Hello! I'm working on a project Robotic SCARA arm and I encountered difficulties with calibration. I use firmeware Marlin and I control it with Pronterface. I use ARDUINO MEGA, RAMPS 1.4 and driver DRV8825. In this Drive you have the code and a picture with the dimensions: I modified the following lines of code: #define Linkage_1 248 #define Linkage_2 180 #define SCARA_offset_x 210 // mm #definby AndreeaAchitei - Polar Machines, SCARA, Robot Arms