Universal Robots UR16e PolyScope X User Manual page 85

8. Installation
8.11.8. Tool Digital Inputs
Description The Startup screen contains settings for automatically loading and starting a default
program, and for auto-initializing the Robot arm during power up.
Table The Digital Inputs are implemented as PNP with weak pull-down resistors. This means that a
floating input always reads as low. The electrical specifications are shown below.
Parameter
Input voltage
Logical low voltage
Logical high voltage
Input resistance
Using the This example illustrates connecting a simple button.
Tool Digital
Inputs
8.11.9. Tool Analogue Inputs
Description Tool Analogue Input are non-differential and can be set to either voltage (0-10V) or current
(4-20mA) on the I/O tab. The electrical specifications are shown below.
Parameter
Input voltage in voltage mode
Input resistance @ range 0V to 10V
Resolution
Input voltage in current mode
Input current in current mode
Input resistance @ range 4mA to 20mA
Resolution
Two examples of using Analog Input are shown in the following subsections.
User Manual
Min Type
-0.5 -
- -
5.5 -
- 47k
POWER
TI0
Min
-0.5
-
-
-0.5
-2.5
-
-
87
Max Unit
26 V
2.0 V
- V
- Ω
Type Max Unit
- 26 V
10.7 - k Ω
12 - bit
- 5.0 V
- 25 mA
182 188 Ω
12 - bit
UR16e PolyScope X