4.13. Tool I/O
Description Adjacent to the tool flange on Wrist #3, there is an eight-pinned connector that
provides power and control signals for different grippers and sensors that can be
attached to the robot. The Lumberg RKMV 8-354 is a suitable industrial cable. Each of
the eight wires inside the cable have different colors representing different functions.
This connector provides power and control signals for grippers and sensors used on a
specific robot tool. The industrial cable listed below is suitable:
•
Lumberg RKMV 8-354.
NOTICE
The Tool Connector must be manually tightened up to a maximum of
0.4Nm.
The eight wires inside the cable have different colors that designate different functions.
See table below:
Color Signal Description
Red GND Ground
Gray POWER 0V/12V/24V
Blue TO0/PWR Digital Outputs 0 or 0V/12V/24V
Pink TO1/GND Digital Outputs 1 or Ground
Yellow TI0 Digital Inputs 0
Green TI1 Digital Inputs 1
White AI2 / RS485+ Analog in 2 or RS485+
Brown AI3 / RS485- Analog in 3 or RS485-
Access Tool I/O in the Installation Tab (see partPart II PolyScope Manual) to set the
internal power supply to 0V, 12V or 24V. The electrical specifications are shown below:
Parameter Min Typ Max Unit
Supply voltage in 24V mode 23.5 24 24.8 V
Supply voltage in 12V mode 11.5 12 12.5 V
Supply current (single pin)* - 600 2000** mA
Supply current (dual pin)* - 600 2000** mA
Supply capacitive load - - 8000*** uF
*It is highly recommended to use a protective diode for inductive loads.
NOTICE
The tool flange is connected to GND (same as the red wire).
User Manual 63 UR3e
4. Electrical Interface
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