Universal Robots UR16e

TO0
POWER
It is recommended to use a protective diode for inductive loads, as shown below.
TO0
POWER
Tool Digital Inputs
The Digital Inputs are implemented as PNP with weak pull-down resistors. This means that a floating
input always reads as low. The electrical specifications are shown below.
Parameter Min Type Max Unit
Input voltage -0.5 - 26 V
Logical low voltage - - 2.0 V
Logical high voltage 5.5 - - V
Input resistance - 47k - Ω
Using the Tool Digital Inputs
This example illustrates connecting a simple button.
TI0
POWER
Tool Analog Input
Tool Analog Input are nondifferential and can be set to either voltage (0-10V) or current (4-20mA) on
the I/O tab (see part Part II PolyScope Manual). The electrical specifications are shown below.
Parameter Min Type Max Unit
Input voltage in voltage mode -0.5 - 26 V
Input resistance @ range 0V to 10V - 10.7 - k Ω
Resolution - 12 - bit
Input voltage in current mode -0.5 - 5.0 V
Input current in current mode -2.5 - 25 mA
Input resistance @ range 4mA to 20mA - 182 188 Ω
Resolution - 12 - bit
Two examples of using Analog Input are shown in the following subsections.
UR16e 54 User Manual
2.Part I Hardware Installation Manual
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