Tool I/O

Tool Connector

The tool connector illustrated below provides power and control signals for the grippers and sensors used on a specific robot tool. The tool connector has eight holes and is located next to the tool flange on Wrist 3.

The eight wires inside the connector have different functions, as listed in the table:

  Pin # Signal Description
1 AI3 / RS485- Analog in 3 or RS485-
2 AI2 / RS485+ Analog in 2 or RS485+
3 TO0/PWR Digital Outputs 0 or 0V/12V/24V
4 TO1/GND Digital Outputs 1 or Ground
5 POWER 0V/12V/24V
6 TI0 Digital Inputs 0
7 TI1 Digital Inputs 1
8 GND Ground

 

The Tool Connector must be manually tightened up to a maximum of 0.4 Nm.

 
Tool I/O Accessories

The UR20 tool I/O can require an accessory element to facilitate connection with tools. Depending on the tool, you can use the following tool I/O accessories: Tool Flange Adapter (see Mechanical Interface) and/or Tool Cable Adapter.

 
Tool Cable Adapter

The Tool Cable Adapter is the electronic accessory that allows compatibility between the tool I/O and e-Series tools.

1 Connects to the tool/end effector.
2 Connects to the robot.

Connecting the Tool Cable Adapter to a robot that is powered on can lead to injury.

  • Connect the adapter to the tool/end effector before connecting the adapter to the robot.

  • Do not power on the robot if the Tool Cable Adapter is not connected to the tool/end effector.

The eight wires inside the Tool Cable Adapter have different functions, as listed in the table below:

  Pin # Signal Description
1 AI2 / RS485+ Analog in 2 or RS485+
2 AI3 / RS485- Analog in 3 or RS485-
3 TI1 Digital Inputs 1
4 TI0 Digital Inputs 0
5 POWER 0V/12V/24V
6 TO1/GND Digital Outputs 1 or Ground
7 TO0/PWR Digital Outputs 0 or 0V/12V/24V
8 GND Ground

The tool flange is connected to GND (Ground).