Universal Robots UR-6-85-5-A, User Manual

Page: 30 / 80

2.5. Tool I/O
Parameter Min Typ Max Unit
Voltage when open -0.5 - 26 V
Voltage when sinking 1A - 0.05 0.20 V
Current when sinking 0 - 1 A
Current through GND - - 1 A
Switch time - 1000 - us
Capacitive load - - TBD uF
Inductive load - - TBD uH
Table 2.11: Data specification of digital outputs. TBD = To Be Determined.
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 - ohm
Table 2.12: Data specification of digital inputs.
Using Digital Outputs
This example 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 (see section 3.3.2). Keep in mind that there is voltage between the POWER
connection and the shield/ground, even when the load is turned off.
2.5.2 Digital Inputs
The digital inputs are implemented with weak pull-down resistors. This means
that a floating input will always read low. The digital inputs at the tool are im-
plemented in the same way as the digital inputs inside the controller box. The
voltages at which the inputs are guaranteed to read low or high are shown with
the other data in table 2.12.
To illustrate clearly how easy it is to use digital outputs, a simple example is
shown.
Using Digital Inputs
The above example shows how to connect a simple button or switch. A bad
quality switch might trigger the input twice due to a long mechanical stabilizing
30 UR-6-85-5-A