Okura Yusoki A Series Manual page 114

Palm direction above conveyor:
By the default hand (end effector) is required to have a standard position above the
pick up direction. Then hand (end effector) paddles are always set parallel to flow to
be prepared to pick up the product. The palm direction above conveyor dictates if the
right of left palm will be on the right or left side of the station conveyor (Facing the
fixed stop on the station).
Auxiliary palm:
If the hand (end effector) has a side vacuum or fingers etc., the palm in the side
which moves is called the auxiliary palm. Normally, the right palm becomes the
auxiliary palm.
If the "Synchronized palm" is set to "YES" in "Hand (end effector) dialog box, the
descent position above the station (Step 2) and the pick-up position above the
station (Step 3) are generated at the same position.
If the "Synchronized palm" is set to "NO", Step 3 is generated at the position where
the hand (end effector) has closed. At this time, calculation is conducted taking the
right palm is the moving side and the left palm as the fixed side.
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."
Turn direction:
If a turning device is used to rotate each product 90 degrees on the station conveyor,
the station conveyor, the "Turn direction" field is used. Select if the product will be
turned clockwise or counter-clockwise.
Minimum gap:
This is used to prevent the hand (end effector) colliding to fixed stop on the end of
conveyor. Input the minimum distance between edge of the palm and fixed stop on
the end of conveyor to this field. Setting value is from 1mm to 31mm. When you
input "0" minimum gap will be 20mm. Because old version of robot controller setting
the 20mm when OXPA-QmII minimum gap is "0."
Auxiliary palm: Palm with vacuum or finger or moving palm
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