Hi!

i'm using morgan scara
i built a scara robot, with X Y arm length 200mm
i'm using optical endstop Xmin and Ymax and mechanic endstop on Z (i would know if soft endstops can be used for bed size limit) can its works in this mode?
i would set bed size of 300x220 with 0,0 in this way should work also in negative

Cartesian grid strategy leveling seems work

At the moment my robot is drawing (not print), if I try to draw the perimeter of a square, it does not draw straight lines, can this problem be due to the kinematics or the length of the arms?

Than you in advance!