Okura Yusoki A Series Manual page 179

11.2.20. First finger:
To calculate the position of the fingers, OXPA-QmV needs a position of the fingers
relative to the length of the paddle. The first finger distance is measured from the
end of the paddle or finger mount (front of the hand (end effector) to the center of
the first finger.
11.2.21. Height
For a hand (end effector) without fingers, set the height to the distance from the
hand (end effector) mounting flange surface to the tip of the palm or bottom of
vacuum cup. For a hand (end effector) with fingers, set the height to the distance
from the hand (end effector) mounting flange surface to the top of the fingers when
closed.
11.2.22. Frame depth:
For carton box and bag hand (end effector) the frame depth is used in calculation to
prevent the hand (end effector) form interfering with the product when it is
straddling it during pick up. The distance is measured form the hand (end effector)
mounting flange surface to the bottom of cylinders or brackets which would interfere
with the paddle or fingers from closing on the product. For bag hand (end effector)
does not have this function. For vacuum hand (end effector) enter hand height.
For vacuum hand (end effector) the frame depth is used in calculations to account
for the collapse of vacuum cups. The frame depth is the distance from the hand (end
effector) mounting flange surface to the bottom of vacuum cups when the hand (end
effector) is under vacuum holding onto product.
If you are using a carton box type hand (end effector) with paddle and height of the
paddle is relatively short, you may have to adjust the pick-up position height
because of the tolerances that are build into the OXPA-QmV calculation (depending
on the height of the handle article).
The distance required to avoid interference between the hand (end effector) and the
product during pick up is automatically added to the pick-up height at the station.
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