Basic HTML Version
POSITION ENCODER BOARD ASSEMBLY
A-20533
Load 1
(moves hand left and right)
J1-1 Gray-Yellow, +12V
J1-2 Black, ground
J1-3 Key
J1-4 Green-Violet,
SW.
col. 7
J1-5 White-Yellow,
SW.
row 4
J1-6 White-Green,
SW.
row 5
R2
R1
680 1/2W
R2
I
Rl
I
OPT01
II
I
II
I
OPT02
CIT)
=EEj=
~
Load 2
(moves hand in and out)
J1-1 Gray-Yellow, +12V
J1-2 Black, ground
J1-3 Key
J1-4 Green-Violet,
SW.
col. 7
J1-5 White-Blue,
SW.
row 6
J1-6 White-Violet,
SW.
row 7
C1
--"
lO.lu
•
01
R3
2.2K
8
03
02
§)
2N3904
R4
2.2K
All diodes are 1N4148.
HAND MOTORS CIRCUIT
680 1/2W
r-
BLU-GRY SOL.
24 Y MOTOR ENABLE
'1
J1
J21
J126 8
BLU-BLK SOL.
22 X MOTOR ENABLE
BLU-GR~;Q
6
BLU-VIO SOL.
23 Y MOTOR DIRECTION
3
7
BLU GRN SOL.
21 X MOTOR DIRECTION
5 DUAL RELAY MOTOR
5
7 DRIVER BOARD
4
RED-GRN
'--
~
POWER DRIVER BOARD
G
J107 6
RED-WHT +20V
11
J3 ".---
RED-"O~
Jl18W
GRY-YEL +12V
4
BLU-VIO
tlLK
GR UNC
Jl13
10
~
J
'--
GRY-YEL +12V
BLK
GROUND
J207 7 GRN-VIO COL. 7
J211
CPU BOARD
'------
l
J1
2
LOAD 1
r-
4
POSITION
J209 5 WHT-YEL ROW 4
5
ENCODER
'1
J1 LOAD 2
WHT-GRN ROW 5
6
BOARD
~
6
-
~
2
POSITION
7 WHT-Rill
ROW 6
4
ENCODER
8
WHT-VIO ROW 7
~
BOARD
'--
~
LOAD 1 - X MOTOR
Moves hand left & right
LOAD 2 - Y MOTOR
Moves hand in & out.
3-21