Please help!

Do you mean serial SCARA? That's one arm with a joint in it, usually at the middle of the arm. What do you want to know?

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Large delta printer [miscsolutions.wordpress.com], E3D tool changer, Robotdigg SCARA printer, Crane Quad and Ormerod

Disclosure: I design Duet electronics and work on RepRapFirmware, [duet3d.com].

Thank you for your reply
I mean I can not find a firmware that makes my scara work
both arms length 200mm
If i set lower lenght it seems work...