Okura Yusoki A Series Manual page 168

11.1.2. Palm direction above conveyor
<Left side, Right side>
This is direction of gripping at station. The view direction is along flow line of product
from upper conveyors.
The palm of EE located at either left side or right side to be set.
<Auto>
Which case is higher robot speed, left-side or right side is automatically chosen
depending on the required rotation angles of T-axis.
Auxiliary palm:
If the end-effector has a side vacuum or fingers etc., the palm in the side which
moves is called the auxiliary palm. Normally, the right palm becomes the auxiliary
palm.
If the "Synchronized palm" is set to "YES" in "Hand (end effector) dialog box, the
descent position above the station (Step 2) and the pick-up position above the
station (Step 3) are generated at the same position.
If the "Synchronized palm" is set to "NO", Step 3 is generated at the position where
the hand (end effector) has closed. At this time, calculation is conducted taking the
right palm is the moving side and the left palm as the fixed side.
Note
Auxiliary palm: Palm with vacuum or finger or moving palm calls Auxiliary
palm or support palm.
Right palm: When robot is the home position and looking from behind of the
robot, right side the palm calls "Right palm" and left side palm calls "left
palm."
11-4