5.4 Tool I/O
5.4.1.1 Using the Tool Digital Outputs
The example below illustrates how to turn on a load, when using the internal 12V or 24V power
supply. Remember that you have to define the output voltage at the I/O tab. Keep in mind that
there is voltage between the POWER connection and the shield/ground, even when the load is
turned off.
Note: It is highly recommended to use a protective diode for inductive loads, as shown below.
5.4.2 Tool Digital Inputs
The digital inputs are implemented as PNP with weak pull-down resistors. This means that a
floating input will always read low. The electrical specifications are shown below.
Parameter Min Typ Max Unit
Input voltage -0.5 - 26 V
Logical low voltage - - 2.0 V
Logical high voltage 5.5 - - V
Input resistance - 47k - Ω
An example of how to use a digital input is shown in the following subsection.
5.4.2.1 Using the Tool Digital Inputs
The example below shows how to connect a simple button.
5.4.3 Tool Analog Inputs
The tool analog inputs are non-differential and can be set to either voltage and current on the
I/O tab, see part II. The electrical specifications are shown below.
UR5/e-Series I-40 Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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