Okura Yusoki A Series Manual page 83

If dropping form above is designated, LOD position will shift up the distance defined
as D3. Dropping from above function is able to use for only Bag palletizing.
Pickup direction
This is effective only when variable pick-up is designated. 0 or 2 can be selected.
Depending on the selection, the STA and HLD step position are designated in the
following way.
0: Position storage position above station
2: 180 degrees inverted storage position above station
Pickup quantity
This designates the value for incrementing or decrementing the stacking counter.
This is set so that counter value and stacking quantity match when handling more
than one work.
APR direction (Approach direction)
This designates the position relationship between an APR step and an LOD step.
Normally D2X and D2Y in program parameters match the sign of pallet coordinates,
in this case, the APR direction becomes 0, by selecting 1, 7, it is possible to shift the
positional relationship in the direction on the screen.
Turn
When a turn designation is made, a signal can be output for turning to the peripheral
conveyor.
Data 1
This enables setting of flag for internal use inside the robot. In multi-place, the grip
number is contained. (The initial value is 0; values 0 - 7 can be input).
Data 2
This enables setting of flag to be sent to PLC. In multi-place, the release number is
contained. (The initial value is 0; values 0 - 7 can be input).
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