Okura Yusoki A Series Manual page 109

First finger:
To calculate the position of the fingers, OXPA needs a position of the fingers relative
to the length of the paddle. The first finger distance is measured from the end of the
paddle or finger mount (front of the hand (end effector) to the center of the first
finger.
Finger position
Interference gap:
Normally, most palletizing requires no gap between products. When the clamp style
hand (end effector) is used, the smooth paddle (around 6mm thick) is required to
stay between carton boxes leaving a normal gap. If this gap is required to be large
due to a thick paddle, the OXPA-QmII calculations must take it into consideration.
Input the more than the thickness of palm for Carton box hand (end effector). For
Bag hand it able to input "0" because bag hand (end effector) is able to drop from
above.
Height (Hand height):
For a hand (end effector) without fingers, set the height to the distance from the
hand (end effector) mounting flange surface to the tip of the palm or bottom of
vacuum cup. For a hand (end effector) with fingers, set the height to the distance
from the hand (end effector) mounting flange surface to the top of the fingers when
closed.
Frame depth:
For carton box and bag hand (end effector) the frame depth is used in calculation to
prevent the hand (end effector) form interfering with the product when it is
straddling it during pick up. The distance is measured form the hand (end effector)
mounting flange surface to the bottom of cylinders or brackets which would interfere
with the paddle or fingers from closing on the product. For bag hand (end effector)
does not have this function. For vacuum hand (end effector) input the hand height.
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