Analog Outputs - Universal Robots UR10 User Manual

Signal Communication with other Machinery or PLCs
DO0 DO1 DO2 DO3 DO4 DO5 DO6 DO7 24V 24V
GND GND GND GND GND GND GND GND DI0 DI1
If communication with other machinery or PLCs is needed they must use pnp
technology. Remember to create a common GND connection between the
different interfaces. An example where two UR robots (A and B) are communi-
cating with each other is illustrated above.

2.4.3 Analog Outputs

Valid output voltage in current mode
Valid output current in voltage mode
Short-circuit current in voltage mode
Output resistance in voltage mode
The analog outputs can be set for both current mode and voltage mode, in
the range of 4-20mA and 0-10V respectively.
To illustrate clearly how easy it is to use analog outputs, some simple exam-
ples are shown.
Using the Analog Outputs
This is the normal and best way to use analog outputs. The illustration shows
a setup where the robot controller controls an actuator like a conveyor belt.
The best result is accomplished when using current mode, because it is more
immune to disturbing signals.
Using the Analog Outputs, Non-Differential Signal
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A
24V 24V 24V 24V 24V 24V
DI2 DI3 DI4 DI5 DI6 DI7
Parameter
24
2.4. Controller I/O
B
DO0 DO1 DO2 DO3 DO4 DO5 DO6 DO7 24V 24V
GND GND GND GND GND GND GND GND DI0
Min Typ Max
0 - 10
-20 - 20
- 40 -
- 43 -
24V 24V 24V 24V 24V 24V
DI1 DI2 DI3 DI4 DI5 DI6 DI7
Unit
V
mA
mA
ohm
UR10