Okura Yusoki A Series Manual page 135

Step Position
Standard position
1
above station
Down position above
2
station
Pick up position
3
above station
Up position above
4
station
Standby position
5
above pallet
Position above
6
stacking position
Stacking position
7
Position above
8
stacking position
9 Position above
station
Using a standard movement pattern, programming is simplified by just inputting 3
positions data for step 2, 3, 7, and the movement distance data for other steps (D1,
D2, D3, and D4)
Characteristics of position
-Fixed regardless of the
layer and word
-Position above 2
-Fixed regardless of the
layer and word
-Fixed regardless of the
layer and word
-Position above 3
-Higher than either 1 or 5
-Position at angle above 6
-Distance from 6 is
determined by the case
height
-Position above 7
-Height is determined by
the carton box height
-Determined by the
stacking pattern
-Height varies for each
layer
-Position above 7
-Height is determined by
hand form
-Position above 2
-Height is greater than 1 or
8
7-3
Sequence
At start of
movement
Open hand 1, 2
Select program
Close hand 1, 2
Standby during
pallet discharge
Standby if there
is no pallet
Open hand 2
Open hand 1
Check for
Update layer
completion of and work
counter
stacking for one
pallet
At end of
movement