replaced by the firmware controlled ones.
+
+// #define FWRETRACT  //ONLY PARTIALLY TESTED
+#ifdef FWRETRACT
+  #define MIN_RETRACT 0.1                //minimum extruded mm to accept a automatic gcode retraction attempt
+  #define RETRACT_LENGTH 3               //default retract length (positive mm)
+  #define RETRACT_FEEDRATE 30            //default feedrate for retracting (mm/s)
+  #define RETRACT_ZLIFT 0                //default retract Z-lift
+  #define RETRACT_RECOVER_LENGTH 0       //default additional recover length (mm, added to retract length when recovering)
+  #define RETRACT_RECOVER_FEEDRATE 8     //default feedrate for recovering from retraction (mm/s)
+#endif
+
+//adds support for experimental filament exchange support M600; requires display
+#ifdef ULTIPANEL
+  #define FILAMENTCHANGEENABLE
+  #ifdef FILAMENTCHANGEENABLE
+    #define FILAMENTCHANGE_XPOS 3
+    #define FILAMENTCHANGE_YPOS 3
+    #define FILAMENTCHANGE_ZADD 10
+    #define FILAMENTCHANGE_FIRSTRETRACT -2
+    #define FILAMENTCHANGE_FINALRETRACT -100
+  #endif
+#endif
+
+#ifdef FILAMENTCHANGEENABLE
+  #ifdef EXTRUDER_RUNOUT_PREVENT
+    #error EXTRUDER_RUNOUT_PREVENT currently incompatible with FILAMENTCHANGE
+  #endif
+#endif
+
+//===========================================================================
+//=============================  Define Defines  ============================
+//===========================================================================
+#if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
+  #error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1"
+#endif
+
+#if EXTRUDERS > 1 && defined HEATERS_PARALLEL
+  #error "You cannot use HEATERS_PARALLEL if EXTRUDERS > 1"
+#endif
+
+#if TEMP_SENSOR_0 > 0
+  #define THERMISTORHEATER_0 TEMP_SENSOR_0
+  #define HEATER_0_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_1 > 0
+  #define THERMISTORHEATER_1 TEMP_SENSOR_1
+  #define HEATER_1_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_2 > 0
+  #define THERMISTORHEATER_2 TEMP_SENSOR_2
+  #define HEATER_2_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_BED > 0
+  #define THERMISTORBED TEMP_SENSOR_BED
+  #define BED_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_0 == -1
+  #define HEATER_0_USES_AD595
+#endif
+#if TEMP_SENSOR_1 == -1
+  #define HEATER_1_USES_AD595
+#endif
+#if TEMP_SENSOR_2 == -1
+  #define HEATER_2_USES_AD595
+#endif
+#if TEMP_SENSOR_BED == -1
+  #define BED_USES_AD595
+#endif
+#if TEMP_SENSOR_0 == -2
+  #define HEATER_0_USES_MAX6675
+#endif
+#if TEMP_SENSOR_0 == 0
+  #undef HEATER_0_MINTEMP
+  #undef HEATER_0_MAXTEMP
+#endif
+#if TEMP_SENSOR_1 == 0
+  #undef HEATER_1_MINTEMP
+  #undef HEATER_1_MAXTEMP
+#endif
+#if TEMP_SENSOR_2 == 0
+  #undef HEATER_2_MINTEMP
+  #undef HEATER_2_MAXTEMP
+#endif
+#if TEMP_SENSOR_BED == 0
+  #undef BED_MINTEMP
+  #undef BED_MAXTEMP
+#endif
+
+
+#endif //__CONFIGURATION_ADV_H

Marlin/thermistortables.h

   PtLine(300,1000,4700)
 };
 #endif
-#if (THERMISTORHEATER_0 == 70) || (THERMISTORHEATER_1 == 70) || (THERMISTORHEATER_2 == 70) || (THERMISTORBED == 70) // 500C thermistor for Pico hot end
-const short temptable_70[][2] PROGMEM = {
-  {  110.774119598719*OVERSAMPLENR ,  350 },
-  {  118.214386957249*OVERSAMPLENR ,  345 },
-  {  126.211418543166*OVERSAMPLENR ,  340 },
-  {  134.789559066223*OVERSAMPLENR ,  335 },
-  {  144.004513869701*OVERSAMPLENR ,  330 },
-  {  153.884483790827*OVERSAMPLENR ,  325 },
-  {  164.484880793637*OVERSAMPLENR ,  320 },
-  {  175.848885102724*OVERSAMPLENR ,  315 },
-  {  188.006799079015*OVERSAMPLENR ,  310 },
-  {  201.008072969044*OVERSAMPLENR ,  305 },
-  {  214.83716032276*OVERSAMPLENR ,  300 },
-  {  229.784739779664*OVERSAMPLENR ,  295 },
-  {  245.499466045473*OVERSAMPLENR ,  290 },
-  {  262.2766342096*OVERSAMPLENR ,  285 },
-  {  280.073883176433*OVERSAMPLENR ,  280 },
-  {  298.952693467726*OVERSAMPLENR ,  275 },
-  {  318.808251051674*OVERSAMPLENR ,  270 },
-  {  337.490932563222*OVERSAMPLENR ,  265 },
-  {  361.683649122745*OVERSAMPLENR ,  260 },
-  {  384.717024083981*OVERSAMPLENR ,  255 },
-  {  408.659301759076*OVERSAMPLENR ,  250 },
-  {  433.471659455884*OVERSAMPLENR ,  245 },
-  {  459.199039926034*OVERSAMPLENR ,  240 },
-  {  485.566500982316*OVERSAMPLENR ,  235 },
-  {  512.538918631075*OVERSAMPLENR ,  230 },
-  {  539.980999544838*OVERSAMPLENR ,  225 },
-  {  567.783095549935*OVERSAMPLENR ,  220 },
-  {  595.698041673552*OVERSAMPLENR ,  215 },
-  {  623.633922319597*OVERSAMPLENR ,  210 },
-  {  651.356162750829*OVERSAMPLENR ,  205 },
-  {  678.700901620956*OVERSAMPLENR ,  200 },
-  {  705.528145361264*OVERSAMPLENR ,  195 },
-  {  731.61267976339*OVERSAMPLENR ,  190 },
-  {  756.786212184365*OVERSAMPLENR ,  185 },
-  {  780.950223357761*OVERSAMPLENR ,  180 },
-  {  804.012961595082*OVERSAMPLENR ,  175 },
-  {  825.904975939166*OVERSAMPLENR ,  170 },
-  {  846.403941639008*OVERSAMPLENR ,  165 },
-  {  865.52326974895*OVERSAMPLENR ,  160 },
-  {  883.246145367727*OVERSAMPLENR ,  155 },
-  {  899.5821946515*OVERSAMPLENR ,  150 },
-  {  914.544289228582*OVERSAMPLENR ,  145 },
-  {  928.145628221761*OVERSAMPLENR ,  140 },
-  {  940.422208546562*OVERSAMPLENR ,  135 },
-  {  951.456922916497*OVERSAMPLENR ,  130 },
-  {  961.303500633788*OVERSAMPLENR ,  125 },
-  {  970.044756889055*OVERSAMPLENR ,  120 },
-  {  977.761456230051*OVERSAMPLENR ,  115 },
-  {  984.540978083453*OVERSAMPLENR ,  110 },
-  {  990.440780765757*OVERSAMPLENR ,  105 },
-  {  995.589621465301*OVERSAMPLENR ,  100 },
-  {  1000.02514280144*OVERSAMPLENR ,  95 },
-  {  1003.84429789876*OVERSAMPLENR ,  90 },
-  {  1007.10199009318*OVERSAMPLENR ,  85 },
-  {  1009.87151698323*OVERSAMPLENR ,  80 },
-  {  1012.21633594237*OVERSAMPLENR ,  75 },
-  {  1014.18959892949*OVERSAMPLENR ,  70 },
-  {  1015.84079162998*OVERSAMPLENR ,  65 },
-  {  1017.21555915335*OVERSAMPLENR ,  60 },
-  {  1018.35284662863*OVERSAMPLENR ,  55 },
-  {  1019.28926921888*OVERSAMPLENR ,  50 },
-  {  1020.05398015669*OVERSAMPLENR ,  45 },
-  {  1020.67737496272*OVERSAMPLENR ,  40 },
-  {  1021.1802909627*OVERSAMPLENR ,  35 },
-  {  1021.58459281248*OVERSAMPLENR ,  30 },
-  {  1021.90701441192*OVERSAMPLENR ,  25 },
-  {  1022.16215103698*OVERSAMPLENR ,  20 },
-  {  1022.36275529549*OVERSAMPLENR ,  15 },
-  {  1022.51930392497*OVERSAMPLENR ,  10 },
-  {  1022.64051573734*OVERSAMPLENR ,  5 },
-  {  1022.73355805611*OVERSAMPLENR ,  0 }
-};
-#endif
 
 #define _TT_NAME(_N) temptable_ ## _N
 #define TT_NAME(_N) _TT_NAME(_N)

README.md

 ==========================
 Marlin 3D Printer Firmware
 ==========================
-[![Coverity Scan Build Status](https://scan.coverity.com/projects/2224/badge.svg)](https://scan.coverity.com/projects/2224)
-
+[![Coverity Scan Build Status](https://scan.coverity.com/projects/2224/badge.svg)](https://scan.coverity.com/projects/2224)
+
 Marlin has a GPL license because I believe in open development.
 Please do not use this code in products (3D printers, CNC etc) that are closed source or are crippled by a patent.
 
 *   PID tuning
 *   CoreXY kinematics (www.corexy.com/theory.html)
 *   Delta kinematics
+*   SCARA kinematics
 *   Dual X-carriage support for multiple extruder systems
 *   Configurable serial port to support connection of wireless adaptors.
 *   Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
 *  M140 - Set bed target temp
 *  M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
 *         Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
-*  M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
+*  M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
 *  M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
 *  M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
 *  M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
 *  M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
 *  M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
 *  M206 - set additional homeing offset
-*  M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
-*  M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
+*  M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
+*  M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
 *  M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
 *  M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
 *  M220 S<factor in percent>- set speed factor override percentage