Okura Yusoki A Series Manual page 107

STA-HLD:
The auxiliary palm is aligned with one side of the station conveyor during pick up.
With fixed pick up, the auxiliary palm will be aligned with the side of the station as
selected in this field.
The right side of the station is referenced as if the programmer were sitting on the
product as it contacted the product stop. The station conveyor right would be the
programmer's right. The station conveyor left would be the programmer's left.
Colliding Check (Pallet):
Depending on the type of hand (end effector), the amount of carton boxes being
picked, and the existing products previously stacked on the pallet, the hand (end
effector) may collide with those products or pallet stop. Check this box if colliding is
possible and OXPA needs to reject pattern configurations which would causes hand
(end effector) damage.
When this box is checked, less option for the pallet will be available.
Colliding Check (Station):
Depending on the type of hand (end effector), the amount of carton box being picked,
and the station conveyor configuration, the hand (end effector) may collide with the
fixed stop on the station conveyor. Check this box if colliding is possible and OXPA
needs to reject configurations which would cause hand (end effector) damage.
Remarks:
On vacuum hand (end effector) this box is not checked.
On carton box or bag hand (end effector) this box usually checked
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