IAI America RCLE-GR5L - Manual (Page 39)

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13. Option
13.1 Position Sensor
Ɣ Example of using the position sensor Ɣ Sensor Wiring List
<Detection of Close, Hold and Open>
B sensor turns ON while the power is OFF (fingers are closed) and A turns ON when the power is
ON (fingers are fully open).
Both sensors A and B are ON while the work part is being held.
Thus, only the B sensor turns ON when a failure is occurs in holding the work part.
[mm]
Closed End Open End
Finger Stroke
Combinations of signals
Sensor Output
Finger Position
A B
Closed End OFF ON
Middle ON ON
Open End ON OFF
Wire Color Signal Name
BR 24V
BL 0V
BK Detection Signal
* Since there are 2 sensor units
to be used, there will be 2
codes for each signal in the
harness.
Position Sensor
Position Sensor
Finger Attachment
Stroke on one side : 3mm
BR
BL
BK
BR
BL
BK