Universal Robots UR3/CB3, Original Instructions Manual

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5.4 Tool I/O
Color Signal
Red 0V (GND)
Gray 0V/+12V/+24V (POWER)
Blue Tool output 0 (TO0)
Pink Tool output 1 (TO1)
Yellow Tool input 0 (TI0)
Green Tool input 1 (TI1)
White Analog input 2 (AI2)
Brown Analog input 3 (AI3)
The internal power supply can be set to either 0V, 12V or 24V at the I/O tab the GUI, see part II.
The electrical specifications are shown below:
Parameter Min Typ Max Unit
Supply voltage in 24V mode - 24 - V
Supply voltage in 12V mode - 12 - V
Supply current in both modes* - - 600 mA
Note: *It is highly recommended to use a protective diode for inductive loads
The following sections describe the different I/O’s of the tool.
DANGER:
1. Connect tools and grippers such that an interruption of power
does not create any hazards, e.g., a work-piece falling out of the
tool.
2. Take care when using 12V, since an error made by the program-
mer can cause the voltage to change to 24V, which might dam-
age the equipment and cause a fire.
NOTE:
The tool flange is connected to GND (same as the red wire).
5.4.1 Tool Digital Outputs
The digital outputs are implemented as NPN. When a digital output is activated the corresponding
connection is driven to GND, and when it is deactivated the corresponding connection is open
(open-collector/open-drain). The electrical specifications are shown below:
UR3 / CB3 I-42 Version 3.10
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