::heading=Context
You are thinking about install the I/O Coupling on your robot Doosan? This article is for you.
::heading=Knowledge
We have 2 different type of I/O coupling. One designed for UR and one designed for TM.
UR robot tool IO:
- Digital Output are NPN
- Digital input are PNP
TM robot tool IO:
- Digital output NPN
- Digital input are NPN
Doosan robot tool IO:
- Digital input are PNP
- Digital output PNP
Doosan use PNP for both input and output so TM or UR IO coupling cannot be used by connecting it to the wrist. You can use an adpator to control it directly to the controller of the robot.
To do that, you can follow this article : https://robotiq.zendesk.com/hc/en-us/articles/10167610344467-Controlling-an-I-O-coupling-manually
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