Okura Yusoki A Series Manual page 172

11.2.2. Finger (with/without)
Some carton box hand (end effector) use forks that go between the rolls on the case
conveyor like the bag hand (end effector). Selected whether or not, there are fingers
on the hand (end effector).
11.2.3. Synchronized palm
When a hand (end effector) opens and closes the palms are either synchronized
(move symmetrically and together) or none synchronized (where is only single palm,
only one of the palms move or move asymmetrically). If the left and right palms
move by the same distance when the hand opens and closes, set "Synchronized
palm" to "YES." If a palm on one side is fixed, set "Synchronized palm" to "NO."
When "Synchronized palm" is set to "NO", the right palm is assumed to be the
auxiliary palm. Steps 2 and 3 are automatically generated.
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."
11.2.4. Auxiliary palm
The auxiliary palm is aligned with one side of the station conveyor during pick up.
With fixed pick up, the auxiliary palm will be aligned with the side of the station as
selected in this field.
The right side of the station is referenced as if the programmer were sitting on the
product as it contacted the product stop. The station conveyor right would be the
programmer's right. The station conveyor left would be the programmer's left.
11-8