Tool Digital Outputs - Universal Robots E Series Original Instructions Manual

6. Electrical Interface
1. In the Header, tap Installation.
2. In the list on the left, tap General.
3. Tap Tool IO and select Dual Pin Power.
4. Connect the wires Power (gray) to TO0 (blue) and Ground (red) to TO1 (pink).
NOTE
Once the robot makes an Emergency Stop, the voltage is set to 0V for
both Power Pins (power is off).

6.8.4. Tool Digital Outputs

Digital Outputs support three different modes:
Mode
Sinking (NPN)
Sourcing (PNP)
Push / Pull
Access Tool I/O in the Installation Tab (see
configure the output mode of each pin. The electrical specifications are shown below:
Parameter
Voltage when open
Voltage when sinking 1A
Current when sourcing/sinking
Current through GND
*Peak for max 1 second, duty cycle max: 10%. Average current over 10 seconds must not
exceed typical current.
NOTE
Once the robot makes an Emergency Stop, the Digital Outputs (DO0 and
DO1) are deactivated (High Z).
User Manual
Active
Low
High
High
part Part II PolyScope Manual on
Min Typ
-0.5 -
- 0.08
0 1000
0 1000
51
Inactive
Open
Open
Low
page 97) to
Max Unit
26 V
0.09 V
1000 mA
3000* mA
UR5e