5.4 Tool I/O
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, as
shown below.
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 pro-
grammer can cause the voltage to change to 24V, which might
damage 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 cor-
responding connection is open (open-collector/open-drain). The electrical specifi-
cations are shown below:
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 - 600 mA
Current through GND 0 - 600 mA
An example of how to use a digital output is shown in the following subsection.
CAUTION:
1. The digital outputs in the tool are not current limited and
overriding the specified data can cause permanent damage.
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
I-39 UR5/CB3
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