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.
