Tool Analog Inputs; Tool Communication Interface; Configuring The Tool Communication Interface (Tci); Digital Output Mode - Universal Robots E Series Original Instructions Manual

24. Installation Tab
1. Tap the Installation tab and under General, tap Tool I/O
2. Under I/O Interface Control, select User to access the Tool Analog Inputs and/or Digital
Output Mode settings. Selecting a URCap removes access to the Tool Analog Inputs and the
Digital Output Mode settings.
NOTE
If a URCap controls an end-effector, such as a gripper, then the URCap requires
control of the Tool IO Interface. Select the URCap in the list, to allow it to control
the Tool IO Interface.

24.10. Tool Analog Inputs

24.10.1. Tool Communication Interface

The Tool Communication Interface (TCI) enables the robot to communicate with an attached tool
via the robot tool analog input. This removes the need for external cabling.
Once the Tool Communication Interface is enabled, all tool analog inputs are unavailable.

24.10.2. Configuring the Tool Communication Interface (TCI)

1. Tap the Installation tab and under General tap Tool I/O.
2. Select Communication Interface to edit TCI settings.
Once the TCI is enabled, the tool analog input is unavailable for the I/O Setup of the
Installation and does not appear in the input list. Tool analog input is also unavailable for
programs as Wait For options and expressions.
3. In the drop-down menus under Communication Interface, select required values.
Any changes in values are immediately sent to the tool. If any installation values differ from
what the tool is using, a warning appears.

24.11. Digital Output Mode

The tool communication interface allows two digital outputs to be independently configured. In
PolyScope, each pin has a drop-down menu that allows the output mode to be set. The following
options are available:
• Sinking: This allows the pin to be configured in an NPN or Sinking configuration. When the
output is off, the pin allows a current to flow to the ground. This can be used in conjunction
with the PWR pin to create a full circuit. See chapter five in the Hardware Installation
Manual .
• Sourcing: This allows the pin to be configured in a PNP or Sourcing configuration. When the
output is on, the pin provides a positive voltage source (configurable in the IO Tab). This can
be used in conjunction with the GND pin to create a full circuit.
User Manual 217 UR5e