Okura Yusoki A Series Manual page 79

Overlap
This designates the precision of the stop/pass range for this step.
There are five parameters FUL, HLF, QRT, ZRO and SPC, which increase in precision
in that order. However precision of the move coincides with the axis in system
parameters when SPC is selected.
CP/PTP
This designates the coordinate system for arm movement to this step.
In automatic operation, the R-axis and T-axis always move in their axis coordinates,
but for the D-axis and O-axis, this designation enables the following selections.
PTP: Movement in each axis coordinates (Arc)
CP: Movement in arm coordinates (Linear)
Auto: Automatically switch PTP and CP.
Coordinate standard (Coordinate basis)
This designates the coordinates for storage and position display of this step position.
The following selections are possible.
HND: Hand coordinates
PAL: Pallet coordinates
STA: Station coordinates
4-17