Digital Inputs; Analog Inputs - Universal Robots UR5 with CB2 User Manual

2.5. Tool I/O
Note that the digital outputs in the tool are not current limited and overriding
the specified data can cause permanent damage.
To illustrate clearly how easy it is to use digital outputs, a simple example is
shown.
Using Digital Outputs
This example 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 (see section 3.3.2). Keep in mind that there is voltage between the
POWER connection and the shield/ground, even when the load is turned off.

2.5.2 Digital Inputs

Logical low voltage
Logical high voltage
Input resistance
The digital inputs are implemented with weak pull-down resistors. This means
that a floating input will always read low. The digital inputs at the tool are imple-
mented in the same way as the digital inputs inside the control box.
Using Digital Inputs
The above example shows how to connect a simple button or switch.

2.5.3 Analog Inputs

The analog inputs at the tool are very different from those inside the control box.
The first ting to notice is that they are non-differential, which is a drawback com-
pared to the analog inputs at the controller I/O. The second thing to notice is
that the tool analog inputs have current mode functionality, which is an advan-
tage compared with the controller I/O. The analog inputs can be set to different
input ranges, which are implemented in different ways, and therefore can have
different offset and gain errors.
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Parameter Min
Input voltage -0.5
5.5
31
Typ Max Unit
- 26 V
- - 2.0 V
- - V
- 47k -
Ω
UR5