Okura Yusoki A Series Manual page 105

Speed
This designates the speed for movement of the arm to this step.
The setting range is the values 1 - 10.
These values indicate speeds which are 10% increments of the automatic operation
speed.
Acceleration coefficient, Deceleration coefficient
These designate the acceleration and deceleration time during movement of the arm
to this step. The setting range is the values 1 to 10. These values indicate 10%
increments of the acceleration/deceleration time determined in system parameters.
Overlap
This designates the precision of the stop/pass range for this step.
There are five parameters FUL, HLF, QRT, ZRO and SPC, which increase in precision
in that order. However precision of the move coincides with the axis in system
parameters when SPC is selected.
CP/PTP
This designates the coordinate system for arm movement to this step.
In automatic operation, the R-axis and T-axis always move in their axis coordinates,
but for the D-axis and O-axis, this designation enables the following selections.
PTP: Movement in each axis coordinates (Arc)
CP: Movement in arm coordinates (Linear)
Auto: Automatically switch PTP and CP.
Coordinate standard
This designates the coordinates for storage and position display of this step position.
The following selections are possible.
ARM: Arm coordinates
HND: Hand coordinates
PAL: Pallet coordinates
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