•
Push / Pull: This allows the pin to be configured in a Push / Pull configuration. When the
output is on, the pin provides a positive voltage source (configurable in IO Tab). This can be
used in conjunction with the GND pin to create a full circuit When the output is off, the pin
allows a current to flow to the ground.
After selecting a new output configuration, the changes take effect. The currently loaded
installation is modified to reflect the new configuration. After verifying the tool outputs are working
as intended, make sure to save the installation to prevent losing changes.
24.11.1. Dual Pin Power
Dual Pin Power is used as a source of power for the tool. Enabling Dual Pin Power disables default
tool digital outputs.
24.12. Smooth Transition Between Safety Modes
When switching between safety modes during events (i.e., Reduced Mode Input, Reduced Mode
Trigger Planes, Safeguard Stops, and Three-Position Enabling Device), the Robot Arm aims to use
0.4s to create a "soft" transition. Existing applications have unchanged behavior which
corresponds to the "hard" setting. New installation files default to the "soft" setting.
24.12.1. Adjusting Acceleration/Deceleration Settings
1. In the Header, tap Installation.
2. In the In the Side Menu on the left, under General, select Smooth Transition.
3. Select Hard to have a higher acceleration/deceleration
or select Soft for the smoother default transition setting.
UR5e 218 User Manual
24.Installation Tab
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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