Universal Robots UR30 PolyScope X User Manual page 82

7.16. 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.
UR30 PolyScope X
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
82
7. Electrical Interface
Inactive
Open
Open
Low
Max Unit
- 26
0.09
1000 mA
3000* mA
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