The images demonstrate the two different arm modes that the SCARA operates in. The commands to control how the SCARA reacts to different arm configurations are shown below:

LEFT:
For moves following this command, LEFT arm mode takes priority.

RIGH:
For moves following this command, RIGHT arm mode takes priority.

PTPE:
Allow the SCARA to change arm modes to reach the point.

PTPD:
Do not allow the SCARA to change arm modes to reach the point.

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Related posts:

1. Code Example: SCARA Palletizing
2. Code Example: Jump Command
3. Code Example: IX SCARA Coordinates and Homing
4. Code Example: Palletizing
5. Code Example: ARCH Command