Configuration (Cylindrical Manipulator)

Dear all,
We are using the Marlin software to control a 3D printer that resemble the one of a cylindral manipulator (on the bottom you will find the picture).
We saw that there are different configurations available inside the Marlin Github repo but any of these suit to our scenario. We saw that the Scara configuration is the most similar one.
For these reason we come up with the following question:
Is is possible to modify the configuration file to turn the 3D printer from cartesian to "cylindrical manipulator". if yes, which file do we need to modify?
Furthermore, how can we modify the kinematics of the 3D printer to adapt to our scenario?
Thanks a lot for any advice.

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