Universal Robots UR30 PolyScope X User Manual page 79

7. Electrical Interface
Tool Cable The Tool Cable Adapter is the electronic accessory that allows compatibility between the tool
Adapter I/O and e-Series tools.
1 Connects to the tool/end effector.
2 Connects to the robot.
The eight wires inside the Tool Cable Adapter have different functions, as listed in the table
below:
User Manual
WARNING
Connecting the Tool Cable Adapter to a robot that is powered on can lead to
injury.
•
Connect the adapter to the tool/end effector before connecting the
adapter to the robot.
•
Do not power on the robot if the Tool Cable Adapter is not connected
to the tool/end effector.
Pin #
1
2
3
4
5
6
7
8
GROUND
The tool flange is connected to GND (Ground).
Signal
AI2 / RS485+
AI3 / RS485-
TI1
TI0
POWER
TO1/GND
TO0/PWR Digital Outputs 0 or 0V/12V/24V
GND
79
Description
Analog in 2 or RS485+
Analog in 3 or RS485-
Digital Inputs 1
Digital Inputs 0
0V/12V/24V
Digital Outputs 1 or Ground
Ground
UR30 PolyScope X