Okura Yusoki A Series Manual page 110

Pickup quantity
This designates the value for incrementing or decrementing the stacking counter.
This is set so that counter value and stacking quantity match when handling more
than one work.
APR direction (Approach direction)
This designates the position relationship between an APR step and an LOD step.
Normally D2X and D2Y in program parameters match the sign of pallet coordinates,
in this case, the APR direction becomes 0, by selecting 1, 7, it is possible to shift the
positional relationship in the direction on the screen.
Turn
When a turn designation is made, a signal can be output for turning to the peripheral
conveyor.
Data 1
This enables setting of flag for internal use inside the robot.
In case of multi-row pick, it shows number of rows.
In case of multi-place, it shows number of picks.
Data 2
This enables setting of flag to be sent to PLC.
In case of multi-row pick, it shows end of row.
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