From 1c5f9821c4c844a7b6e440cdeec32a0f79f97095 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Thu, 15 Sep 2016 15:43:06 -0500
Subject: [PATCH] SCARA support in homeaxis

---
 Marlin/Marlin_main.cpp | 25 ++++++++++++++++++-------
 1 file changed, 18 insertions(+), 7 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index e32d964aab..0c7e97d01a 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2228,10 +2228,15 @@ static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
 #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
 
 static void homeaxis(AxisEnum axis) {
-  #define CAN_HOME(A) \
-    (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
 
-  if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
+  #if IS_SCARA
+    // Only Z homing (with probe) is permitted
+    if (axis != Z_AXIS) { BUZZ(100, 880); return; }
+  #else
+    #define CAN_HOME(A) \
+      (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
+    if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
+  #endif
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
@@ -2294,10 +2299,16 @@ static void homeaxis(AxisEnum axis) {
     } // Z_AXIS
   #endif
 
-  // Delta has already moved all three towers up in G28
-  // so here it re-homes each tower in turn.
-  // Delta homing treats the axes as normal linear axes.
-  #if ENABLED(DELTA)
+  #if IS_SCARA
+
+    set_axis_is_at_home(axis);
+    SYNC_PLAN_POSITION_KINEMATIC();
+
+  #elif ENABLED(DELTA)
+
+    // Delta has already moved all three towers up in G28
+    // so here it re-homes each tower in turn.
+    // Delta homing treats the axes as normal linear axes.
 
     // retrace by the amount specified in endstop_adj
     if (endstop_adj[axis] * Z_HOME_DIR < 0) {