Universal Robots UR e Series User Manual

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 partPart II PolyScope Manual) to set the
internal power supply to 0V, 12V or 24V. The electrical specifications are shown below:
*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 65 UR10e
4. Electrical Interface
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Universal Robots UR e Series Specifications

General

Payload	3 kg, 5 kg, 10 kg, 16 kg
Power Supply	100-240 VAC, 50-60 Hz
IP Rating	IP54
Number of Axes	6
Tool TCP Speed	1 m/s
Degrees of Freedom	6
Protection Rating	IP54
Model	UR3e, UR5e, UR10e, UR16e
Reach	500 mm, 850 mm, 1300 mm
Weight	11.2 kg, 20.6 kg
Repeatability	± 0.03 mm
Operating Temperature	0 to 50 °C
Programming Method	Teach pendant (PolyScope), script, URCap
Communication Interfaces	Ethernet, Digital I/O
Safety Standards	EN ISO 10218-1, ISO/TS 15066