Okura Yusoki A Series Manual page 184

1. Intersect point of HX and HY:
The position of the station is referenced in "Hand coordinates." This allows the
installer to measure directly form the center of the robot in Hx and Hy directions and
from the floor with reference to the robot base casting for the Hz direction.
2. Station conveyor direction:
In order for OXPA-QmV to understand if the product is traveling from the robot's left
to right and contacting the fixed stop or traveling from the robot's right to left and
contacting the fixed stop the station angle(Hα) is also critical to correct positioning.
3. The station angle (Ht also referred to as Hα) is determined by the combination of
the product travel direction and the + direction of the robot's Hx-axis. The set the
station angle to clockwise (with minus) or counter-clockwise (with plus).
Note
Unused station conveyors can not select or register the origin point.
Note
12-2