Digital Outputs - Universal Robots UR5 User Manual

This connector provides power and control signals for basic grippers and sen-
sors, which may be present on a specific robot tool. This connector can be used
to reduce wiring between the tool and the controller box. The connector is a
standard Lumberg RSMEDG8, which mates with a cable named RKMV 8-354.
Note that the tool flange is connected to GND (same as the red wire).
Internal Power Supply Specifications
Supply voltage in 24V mode
Supply voltage in 12V mode
Supply current in both modes
Short-circuit current protection
Capacitive load
The available power supply can be set to either 0V, 12V or 24V at the I/O tab in
the graphical user interface (see section ??).
The internal control system will generate an error to the robot log if the current
exceeds its limit. The different I/Os at the tool is described in the following three
subsections.

3.4.1 Digital Outputs

Voltage when open
Voltage when sinking 1A
Current when sinking
Current through GND
The digital outputs are implemented so that they can only sink to GND (0V)
and not source current. When a digital output is activated, the corresponding
connection is driven to GND, and when it is deactivated, the corresponding
connection is open (open-collector/open-drain). The primary difference be-
tween the digital outputs inside the controller box and those in the tool is the
reduced current due to the small connector.
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Color
Red 0V (GND)
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
Inductive load
WARNING:
1. Take care when using 12V. An error made by the pro-
grammer can cause a voltage change to 24V, which may
damage the equipment and start a fire.
Parameter
Switch time
38
Signal
Min Typ Max
TBD 24 TBD
TBD 12 TBD
- - 600
- 650 -
- - TBD
- - TBD
Min Typ Max Unit
-0.5 - 26
- 0.05 0.20
0 - 1
- - 1
- 1 -
3.4. Tool I/O
Unit
V
V
mA
mA
uF
uH
V
V
A
A
ms
UR5