Dual Y motors - Homing indepedantly

[Adamfilip]

I have Ender 5 style motion system and want to use Dual Y motors where each one homes independently to its own endstop. this is to confirm gantry is square each time.

I have Duet 2 wifi with expansion board
how would I make this happen

Currently i have single Y motor with this setup
M584 X0 Y1 Z5:6:7:8 E3

Would I change it to
M584 X0 Y1:9 Z5:6:7:8 E3 ?

current endstop config is
M574 Y2 S1 P"!ystop" ; Y max active high endstop switch

what would I change to Endstop to make it happen
and then how would I home them together yet independently?

[droftarts]

@Adamfilip First, see https://docs.duet3d.com/User_manual/Connecting_hardware/Sensors_endstops#multiple-endstops-on-one-axis

RepRapFirmware only supports one endstop per motor per axis. If your axis only has one motor, you can only have one endstop. If your axis has two or more motors, you can have an endstop per motor, if the motors are plugged into their own stepper driver, and the motors can be homed individually to their own endstop. To do this, see the 'Axis levelling using endstops' section of Bed levelling using multiple independent Z motors

Then see https://docs.duet3d.com/User_manual/Connecting_hardware/Z_probe_auto_levelling#axis-levelling-using-endstops
This describes using two endstops on the Z axis, but it's the same for two endstops on any other axis with two motors.

Ian