Okura Yusoki A Series Manual page 106

Type:
Type designates the hand (end effector) type that is being used. Each type of hand
(end effector), carton box, bag or vacuum requires distinct information so that the
calculations of the pick and set down are correct. Different hands (end effector) are
used for different stacking situations and the positions of the products differ on how
they actually positioned relative to the robot.
The carton box hand (end effector) clamps the product between two paddles. The
carton box hand (end effector) regularly uses vacuum assist to give additional
support to the product.
The bag hand (end effector) is the hand (end effector) that has two claw type
mechanisms that fit between conveyor rollers and close beneath the bag.
The vacuum hand (end effector) is the hand (end effector) that has a single
horizontal surface with multiple vacuum cups.
Finger (with/without):
Some carton box hand (end effector) use forks that go between the rolls on the case
conveyor like the bag hand (end effector). Selected whether or not, there are fingers
on the hand (end effector).
Synchronized palm:
When a hand (end effector) opens and closes the palms are either synchronized
(move symmetrically and together) or none synchronized (where is only single palm,
only one of the palms move or move asymmetrically). If the left and right palms
move by the same distance when the hand opens and closes, set "Synchronized
palm" to "YES." If a palm on one side is fixed, set "Synchronized palm" to "NO."
When "Synchronized palm" is set to "NO", the right palm is assumed to be the
auxiliary palm. Steps 2 and 3 are automatically generated.
Note
calls Auxiliary palm or support palm.
Right palm: When robot is the home position and looking from behind of the
robot, right side the palm calls "Right palm" and left side palm calls "left palm."
Auxiliary palm: Palm with vacuum or finger or moving palm
6-14