Okura Yusoki A Series Manual page 153

10.11.3.3. Case of moving P-5-7
Ex. T-axis values are
P (Pick-up position)
5 (Step 5)
7 (Step 7)
Red line describes the case at the check box OFF. Spinning P to 5 CW is shorter
direction than CCW. T-axis spins -60 to -210, as spinning -60 to +150 is longer.
To go to 7 from 5, not-shorter direction CCW is to be chosen as T-axis can not spin
-210 to -230 because of the soft limit.
T-axis never ever spins beyond the soft limit -220.
Then, T-axis eventually spins unwontedly, like T-axis to spin -210 to +130.
When the check box is ON, T-axis spins CCW -60 to +130 along blue line to prevent
from unwanted spinning as a result of the OXPA-QmV logic improvement.
First, OXPA-QmV changes the robot controlling basic logic.
Second, T-axis spins from 5 (+150) to 7 (+130).
-60
+150
+130
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