Universal Robots UR12e User Manual page 69

7. Installation
7.5.2. Using the I/O Tab
Description Use the I/O Tab screen to monitor and set the live I/O signals from/to the Control Box.
The screen displays the current state of the I/O, including during program execution. The
program stops if anything is changed during execution. At program stop, all output
signals retain their states. The screen updates at 10Hz, so a very fast signal might not
display properly.
Configurable I/Os can be reserved for special safety settings defined in the safety I/O
configuration section of the installation (see I/O); those which are reserved will have the
name of the safety function in place of the default or user defined name.
Configurable outputs that are reserved for safety settings are not togglable and will be
displayed as LED's only.
Voltage When the Tool Output is controlled by the user, you can configure Voltage. Selecting a
URCap removes access to Voltage.
Analog The analog I/O's can be set to either current [4-20mA] or voltage [0-10V] output. These
Domain settings are persistent over restarts of the robot controller and saved in the installation.
Settings Control over the tool I/Os could be assigned to a URCap in Tool I/O of the Installation tab.
Selecting a URCap removes user's control over tool's analog I/O.
User Manual 70 UR12e