Okura Yusoki A Series Manual page 169

11.1.3. First roller:
Roller type requires the entering of roller information which allows OXPA-QmV to
program for fingers.
11.1.4. Roller pitch:
This is used when the station conveyor type is roller. This is the distance between the
rollers. The distance is assumed to be typical along all of the rollers.
11.1.5. Picking Fixed Distance
This is used for fixed position type of station. Distance between origin of station and
center of end effector is entered over here. Zero is to be entered to the picking fixed
distance in case product center is always required at the same as end effector center
whatever the product's shape changes like bags. Distance between EE center and
origin of station is to be entered when vacuum end effector picks one product up to
multiple ones at the exact same position.
11.1.6. Minimum gap
This is used to prevent the hand (end effector) colliding to fixed stop on the end of
conveyor. Enter the minimum distance between edge of the palm and fixed stop on
the end of conveyor to this field. Setting value is from 1mm to 999mm. When you
enter "0" minimum gap will be 20mm. Because old version of robot controller setting
the 20mm when OXPA-QmV minimum gap is "0."
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