Universal Robots UR10e PolyScope X User Manual page 75

4. Electrical Interface
Caution
Using Tool
Analog Inputs,
Non-differential
Using Tool
Analog Inputs,
differential
4.18. Tool Communication I/O
Description
User Manual
CAUTION
Analog Inputs are not protected against over voltage in current mode.
Exceeding the limit in the electrical specification can cause permanent
damage to the input.
This example shows an analog sensor connection with a non-differential output. The
sensor output can be either current or voltage, as long as the input mode of that Analog
Input is set to the same on the I/O tab.
Note: You can check that a sensor with voltage output can drive the internal resistance
of the tool, or the measurement might be invalid.
This example shows an analog sensor connection with a differential output. Connecting
the negative output part to GND (0V), works in the same way as a non-differential
sensor.
• Signal requests The RS485 signals use internal fail-safe biasing. If the
attached device does not support this fail-safe, signal biasing must either be
done in the attached tool, or added externally by adding pull-up resistors to
RS485+ and pull-down to RS485-.
•
Latency The latency of messages sent via the tool connector ranges from 2ms
to 4ms, from the time the message is written on the PC to the start of the
message on the RS485. A buffer stores data sent to the tool connector until the
line goes idle. Once 1000 bytes of data have been received, the message is
written on the device.
Baud Rates 9.6k, 19.2k, 38.4k, 57.6k, 115.2k, 1M, 2M, 5M
Stop Bits 1, 2
Parity None, Odd, Even
POWER
AI2
AI8
GND
POWER
AI2 AI8
GND
75 UR10e PolyScope X