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Universal Robots UR10 User Manual

Universal Robots UR10
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2.5. Tool I/O
Parameter Min Typ Max Unit
Input voltage in voltage mode -0.5 - 26 V
Input voltage in current mode -0.5 - 5.0 V
Input current in current mode -2.5 - 25 mA
Input resistance @ range 0V to 5V - 29 - k
Input resistance @ range 0V to 10V - 15 - k
Input resistance @ range 4mA to 20mA - 200 -
An important thing to realize is that any current change in the common GND
connection can result in a disturbing signal in the analog inputs, because there
will be a voltage drop along the GND wires and inside connectors.
Note that a connection between the tool power supply and the analog inputs
will permanently damage the I/O functionality, if the analog inputs are set in
current mode.
To make it clear how easy it is to use digital inputs, some simple examples are
shown.
Using Analog Inputs, Non-differential
The simplest way to use analog inputs. The output of the sensor can be either
current or voltage, as long as the input mode of that analog input is set to the
same on the I/O tab. Remember to check that a sensor with voltage output can
drive the internal resistance of the tool, or the measurement might be invalid.
Using Analog Inputs, Differential
Using sensors with differential outputs is also straightforward. Simply connect
the negative output part to GND (0V) with a terminal strip and it will work in the
same way as a non-differential sensor.
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Universal Robots UR10 Specifications

General IconGeneral
Payload10 kg
Reach1300 mm
Degrees of Freedom6
Weight28.9 kg
Footprint190 mm diameter
Repeatability±0.1 mm
IP ClassificationIP54
ProgrammingPolyscope graphical user interface
Joint Range±360° on all joints
Power Consumption350 W
Communication InterfaceEthernet, Modbus TCP
Safety StandardsEN ISO 10218-1
Operating Voltage100-240 VAC, 50-60 Hz

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