Universal Robots UR30 - Tool I;O

8.10.1. Tool I/O
Tool
Connector
The tool connector illustrated below provides power and control signals for the grippers and
sensors used on a specific robot tool. The tool connector has eight holes and is located
next to the tool flange on Wrist 3.
The eight wires inside the connector have different functions, as listed in the table:
Pin # Signal Description
1 AI3 / RS485- Analog in 3 or RS485-
2 AI2 / RS485+ Analog in 2 or RS485+
3 TO0/PWR Digital Outputs 0 or 0V/12V/24V
4 TO1/GND Digital Outputs 1 or Ground
5 POWER 0V/12V/24V
6 TI0 Digital Inputs 0
7 TI1 Digital Inputs 1
8 GND Ground
NOTICE
The Tool Connector must be manually tightened up to a maximum of
0.4Nm.
Tool I/O
Accessories
The UR20 tool I/O can require an accessory element to facilitate connection with tools.
Depending on the tool, you can use the following tool I/O accessories:Tool Flange
Adapter (see Tool Flange Accessories) and/or Tool Cable Adapter.
UR30 91 User Manual
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