Universal Robots e Series Hardware Manual page 49

4. Electrical Interface
4.8.5. Tool Digital Inputs
The Digital Inputs are implemented as PNP with weak pull-down resistors. This means that a
floating input always reads as low. The electrical specifications are shown below.
Parameter
Input voltage
Logical low voltage
Logical high voltage
Input resistance
Using the Tool Digital Inputs
This example illustrates connecting a simple button.
4.8.6. Tool Analog Input
Tool Analog Input are nondifferential and can be set to either voltage (0-10V) or current (4-20mA)
on the I/O tab (see PolyScope). The electrical specifications are shown below.
Parameter
Input voltage in voltage mode
Input resistance @ range 0V to 10V
Resolution
Input voltage in current mode
Input current in current mode
Input resistance @ range 4mA to 20mA
Resolution
Two examples of using Analog Input are shown in the following subsections.
Hardware Manual
POWER
TO0
Min Type
-0.5 -
- -
5.5 -
- 47k
POWER
TI0
Min
-0.5
-
-
-0.5
-2.5
-
-
49
Max Unit
26 V
2.0 V
- V
- Ω
Type Max
- 26
10.7 -
12 -
- 5.0
- 25
182 188
12 -
Unit
V
kΩ
bit
V
mA
Ω
bit
UR5e