Okura Yusoki A Series Manual page 108

Length:
For clamp style (carton box) hands (end effectors) set length to the widest
paddle/palm length. For finger style (bag or fork) hand (end effectors) set the length
to the finger mounting frame length. For vacuum style hand (end effector) set the
length to vacuum cup diameter or flame length for vacuum attachment.
Opened width:
This dimension is used to verify that the product is not too large during pattern
creation. Set the dimension between paddles/palms when they are fully spread open.
You can set this only for carton box product.
Closed width:
This dimension is used to verify that a product is not too small during pattern
creation. Set the dimension between paddles/palm when the paddles are closed. You
can set this only for carton box product.
T offset (C):
On synchronized palms "C" is the distance from the center of the hand (end effector)
mounting flange holes to the center of the palms.
On non synchronized palms "C" is the distance from the center of the hand (end
effector) mounting flange to the fixed paddle.
T offset (D):
The hand (end effector) generally does not close in this direction. In most cases "D"
is the distance from the center of the hand (end effector) mounting flange holes to
the actual center of the hand (end effector) relative to how it needs to center over
product.
+
C
Center of T-axis
-
Right palm
+
D -
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