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2.5. Tool I/O

Using Analog Inputs, Differential Current Input

When longer cables are used, or if it is a very noisy environment, current

based signals are preferred. Also, some equipment comes only with a current

output. To use current as inputs, an external resistor is needed as shown above.

The value of the resistor would normally be around 200 ohms, and the best result

is accomplished when the resistor is close to the screw terminals of the control

box.

Note that the tolerance of the resistor and the ohmic change due to tempera-

ture must be added to the error speciﬁcations of the analog inputs.

Using Analog Inputs, Non-differential Current Input

If the output of the equipment is a non-differential current signal, a resistor

must be used as shown above. The resistor should be around 200 ohms and the

relationship between the voltage at the controller input and the output of the

sensor is given by:

Voltage = Current x Resistance

Note that the tolerance of the resistor and the ohmic change due to tempera-

ture must be added to the error speciﬁcations of the analog inputs.

2.5 Tool I/O

At the tool end of the robot there is a small connector with eight connections.

26 UR10

Universal Robots UR10 User Manual

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