Color Signal
Red 0V (GND)
Gray 0V/+12V/+24V (POWER)
Blue Tool output 0 (TO0)
Pink Tool output 1 (TO1)
Yellow Tool input 0 (TI0)
Green Tool input 1 (TI1)
White Analog input 2 (AI2)
Brown Analog input 3 (AI3)
The internal power supply can be set to either 0V, 12V or 24V at the I/O tab the GUI, see partPart
II PolyScope Manualon page85. The electrical specifications are shown below:
Parameter Min Typ Max Unit
Supply voltage in 24V mode - 24 - V
Supply voltage in 12V mode - 12 - V
Supply current in both modes* - - 600 mA
Note: *It is highly recommended to use a protective diode for inductive loads
The following sections describe the different I/O’s of the tool.
WARNING
1. Connect tools and grippers such that an interruption of power does not
create any hazards, e.g., a work-piece falling out of the tool.
2. Take care when using 12V, since an error made by the programmer can
cause the voltage to change to 24V, which might damage the equipment
and cause a fire.
NOTE
The tool flange is connected to GND (same as the red wire).
Tool Digital Outputs
The digital outputs are implemented as NPN. When a digital output is activated the
corresponding connection is driven to GND, and when it is deactivated the corresponding
connection is open (open-collector/open-drain). The electrical specifications are shown below:
Parameter Min Typ Max Unit
Voltage when open -0.5 - 26 V
Voltage when sinking 1A - 0.05 0.20 V
UR10 42 User Manual
Copyright © 2009–2020 by UniversalRobotsA/S. All rights reserved.
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