General Purpose Analog I/O - Universal Robots e Series Hardware Manual

4.4.6. General purpose analog I/O

The analog I/O interface is the green terminal. It is used to set or measure voltage (0-10V) or
current (4-20mA) to and from other equipment.
The following directions is recommended to achieve the highest accuracy.
• Use the AG terminal closest to the I/O. The pair share a common mode filter.
• Use the same GND (0V) for equipment and Control Box. The analog I/O is not galvanically
isolated from the Control Box.
• Use a shielded cable or twisted pairs. Connect the shield to the GND terminal at the terminal
called Power.
• Use equipment that works in current mode. Current signals are less sensitive to
interferences.
In the GUI you can select input modes (see PolyScope). The electrical specifications are shown
below.
Terminals
Analog Input in current mode
[AIx - AG]
[AIx - AG]
[AIx - AG]
Analog Input in voltage mode
[AIx - AG]
[AIx - AG]
[AIx - AG]
Analog Output in current mode
[AOx - AG]
[AOx - AG]
[AOx - AG]
Analog Output in voltage mode
[AOx - AG]
[AOx - AG]
[AOx - AG]
[AOx - AG]
Using an Analog Output
This example illustrates controlling a conveyor belt with an analog speed control input.
UR5e
Parameter Min
Current 4
Resistance -
Resolution -
Voltage 0
Resistance -
Resolution -
Current 4
Voltage 0
Resolution -
Voltage 0
Current -20
Resistance -
Resolution -
40
4. Electrical Interface
Typ Max Unit
- 20 mA
20 - ohm
12 - bit
- 10 V
10 - Kohm
12 - bit
- 20 mA
- 24 V
12 - bit
- 10 V
- 20 mA
1 - ohm
12 - bit
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