Okura Yusoki A Series Manual page 97

6.3.7.1. Inclined motion
You can get a short cut path with improved 'Inclined motion'. End-effector never
collides with equipment of the station/pallet conveyor. See the followings about how
it works.
* Station is high, and pallet is low
High station
(4)
(9)
(4)
Arm moves horizontally
* Arm moves horizontally
End-effector never collides with equipment of the station conveyor.
Arm moves horizontally
(10)
(11)
(10)
(5)
(8)
(5)
(6)
(7)
6-15
(8)
(5)
(6)
(7)