From 1e47c17b462bce00fe45c379ff4460d49fcd1c22 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pawe=C5=82=20Stawicki?= <stawel+chealiCharger@gmail.com>
Date: Thu, 15 Jun 2017 16:45:44 +0200
Subject: [PATCH 1/2] Fix: set digipot mcp4018 Vrefmax to 1.666V
---
Marlin/digipot_mcp4018.cpp | 8 +-
.../wt150/Configuration.h | 29 ++++--
.../wt150/Configuration_adv.h | 95 ++++++++++++++++++-
3 files changed, 118 insertions(+), 14 deletions(-)
diff --git a/Marlin/digipot_mcp4018.cpp b/Marlin/digipot_mcp4018.cpp
index db8070a73e..06622d057f 100644
--- a/Marlin/digipot_mcp4018.cpp
+++ b/Marlin/digipot_mcp4018.cpp
@@ -34,17 +34,17 @@
#define DIGIPOT_I2C_ADDRESS 0x2F
#define DIGIPOT_A4988_Rsx 0.250
-#define DIGIPOT_A4988_Vrefmax 5.0
+#define DIGIPOT_A4988_Vrefmax 1.666
#define DIGIPOT_A4988_MAX_VALUE 127
#define DIGIPOT_A4988_Itripmax(Vref) ((Vref)/(8.0*DIGIPOT_A4988_Rsx))
#define DIGIPOT_A4988_FACTOR ((DIGIPOT_A4988_MAX_VALUE)/DIGIPOT_A4988_Itripmax(DIGIPOT_A4988_Vrefmax))
-//TODO: MAX_CURRENT -0.5A ?? (currently set to 2A, max possible current 2.5A)
-#define DIGIPOT_A4988_MAX_CURRENT (DIGIPOT_A4988_Itripmax(DIGIPOT_A4988_Vrefmax) - 0.5)
+#define DIGIPOT_A4988_MAX_CURRENT 2.0
static byte current_to_wiper(const float current) {
- return byte(CEIL(float(DIGIPOT_A4988_FACTOR) * current));
+ const int16_t value = ceil(float(DIGIPOT_A4988_FACTOR) * current);
+ return byte(constrain(value, 0, DIGIPOT_A4988_MAX_VALUE));
}
const uint8_t sda_pins[DIGIPOT_I2C_NUM_CHANNELS] = {
diff --git a/Marlin/example_configurations/wt150/Configuration.h b/Marlin/example_configurations/wt150/Configuration.h
index 2ec162abfc..3f62e5aeb1 100644
--- a/Marlin/example_configurations/wt150/Configuration.h
+++ b/Marlin/example_configurations/wt150/Configuration.h
@@ -58,8 +58,8 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory and customize for your machine.
+// For a Delta printer replace the configuration files with the files in the
+// example_configurations/delta directory.
//
//===========================================================================
@@ -311,13 +311,13 @@
// is more than PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define K1 0.95 //smoothing factor within the PID
+ // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
+
//WT150, based on: M303 E0 S220 C8
#define DEFAULT_Kp 22.10
#define DEFAULT_Ki 1.10
#define DEFAULT_Kd 110.78
- // 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
@@ -534,6 +534,7 @@
#define DEFAULT_ZJERK 0.4
#define DEFAULT_EJERK 5.0
+
//===========================================================================
//============================= Z Probe Options =============================
//===========================================================================
@@ -575,7 +576,7 @@
* Probe Type
*
* Allen Key Probes, Servo Probes, Z-Sled Probes, FIX_MOUNTED_PROBE, etc.
- * Activate one of these to use Auto Bed Leveling below.
+ * You must activate one of these to use Auto Bed Leveling below.
*/
/**
@@ -1492,7 +1493,23 @@
//define PCA9632 PWM LED driver Support
//#define PCA9632
-// Support for an RGB LED using 3 separate pins with optional PWM
+/**
+ * RGB LED / LED Strip Control
+ *
+ * Enable support for an RGB LED connected to 5V digital pins, or
+ * an RGB Strip connected to MOSFETs controlled by digital pins.
+ *
+ * Adds the M150 command to set the LED (or LED strip) color.
+ * If pins are PWM capable (e.g., 4, 5, 6, 11) then a range of
+ * luminance values can be set from 0 to 255.
+ *
+ * *** CAUTION ***
+ * LED Strips require a MOFSET Chip between PWM lines and LEDs,
+ * as the Arduino cannot handle the current the LEDs will require.
+ * Failure to follow this precaution can destroy your Arduino!
+ * *** CAUTION ***
+ *
+ */
//#define RGB_LED
//#define RGBW_LED
#if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
diff --git a/Marlin/example_configurations/wt150/Configuration_adv.h b/Marlin/example_configurations/wt150/Configuration_adv.h
index 83c683f053..f52325e9b1 100644
--- a/Marlin/example_configurations/wt150/Configuration_adv.h
+++ b/Marlin/example_configurations/wt150/Configuration_adv.h
@@ -428,7 +428,7 @@
#define DIGIPOT_MCP4018 // Requires library from https://github.com/stawel/SlowSoftI2CMaster
#define DIGIPOT_I2C_NUM_CHANNELS 5 // 5DPRINT: 4 AZTEEG_X3_PRO: 8
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
-#define DIGIPOT_I2C_MOTOR_CURRENTS {0.68, 0.68, 1.18, 1.27, 1.27}
+#define DIGIPOT_I2C_MOTOR_CURRENTS {0.22, 0.22, 0.39, 0.42, 0.42}
//===========================================================================
//=============================Additional Features===========================
@@ -670,6 +670,10 @@
#define UBL_MESH_MAX_X (X_MAX_POS - (UBL_MESH_INSET))
#define UBL_MESH_MIN_Y (Y_MIN_POS + UBL_MESH_INSET)
#define UBL_MESH_MAX_Y (Y_MAX_POS - (UBL_MESH_INSET))
+
+ // If this is defined, the currently active mesh will be saved in the
+ // current slot on M500.
+ #define UBL_SAVE_ACTIVE_ON_M500
#endif
// @section extras
@@ -795,7 +799,7 @@
// Longer length for bowden printers to unload filament from whole bowden tube,
// shorter length for printers without bowden to unload filament from extruder only,
// 0 to disable unloading for manual unloading
- #define FILAMENT_CHANGE_LOAD_FEEDRATE 10 // Load filament feedrate in mm/s - filament loading into the bowden tube can be fast
+ #define FILAMENT_CHANGE_LOAD_FEEDRATE 6 // Load filament feedrate in mm/s - filament loading into the bowden tube can be fast
#define FILAMENT_CHANGE_LOAD_LENGTH 0 // Load filament length over hotend in mm
// Longer length for bowden printers to fast load filament into whole bowden tube over the hotend,
// Short or zero length for printers without bowden where loading is not used
@@ -1260,8 +1264,91 @@
#define USER_DESC_4 "Heat Bed/Home/Level"
#define USER_GCODE_4 "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nG28\nG29"
- //#define USER_DESC_5 "Home & Info"
- //#define USER_GCODE_5 "G28\nM503"
+ #define USER_DESC_5 "Home & Info"
+ #define USER_GCODE_5 "G28\nM503"
+#endif
+
+//===========================================================================
+//============================ I2C Encoder Settings =========================
+//===========================================================================
+/**
+ * I2C position encoders for closed loop control.
+ * Developed by Chris Barr at Aus3D.
+ *
+ * Wiki: http://wiki.aus3d.com.au/Magnetic_Encoder
+ * Github: https://github.com/Aus3D/MagneticEncoder
+ *
+ * Supplier: http://aus3d.com.au/magnetic-encoder-module
+ * Alternative Supplier: http://reliabuild3d.com/
+ *
+ * Reilabuild encoders have been modified to improve reliability.
+ */
+
+//#define I2C_POSITION_ENCODERS
+#if ENABLED(I2C_POSITION_ENCODERS)
+
+ #define I2CPE_ENCODER_CNT 1 // The number of encoders installed; max of 5
+ // encoders supported currently.
+
+ #define I2CPE_ENC_1_ADDR I2CPE_PRESET_ADDR_X // I2C address of the encoder. 30-200.
+ #define I2CPE_ENC_1_AXIS X_AXIS // Axis the encoder module is installed on. <X|Y|Z|E>_AXIS.
+ #define I2CPE_ENC_1_TYPE I2CPE_ENC_TYPE_LINEAR // Type of encoder: I2CPE_ENC_TYPE_LINEAR -or-
+ // I2CPE_ENC_TYPE_ROTARY.
+ #define I2CPE_ENC_1_TICKS_UNIT 2048 // 1024 for magnetic strips with 2mm poles; 2048 for
+ // 1mm poles. For linear encoders this is ticks / mm,
+ // for rotary encoders this is ticks / revolution.
+ //#define I2CPE_ENC_1_TICKS_REV (16 * 200) // Only needed for rotary encoders; number of stepper
+ // steps per full revolution (motor steps/rev * microstepping)
+ //#define I2CPE_ENC_1_INVERT // Invert the direction of axis travel.
+ #define I2CPE_ENC_1_EC_METHOD I2CPE_ECM_NONE // Type of error error correction.
+ #define I2CPE_ENC_1_EC_THRESH 0.10 // Threshold size for error (in mm) above which the
+ // printer will attempt to correct the error; errors
+ // smaller than this are ignored to minimize effects of
+ // measurement noise / latency (filter).
+
+ #define I2CPE_ENC_2_ADDR I2CPE_PRESET_ADDR_Y // Same as above, but for encoder 2.
+ #define I2CPE_ENC_2_AXIS Y_AXIS
+ #define I2CPE_ENC_2_TYPE I2CPE_ENC_TYPE_LINEAR
+ #define I2CPE_ENC_2_TICKS_UNIT 2048
+ //#define I2CPE_ENC_2_TICKS_REV (16 * 200)
+ //#define I2CPE_ENC_2_INVERT
+ #define I2CPE_ENC_2_EC_METHOD I2CPE_ECM_NONE
+ #define I2CPE_ENC_2_EC_THRESH 0.10
+
+ #define I2CPE_ENC_3_ADDR I2CPE_PRESET_ADDR_Z // Encoder 3. Add additional configuration options
+ #define I2CPE_ENC_3_AXIS Z_AXIS // as above, or use defaults below.
+
+ #define I2CPE_ENC_4_ADDR I2CPE_PRESET_ADDR_E // Encoder 4.
+ #define I2CPE_ENC_4_AXIS E_AXIS
+
+ #define I2CPE_ENC_5_ADDR 34 // Encoder 5.
+ #define I2CPE_ENC_5_AXIS E_AXIS
+
+ // Default settings for encoders which are enabled, but without settings configured above.
+ #define I2CPE_DEF_TYPE I2CPE_ENC_TYPE_LINEAR
+ #define I2CPE_DEF_ENC_TICKS_UNIT 2048
+ #define I2CPE_DEF_TICKS_REV (16 * 200)
+ #define I2CPE_DEF_EC_METHOD I2CPE_ECM_NONE
+ #define I2CPE_DEF_EC_THRESH 0.1
+
+ //#define I2CPE_ERR_THRESH_ABORT 100.0 // Threshold size for error (in mm) error on any given
+ // axis after which the printer will abort. Comment out to
+ // disable abort behaviour.
+
+ #define I2CPE_TIME_TRUSTED 10000 // After an encoder fault, there must be no further fault
+ // for this amount of time (in ms) before the encoder
+ // is trusted again.
+
+ /**
+ * Position is checked every time a new command is executed from the buffer but during long moves,
+ * this setting determines the minimum update time between checks. A value of 100 works well with
+ * error rolling average when attempting to correct only for skips and not for vibration.
+ */
+ #define I2CPE_MIN_UPD_TIME_MS 100 // Minimum time in miliseconds between encoder checks.
+
+ // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
+ #define I2CPE_ERR_ROLLING_AVERAGE
+
#endif
//===========================================================================
From afbc6e3e2f1741f46c13304d3c660f69999de26c Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Sat, 24 Jun 2017 12:37:10 -0500
Subject: [PATCH 2/2] Update DELTA/SCARA config comments
---
Marlin/Configuration.h | 8 ++++----
.../CL-260/Configuration.h | 8 ++++----
.../Cartesio/Configuration.h | 6 +++---
.../Felix/Configuration.h | 6 +++---
.../Felix/DUAL/Configuration.h | 6 +++---
.../FolgerTech-i3-2020/Configuration.h | 8 ++++----
.../Hephestos/Configuration.h | 6 +++---
.../Hephestos_2/Configuration.h | 6 +++---
.../K8200/Configuration.h | 6 +++---
.../K8400/Configuration.h | 6 +++---
.../K8400/Dual-head/Configuration.h | 6 +++---
.../M150/Configuration.h | 8 ++++----
.../RepRapWorld/Megatronics/Configuration.h | 6 +++---
.../RigidBot/Configuration.h | 6 +++---
.../SCARA/Configuration.h | 19 ++++++++-----------
.../TAZ4/Configuration.h | 6 +++---
.../TinyBoy2/Configuration.h | 6 +++---
.../WITBOX/Configuration.h | 6 +++---
.../adafruit/ST7565/Configuration.h | 6 +++---
.../FLSUN/auto_calibrate/Configuration.h | 6 +++---
.../delta/FLSUN/kossel_mini/Configuration.h | 6 +++---
.../delta/generic/Configuration.h | 6 +++---
.../delta/kossel_mini/Configuration.h | 6 +++---
.../delta/kossel_pro/Configuration.h | 6 +++---
.../delta/kossel_xl/Configuration.h | 6 +++---
.../gCreate_gMax1.5+/Configuration.h | 8 ++++----
.../makibox/Configuration.h | 6 +++---
.../tvrrug/Round2/Configuration.h | 6 +++---
.../wt150/Configuration.h | 8 ++++----
29 files changed, 98 insertions(+), 101 deletions(-)
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 78aaa2fabe..ece9499328 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For a Delta printer replace the configuration files with the files in the
-// example_configurations/delta directory.
+// For a Delta printer start with one of the configuration files in the
+// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/CL-260/Configuration.h b/Marlin/example_configurations/CL-260/Configuration.h
index 9692777ef8..aab188098f 100644
--- a/Marlin/example_configurations/CL-260/Configuration.h
+++ b/Marlin/example_configurations/CL-260/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For a Delta printer replace the configuration files with the files in the
-// example_configurations/delta directory.
+// For a Delta printer start with one of the configuration files in the
+// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/Cartesio/Configuration.h b/Marlin/example_configurations/Cartesio/Configuration.h
index b3f7c2a11b..d658a7e900 100644
--- a/Marlin/example_configurations/Cartesio/Configuration.h
+++ b/Marlin/example_configurations/Cartesio/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index 12790b1d0b..abd4e4ceeb 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/Felix/DUAL/Configuration.h b/Marlin/example_configurations/Felix/DUAL/Configuration.h
index 63fe048e05..da4cea4db3 100644
--- a/Marlin/example_configurations/Felix/DUAL/Configuration.h
+++ b/Marlin/example_configurations/Felix/DUAL/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/FolgerTech-i3-2020/Configuration.h b/Marlin/example_configurations/FolgerTech-i3-2020/Configuration.h
index b55f79b259..126a5b4eff 100644
--- a/Marlin/example_configurations/FolgerTech-i3-2020/Configuration.h
+++ b/Marlin/example_configurations/FolgerTech-i3-2020/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For a Delta printer replace the configuration files with the files in the
-// example_configurations/delta directory.
+// For a Delta printer start with one of the configuration files in the
+// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 094cfb204f..73c4873e5e 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration.h b/Marlin/example_configurations/Hephestos_2/Configuration.h
index 74a715f094..bd29017457 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index 64f945a0e8..811d392744 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -74,15 +74,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/K8400/Configuration.h b/Marlin/example_configurations/K8400/Configuration.h
index 4e06cc1c07..e256b82573 100644
--- a/Marlin/example_configurations/K8400/Configuration.h
+++ b/Marlin/example_configurations/K8400/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/K8400/Dual-head/Configuration.h b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
index 301779ad6c..c05f6c096c 100644
--- a/Marlin/example_configurations/K8400/Dual-head/Configuration.h
+++ b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/M150/Configuration.h b/Marlin/example_configurations/M150/Configuration.h
index abc640cc92..ab2449b07b 100644
--- a/Marlin/example_configurations/M150/Configuration.h
+++ b/Marlin/example_configurations/M150/Configuration.h
@@ -63,15 +63,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For a Delta printer replace the configuration files with the files in the
-// example_configurations/delta directory.
+// For a Delta printer start with one of the configuration files in the
+// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
index 3d8b999dd1..b6a964fee2 100644
--- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h
index 2bda3307eb..6b57a22256 100644
--- a/Marlin/example_configurations/RigidBot/Configuration.h
+++ b/Marlin/example_configurations/RigidBot/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 78a96445af..190f5ea3c0 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -55,20 +55,17 @@
* http://www.thingiverse.com/thing:298812
*/
-//===========================================================================
-//============================= DELTA Printer ===============================
-//===========================================================================
-// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory and customize for your machine.
-//
-
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// MORGAN_SCARA for Marlin was 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!
+
+/**
+ * MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.
+ * Implemented and slightly reworked by JCERNY in June, 2014.
+ *
+ * MAKERARM_SCARA is in development, included as an alternate example.
+ * Other SCARA models may be added, or SCARA may be unified in the future.
+ */
// Specify the specific SCARA model
#define MORGAN_SCARA
diff --git a/Marlin/example_configurations/TAZ4/Configuration.h b/Marlin/example_configurations/TAZ4/Configuration.h
index a34a74cd68..c627f6e125 100644
--- a/Marlin/example_configurations/TAZ4/Configuration.h
+++ b/Marlin/example_configurations/TAZ4/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/TinyBoy2/Configuration.h b/Marlin/example_configurations/TinyBoy2/Configuration.h
index c1e9a615f3..291d036c97 100644
--- a/Marlin/example_configurations/TinyBoy2/Configuration.h
+++ b/Marlin/example_configurations/TinyBoy2/Configuration.h
@@ -74,15 +74,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index b1c97d3527..eabf13892d 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
index 49c98edf5f..544ba40124 100644
--- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h
+++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
index facbfb596c..895ef1266d 100644
--- a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
index ad51210310..0c9f244730 100644
--- a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index 2c3ce91c51..bfb17ff165 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index ea21701b7b..3a0784f778 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index 97650792fb..bc984f11ba 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -62,15 +62,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index 5d76043335..82cafeadcf 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/gCreate_gMax1.5+/Configuration.h b/Marlin/example_configurations/gCreate_gMax1.5+/Configuration.h
index 400eb6b24e..1259d1b311 100644
--- a/Marlin/example_configurations/gCreate_gMax1.5+/Configuration.h
+++ b/Marlin/example_configurations/gCreate_gMax1.5+/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For a Delta printer replace the configuration files with the files in the
-// example_configurations/delta directory.
+// For a Delta printer start with one of the configuration files in the
+// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index c23d4b747a..c5dfa10e69 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index 2ff81f3a1c..f67156d176 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For Delta printers start with one of the configuration files in the
+// For a Delta printer start with one of the configuration files in the
// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info
diff --git a/Marlin/example_configurations/wt150/Configuration.h b/Marlin/example_configurations/wt150/Configuration.h
index 3f62e5aeb1..5c581c9e7d 100644
--- a/Marlin/example_configurations/wt150/Configuration.h
+++ b/Marlin/example_configurations/wt150/Configuration.h
@@ -58,15 +58,15 @@
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
-// For a Delta printer replace the configuration files with the files in the
-// example_configurations/delta directory.
+// For a Delta printer start with one of the configuration files in the
+// example_configurations/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
-// For a Scara printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
+// For a SCARA printer start with the configuration files in
+// example_configurations/SCARA and customize for your machine.
//
// @section info