Tool Communication I/O - Universal Robots E Series Original Instructions Manual

Using Tool Analog Inputs, Differential
This example shows an analog sensor connection with a differential output. Connecting
the negative output part to GND (0V), works in the same way as a nondifferential sensor.

6.8.7. Tool Communication I/O

• Signal requests The RS485 signals use internal fail-safe biasing. If the attached
device does not support this fail-safe, signal biasing must either be done in the
attached tool, or added externally by adding pull-up resistors to RS485+ and pull-
down to RS485-.
• Latency The latency of messages sent via the tool connector ranges from 2ms to
4ms, from the time the message is written on the PC to the start of the message on
the RS485. A buffer stores data sent to the tool connector until the line goes idle.
Once 1000 bytes of data have been received, the message is written on the device.
Baud Rates
Stop Bits
Parity
UR5e
9.6k, 19.2k, 38.4k, 57.6k, 115.2k, 1M, 2M, 5M
1, 2
None, Odd, Even
POWER
AI8
AI2
GND
54
6. Electrical Interface
User Manual