Okura Yusoki A Series Manual page 21

Inching distance:
When the "D1, D2, D3, D4" button is clicked, the current inching distance is
displayed for the new program. When you need to change the value input values in
this field.
Depalletizers:
Turn on when you make the teaching program of De - Palletizing.
Note About inching distance
Inching rise distance above station (D1):
During operation the robot moves form Step 2 (MOV2) to Step4
(MOV4). During the move the robot moves vertically by a fixed distance
referred to as "D1." After moving vertically the robot will move laterally
to the next position. If D1 is not high enough, the robot will interfere
with peripheral equipment.
Standby position above pallet (D2zL):
If there is no pallet, the robot stands by at a slant and upwards form
the stacking position on the pallet. This position is called standby
position above the pallet. The data for the standby position above the
pallet gives the distance form the stacking position in pallet
coordinates. For D2zL, set the distance (minus the product height) from
D2 which is ordinarily used at the robot controller. If the standby height
is lower than the product height, D2zL will be a negative value. New
program uses reference program D2zL. In case of De - Palletizing, end
effector needs to wait at a preset height above the load on pallet so
that D2z of the standard program is used.
Inching descent distance above pallet (D3/D3L):
When the End effector includes auxiliary equipment such as vacuum
cups or finger support to assist in holding the product, the position of
Step6 (MOV6) is used to signal the release elements prior the set down
position. During the operation the robot moves from Step 6 (MOV6) to
Step 7(MOV7). During the move the robot moves vertically by a fixed
distance referred to as "D3L." After moving vertically the robot will
move laterally to the next position. If D3L is not high enough, the robot
will interfere with existing product on the load. For Carton box
application the robot use D3L, for bag application the robot gets D3L
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