Do you share your software ? I don't see it here.

You can see the custom designed software here: https://github.com/jpoles1/jscara-console.

This software is essentially a chrome-based gcode sender which works with regular marlin (configured for a cartesian bot wherein X-Y coords sent to the SCARA are actually angles for the arms) and generates SCARA commands.

Hope that's helpful! It's definitely not a finished product, but it's what I've got so far. Overall have had a lot of issues using marlin for this project, defintiely not a perfect fit for SCARA arms.

Marlin actually does have mostly-complete SCARA support, just no documentation on how to use it. I wrote some about it here https://reprap.org/forum/read.php?185,879148

The legendary dekutree64, thanks so much for commenting! I actually came across this thread and read through it several times trying while trying to get things to work, however I did not have much success. It would be great to get your expertise in troubleshooting if you're open to lending a hand! Will send you a DM.