SCARA Arm Modes Left
SCARA Arm Modes Right

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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