Hello, Thanks for the nice model and idea Idegraaf. I see that there are more people try to use this model. On YouTube I found a russian guy with the same model working with marlin. Youtube Movie Russian single arm scara Blog I am trying to make the same one. There are a few things I don`t understand. How does marlin scara do the homing with the endstops and/or how can I test without homby kire - Polar Machines, SCARA, Robot Arms