By virtue of the SCARA's parallel-axis joint layout, the arm is slightly compliant in the X-Y direction but rigid in the Z direction, hence the term selective compliance.
baɪ vˈɜːtʃuː ʌvðə skˈæɹə pˈæɹəlˌɛlˈæksɪs dʒˈɔɪnt lˈeɪaʊt, ðɪ ˈɑːɹm ɪz slˈaɪtli kəmplˈaɪənt ɪnðɪ ˈɛkswˈaɪ dᵻɹˈɛkʃən bˌʌt ɹˈɪdʒɪd ɪnðə zˈiː dᵻɹˈɛkʃən, hˈɛns ðə tˈɜːm sᵻlˈɛktɪv kəmplˈaɪəns.