Hi Team,
I’m using ursim-5.11.0 , img-01 is I/O screen of simulator. Here which Digital outputs in img-01 red marked area are associated with DO8 and DO9 (refer below table) Also “Tool Digital Output” is not fully clear to me. Since, UR cobot has two digital outputs, how one “Tool Digital Output” is showing logic level status of two DOs? Does “Current 000mA” show load current at cobot’s digital output line? If yes, which DO, since, there are two DOs at wrist interface?
We need to access/control DO8 and DO9 (refer below table) through URCap program. Can we get the reference from Simple Gripper program from SDK? Is this program actually activating output at wrist interface i.e. logic1=24VDC? Is it controlling one DO or two DOs? How to achieve control over two Tool DOs from URCap?
See Table below from UR3 user manual section 4.4 Tool I/O:
Color Signal
Red 0V (GND)
Gray 0V/+12V/+24V (POWER)
Blue Digital output 8 (DO8)
Pink Digital output 9 (DO9)
Yellow Digital input 8 (DI8)
Green Digital input 8 (DI8)
White Analog input 2 (AI2)
Brown Analog input 3 (AI3)
