Okura Yusoki A Series Manual page 174

11.2.6. Collide check (Apr)
"Need": OXPA-QmV checks whether the end effector and/or products of all the
approach direction collides with the already stacked products on the pallet at
"Stacking sequence modification" screen.
"No need": OXPA-QmV does not check.
Collided During approaching
Already stacked Just set down
Fig. The products is on the adjunct appliance side
The stacking sequence shown above is rejected with bellow message.
If the end-effector type is "For Bag", OXPA-QmV does not check.
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