Okura Yusoki A Series Manual page 74

5.4.1. The rear product first place
When multi-placed, stacking order and/or stacking direction may be needed to edit.
At stacking order/attribute edit, stacking order, multi-pick, turning, approach
direction, product direction, picking direction and drop high for bag can be setup.
However, picking direction can be changed only when it is set to variable.
If the end-effector is a double hand for rice bags (see the below), you can choose
the placing order like the front work first or the rear work first.
Note : The double hand for rice bags
Two bags are gripped at the same time as shown in the figure below.
The end-effector can separately place the front work and the rear work
Station conveyor
The double hand for rice
Front Rear
Station conveyor position
5-16
You can choose,
The front work first
The rear work first