Universal Robots e Series Hardware Manual page 48

Mode
Sinking (NPN)
Sourcing (PNP)
Push / Pull
Access Tool I/O in the Installation Tab (see part ) to 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).
CAUTION
The Digital Outputs in the tool are not current-limited. Overriding the specified data
can cause permanent damage.
Using Tool Digital Outputs
This example illustrates turning on a load using the internal 12V or 24V power supply. The output
voltage at the I/O tab must be define. There is voltage between the POWER connection and the
shield/ground, even when the load is turned off.
It is recommended to use a protective diode for inductive loads, as shown below.
UR5e
Active
Low
High
High
Min Typ
-0.5 -
- 0.08
0 1000
0 1000
POWER
TO0
48
4. Electrical Interface
Inactive
Open
Open
Low
Max Unit
26 V
0.09 V
1000 mA
3000* mA
Hardware Manual