Tool Digital Inputs - Universal Robots UR3/CB3 User Manual

5.4 Tool I/O
An example of how to use a digital output is shown in the following subsection.
5.4.1.1 Using the Tool Digital Outputs
The example below illustrates how to turn on a load, when using the internal 12V
or 24V power supply. Remember that you have to define the output voltage at the
I/O tab. Keep in mind that there is voltage between the POWER connection and the
shield/ground, even when the load is turned off.

5.4.2 Tool Digital Inputs

The digital inputs are implemented as PNP with weak pull-down resistors. This
means that a floating input will always read low. The electrical specifications are
shown below.
An example of how to use a digital input is shown in the following subsection.
5.4.2.1 Using the Tool Digital Inputs
The example below shows how to connect a simple button.
Version 3.3.3
Parameter
Voltage when open
Voltage when sinking 1A
Current when sinking
Current through GND
CAUTION:
1. The digital outputs in the tool are not current limited and over-
riding the specified data can cause permanent damage.
Parameter
Input voltage
Logical low voltage
Logical high voltage
Input resistance
I-43
Min Typ Max Unit
-0.5 - 26
- 0.05 0.20
0 - 600 mA
0 - 600 mA
POWER
DO8
Min Typ Max Unit
-0.5 - 26 V
- - 2.0 V
5.5 - - V
- 47k -
POWER
DI8
V
V
UR3/CB3