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5.4 Tool I/O
The internal power supply can be set to either 0V, 12V or 24V at the I/O tab the GUI, see part II.
The electrical specifications are shown below:
Note: *It is highly recommended to use a protective diode for inductive loads
The following sections describe the different I/O's of the tool.
5.4.1 Tool Digital Outputs
The digital outputs are implemented as NPN. When a digital output is activated the correspond-
ing connection is driven to GND, and when it is deactivated the corresponding connection is
open (open-collector/open-drain). The electrical specifications are shown below:
An example of how to use a digital output is shown in the following subsection.
Version 3.11
Parameter
Supply voltage in 24V mode
Supply voltage in 12V mode
Supply current in both modes*
DANGER:
1. Connect tools and grippers such that an interruption of
power does not create any hazards, e.g., a work-piece falling
out of the tool.
2. Take care when using 12V, since an error made by the pro-
grammer can cause the voltage to change to 24V, which might
damage the equipment and cause a fire.
NOTE:
The tool flange is connected to GND (same as the red wire).
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
overriding the specified data can cause permanent damage.
Min
Typ
-
24
-
12
-
-
Min
Typ
Max
-0.5
-
26
-
0.05
0.20
0
-
600
0
-
600
I-39
Max
Unit
-
V
-
V
600
mA
Unit
V
V
mA
mA
UR5/e-Series
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