Universal Robots UR10e PolyScope X User Manual page 73

4. Electrical Interface
4.15. Tool Digital Outputs
Description
Using Tool Digital
Outputs
User Manual
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
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.
This example illustrates turning on a load using the internal 12V or 24V power supply.
The output voltage at the I/O tab must be define. There is voltage between the POWER
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.
Active
Low
High
High
Min
-0.5
-
0
0
POWER
TO0
POWER
TO0
73
Inactive
Open
Open
Low
Typ Max
- 26
0.08 0.09
600 1000
1000 3000*
UR10e PolyScope X
Unit
V
V
mA
mA