Okura Yusoki A Series Manual page 111

Palm/CV- top gap:
This is used to determine the minimum value for palm clearance to the station
conveyor. For a hand (end effector) with no fingers, set the distance to the value
needed between the station conveyor top surface and the bottom edge of the palm
when the hand (end effector) grasps the product.
The distance typically used with clamp hand (end effector) is +20mm.
For a hand (end effector) with fingers, set the distance to the value needed between
the station conveyor top surface and the top of the fingers (when fingers are closed).
Normally the set value is signed +/-, plus for a hand (end effectors) without fingers
and minus for a hand (end effector) with fingers.
The distance typically used with bag hands (end effectors) is -10mm.
Palm/Pallet gap:
This is used to determine the minimum value for palm clearance to the pallet. For a
hand (end effector) with no fingers, set the distance to the value needed between
the pallet top surface and the bottom edge of the palm when the hand (end effector)
grasps the product.
The distance typically used with clamp hand (end effector) is +20mm.
For a hand (end effector) with fingers, set the distance to the value needed between
the pallet top surface and the top of the fingers (when fingers are closed).
The distance typically used with bag hand (end effector) is +40mm.
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