---
tag: m0665b
title: SCARA Configuration
brief: Set SCARA geometry values
author: ManuelMcLure

requires: MORGAN_SCARA|MAKERARM_SCARA
eeprom: true

codes: [ M665 ]

parameters:

- tag: S
  optional: true
  description: Segments per second
  values:
  - type: float
    tag: segments-per-second

- tag: P
  optional: true
  description: Theta-Psi offset, added to the shoulder (A/X) angle
  values:
  - type: float
    tag: theta-pi-offset

- tag: T
  optional: true
  description: Theta offset, added to the elbow (B/Y) angle
  values:
  - type: float
    tag: theta-offset

- tag: A
  optional: true
  description: Theta-Psi offset, alias for `P`
  values:
  - type: float
    tag: theta-pi-offset

- tag: X
  optional: true
  description: Theta-Psi offset, alias for `P`
  values:
  - type: float
    tag: theta-pi-offset

- tag: B
  optional: true
  description: Theta offset, alias for `T`
  values:
  - type: float
    tag: theta-offset

- tag: Y
  optional: true
  description: Theta offset, alias for `T`
  values:
  - type: float
    tag: theta-offset

---

Configure SCARA geometry values.
