UFactory xArm User Manual

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collector (OC). When the digital output is activated, the corresponding
connector will be driven to GND. When the digital output is disabled, the
corresponding connector will be open (open collector/open drain). The
electrical specifications are as follows:
Parameter
Min
Typical
Max
Unit
Open-circuit Voltage
-0.5
-
30
V
Voltage when sinking 50mA
-
0.05
0.20
V
Sink Current
0
-
100
mA
Current through GND
0
-
100
mA
2.4.1.1. Tool Digital Output Usage
The following example illustrates how to use the digital output. As the
internal output is an open collector, the resistor should be connected to
the power supply according to the load. The size and power of the
resistor depend on the specific use.
Note: It is highly recommended to use a protection diode for inductive
loads as shown below.



There is no current protection on the digital output of
the tool, which can cause permanent damage if the
specified value exceeded.

UFactory xArm Specifications

General

Payload	5 kg
Repeatability	±0.1 mm
Programming Language	Python, C++, ROS
Communication Interface	Ethernet
Operating Temperature	0°C to 45°C