UFactory XARM User Manual page 45

There are 12 pins inside the cable with different colors, each color
represents different functions, please refer to the following table:
Pin sequence
1
2
3
4
5
6
7
8
9
10
11
12
The electrical specifications are as follows:
Parameter
Supply Voltage in 24V Mode
Supply Current *
Note: * It is strongly recommended to use a protection diode for inductive loads.
2.4.1. Digital Output
The digital output is implemented in the form of NPN with an open
Color
Brown
Blue
White
Green
Pink
Yellow
Black
Grey
Red
Purple
Orange
Light Green
Min. Value
-
-
Make sure that the connecting tool and the gripper do
not cause any danger when the power is cut, such as
dropping of the work-piece from the tool.
Tool Output 0 （TO0）
Tool Output 1 （TO1）
Tool Input 0 （TI0）
Tool Input 1 （TI1）
Analog input 0 (AI0)
Analog input 1 (AI1)
Typical Value Max. Value
24
- 1800
45
Signal
+24V（Power）
+24V（Power）
0V (GND)
0V (GND)
User 485-A
User 485-B
Unit
30 V
mA