Yamaha RCX222 User Manual page 230

12. "SYSTEM" mode
3. R-axis orientation /RORIEN
On SCARA robots, this parameter sets whether or not to maintain the R-axis direction
(orientation) when moving manually across the XY axes. The R direction (orientation)
is automatically set when the parameters are initialized.
If the R-axis direction has been set (held) and the arm tip is moved in the X or Y
directions, the R-axis automatically rotates to maintain its direction.
This is effective only on SCARA robots.
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NOTE
Chapter
This parameter is valid only on SCARA robots.
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NOTE
This function is invalid if there is no R-axis or the R-axis is an auxiliary axis.
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