5.4 Tool I/O
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.
Parameter Min Typ Max Unit
Input voltage in voltage mode -0.5 - 26 V
Input resistance @ range 0V to 10V - 15 - kΩ
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 - 200 - Ω
Resolution - 12 - bit
Two examples of how to use analog inputs are shown in the following subsections.
CAUTION:
1. Analog inputs are not protected against over voltage in cur-
rent mode. Overrating the limit in the electrical specification
can cause permanent damage to the input.
5.4.3.1 Using the Tool Analog Inputs, Non-differential
The example below shows how to connect an analog sensor with a non-differential
output. The output of the sensor can be either current or voltage, as long as the
input mode of that analog input is set to the same on the I/O tab. Remember to
check that a sensor with voltage output can drive the internal resistance of the tool,
or the measurement might be invalid.
5.4.3.2 Using the Tool Analog Inputs, Differential
The example below shows how to connect an analog sensor with a differential out-
put. Connect the negative output part to GND (0V) and it works in the same way
as a non-differential sensor.
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
I-41 UR5/CB3
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