Tool Digital Inputs; Tool Analog Input - Universal Robots e Series User Manual

It is recommended to use a protective diode for inductive loads, as shown below.

5.7.3 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.
Using the Tool Digital Inputs
This example illustrates connecting a simple button.

5.7.4 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 part II). The electrical specifications are shown below.
UR5e/e-Series
Parameter
Input voltage
Logical low voltage
Logical high voltage
Input resistance
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
POWER
TO0
POWER
TO0
Min Type Max
-0.5 - 26
- - 2.0
5.5 - -
- 47k -
POWER
TI0
Min Type
-0.5 -
- 10.7
- 12
-0.5 -
-2.5 -
- 182
- 12
I-46
5.7 Tool I/O
Unit
V
V
V
Ω
Max Unit
26 V
- kΩ
- bit
5.0 V
25 mA
188
Ω
- bit
Version 5.4