Universal Robots UR16e

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I/O Interface Control 1. Tap the Installation tab and under General, tap Tool I/O

2. Under I/O Interface Control, select User to access the Tool Analog

Inputs and/or Digital Output Mode settings. Selecting a URCap

removes access to the Tool Analog Inputs and the Digital Output

Mode settings.

NOTICE

If a URCap controls an end-effector, such as a gripper,

then the URCap requires control of the Tool IO Interface.

Select the URCap in the list, to allow it to control the Tool

IO Interface.

8.7.1. Analog Input - Communication Interface

Description The Tool Communication Interface (TCI) enables the robot to communicate

with an attached tool via the robot tool analog input. This removes the need

for external cabling.

Once the Tool Communication Interface is enabled, all tool analog inputs

are unavailable

Tool

Communication

Interface

1. Tap the Installation tab and under General tap Tool I/O.

2. Select Communication Interface to edit TCI settings.

Once the TCI is enabled, the tool analog input is unavailable for the

I/O Setup of the Installation and does not appear in the input list.

Tool analog input is also unavailable for programs as Wait For

options and expressions.

3. In the drop-down menus under Communication Interface, select

required values.

Any changes in values are immediately sent to the tool. If any

installation values differ from what the tool is using, a warning

appears.

UR16e 298 User Manual

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