Okura Yusoki A Series Manual page 180

11.2.23. Palm/CV- top gap:
This is used to determine the minimum value for palm clearance to the station
conveyor. For a hand (end effector) with no fingers, set the distance to the value
needed between the station conveyor top surface and the bottom edge of the palm
when the hand (end effector) grasps the product.
The distance typically used with clamp hand (end effector) is +20mm.
For a hand (end effector) with fingers, set the distance to the value needed between
the station conveyor top surface and the top of the fingers (when fingers are closed).
Normally the set value is signed +/-, plus for a hand (end effectors) without fingers
and minus for a hand (end effector) with fingers.
The distance typically used with bag hands (end effectors) is -10mm.
11.2.24. Palm/Pallet gap:
This is used to determine the minimum value for palm clearance to the pallet. For a
hand (end effector) with no fingers, set the distance to the value needed between
the pallet top surface and the bottom edge of the palm when the hand (end effector)
grasps the product.
The distance typically used with clamp hand (end effector) is +20mm.
For a hand (end effector) with fingers, set the distance to the value needed between
the pallet top surface and the top of the fingers (when fingers are closed).
The distance typically used with bag hand (end effector) is +40mm.
11.2.25. Interference gap:
Normally, most palletizing requires no gap between products. When the clamp style
hand (end effector) is used, the smooth paddle (around 6mm thick) is required to
stay between carton boxes leaving a normal gap. If this gap is required to be large
due to a thick paddle, the OXPA-QmV calculations must take it into consideration.
Enter the more than the thickness of palm for Carton box hand (end effector). For
Bag hand it able to enter "0" because bag hand (end effector) is able to drop from
above.
11.2.26. Pad to prd-edge
Possible to enter only for Depal EE. Enter distance between EE center and edge of
product.
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