Universal Robots UR12e User Manual page 100

7.11.7. Tool Digital Outputs
Description Digital Outputs support three different modes:
Mode
Sinking (NPN)
Sourcing (PNP)
Push / Pull
Access Tool I/O in the Installation Tab 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
Using Tool This example illustrates turning on a load using the internal 12V or 24V power supply. The
Digital output voltage at the I/O tab must be define. There is voltage between the POWER
Outputs 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.
UR12e
NOTICE
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.
Active
Low
High
High
Min Typ
-0.5
- 0.08
0 600
0 1000
POWER
TO0
POWER
TO0
101
Inactive
Open
Open
Low
Max Unit
- 26
0.09
1000 mA
3000* mA
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