Okura Yusoki A Series Manual page 94

Select the planer position for step 5 height is equal to step 4 height.
Not use step 10
Standard
4
Use step 10
Standard
4
Note
If station conveyor is higher than pallet and end effector hits the station
conveyor during stacking, select step 4 or use step 10.
Step 4
4
5
Step 4
10 4
5
6-12
5
5,10