Using The Tool Digital Outputs; Tool Digital Inputs - Universal Robots UR3/CB3 Original Instructions 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.
Note: It is highly recommended to use a protective diode for inductive loads, as shown below.

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.
Version 3.10
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
Min Typ Max
-0.5 - 26
- 0.05 0.20
0 - 600
0 - 600
POWER
TO0
POWER
TO0
Min Typ Max
-0.5 - 26
- - 2.0
5.5 - -
- 47k -
I-43
Unit
V
V
mA
mA
Unit
V
V
V
UR3/CB3