Speaking of the maths, how can a firmware determine the physical limits of the carriages? For example at home-position you have no horizontal freedom in the effector, but this gradually increases as Z moves down. I would also like to be able to limit the carriage positions so that at any Z height they can't move beyond reasonable heights over Z. Thus, if you ask for an "illegal" position, the firmware can either forbid the move, or just put the effector at the nearest "legal" position. Essentially to prevent damage to a delta in the case where crazy coordinates are given to it.