2.4. Controller I/O
Parameter Min Typ Max Unit
Voltage when open -0.5 - 26 V
Voltage when sinking 1A - 0.05 0.20 V
Current when sinking 0 - 2 A
Current through one screw terminal - - 10 A
Switch time for DO0 to DO5 - 500 - uS
Switch time for DO6 to DO7 - 10 - uS
Capacitive load - - TBD uF
Inductive load - - TBD uH
Table 2.5: Data specification of digital outputs. TBD = To Be Determined.
Load Controlled by Digital Output
This example illustrates how to turn on a load, when using the internal 24V power
supply. Remember that there are 24V between the 24V connection and the
shield/ground, even when the load is turned off.
Load Controlled by Digital Output, External Power
If the available current from the internal power supply is not enough, or if the
load needs another voltage such as 12V, simply use an external power supply,
as shown above.
Another basic way to use digital outputs is to communicate with other indus-
trial equipment such as PLCs or another UR robot. An example of this is shown in
the next section, which describes the digital inputs.
2.4.2 Digital Inputs
The digital inputs are implemented with weak pull-down resistors. This means
that a floating input will always read low. The voltages at which the inputs are
guaranteed to read low or high are shown with the other data in table 2.6.
To make it clear how easy it is to use digital inputs, some simple examples are
shown.
24 UR-6-85-5-A
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