Okura Yusoki A Series Manual page 22

value from reference program. D3L is D3 (Standard value which used
by robot controller) minus product height. For bag application, robot
decent until height is Step 5 (MOV5) plus [Step 7(Mov7) + Product
height + D3L] then drop the bag. Normally set the D3L value "0."
Inching rise distance above pallet (D4L):
During operation the robot moves from Step 7 (MOV7) to Step 8
(MOV8), during the move the robot moves vertically by a fixed distance
referred to as "D4." After moving vertically the robot will move laterally
to the next position. If D4 is not high enough, the robot will interfere
with existing product on the load. D4L set here is equal to D4 minus
the product height. Depending upon the shape of the end effctor, end
effector doesn't need to rise up to the position calculated with D4L to
possibly clear the products. In this case, a new inching rise distance not
to interfere is re-calculated automatically from the shape and the
product. On De - palletizing, the distance isn't calculated as product is
gripped to rise off the pallet.
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