Universal Robots UR10 User Manual

2.4. Controller I/O
Signal Communication with other Machinery or PLCs
GND GND
DO0 DO1
GND GND GND GND
DO2 DO3 DO4 DO5
GND GND DI0 DI1
DO6 DO7 24V 24V
DI2 DI3 DI4 DI5
24V 24V 24V 24V
DI6 DI7
24V 24V
GND GND
DO0 DO1
GND GND GND GND
DO2 DO3 DO4 DO5
GND GND DI0 DI1
DO6 DO7 24V 24V
DI2 DI3 DI4 DI5
24V 24V 24V 24V
DI6 DI7
24V 24V
A B
If communication with other machinery or PLCs is needed they must use pnp
technology. Remember to create a common GND connection between the
different interfaces. An example where two UR robots (A and B) are communi-
cating with each other is illustrated above.
2.4.3 Analog Outputs
Parameter Min Typ Max Unit
Valid output voltage in current mode 0 - 10 V
Valid output current in voltage mode -20 - 20 mA
Short-circuit current in voltage mode - 40 - mA
Output resistance in voltage mode - 43 - ohm
The analog outputs can be set for both current mode and voltage mode, in
the range of 4-20mA and 0-10V respectively.
To illustrate clearly how easy it is to use analog outputs, some simple exam-
ples are shown.
Using the Analog Outputs
This is the normal and best way to use analog outputs. The illustration shows
a setup where the robot controller controls an actuator like a conveyor belt.
The best result is accomplished when using current mode, because it is more
immune to disturbing signals.
Using the Analog Outputs, Non-Differential Signal
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Universal Robots UR10 Specifications

General

Brand	Universal Robots
Model	UR10
Category	Robotics
Language	English