Tool Digital Outputs - Universal Robots UR3/CB3 User Manual

The internal power supply can be set to either 0V, 12V or 24V at the I/O tab the GUI,
see part II. The electrical specifications are shown below:
The following sections describe the different I/O's of the tool.

5.4.1 Tool Digital Outputs

The digital outputs are implemented as NPN. When a digital output is activated the
corresponding connection is driven to GND, and when it is deactivated the corre-
sponding connection is open (open-collector/open-drain). The electrical specifications
are shown below:
UR3/CB3
Color
Red
Gray 0V/+12V/+24V (POWER)
Blue Digital output 8 (DO8)
Pink Digital output 9 (DO9)
Yellow Digital input 8 (DI8)
Green Digital input 9 (DI9)
White Analog input 2 (AI2)
Brown Analog input 3 (AI3)
Parameter
Supply voltage in 24V mode
Supply voltage in 12V mode
Supply current in both modes
DANGER:
1. Connect tools and grippers such that an interruption of power
does not create any hazards, e.g., a work-piece falling out of the
tool.
2. Take care when using 12V, since an error made by the program-
mer can cause the voltage to change to 24V, which might dam-
age the equipment and cause a fire.
NOTE:
The tool flange is connected to GND (same as the red wire).
I-42
Signal
0V (GND)
Min Typ Max
- 24 -
- 12 -
- - 600
5.4 Tool I/O
Unit
V
V
mA
Version 3.3.3