Universal Robots E Series Hardware Manual

CAUTION
1. The robot has been tested according to international IEC standards for
ElectroMagnetic Compatibility (EMC). Disturbing signals with levels higher
than those defined in the specific IEC standards can cause unexpected
behaviors from the robot. Very high signal levels or excessive exposure can
damage the robot permanently. EMC problems are found to happen usually
in welding processes and are normally prompted by error messages in the
log. Universal Robots cannot be held responsible for any damages caused by
EMC problems.
2. I/O cables going from the Control Box to other machinery and factory
equipment may not be longer than 30m, unless additional tests are
performed.
4.4. Controller I/O
You can use the I/O inside the Control Box for a wide range of equipment including pneumatic
relays, PLCs and emergency stop buttons.
The illustration below shows the layout of electrical interface groups inside the Control Box.
24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
ON
OF F
12V
Remot e
24V
0V
P W R
GND
P ow er
24V
CI1
24V
CI2
24V
CI3
24V
CI0
Con figu rab le Inp uts
24V
CI5
24V
CI6
24V
CI7
24V
CI4
0V
CO1
0V
CO2
0V
CO3
0V
CO0
Con figu rab le Out puts
0V
CO5
0V
CO6
0V
CO7
0V
CO4
24V
DI1
24V
DI2
24V
DI3
24V
DI0
Digit al Inp ut s
24V
DI5
24V
DI6
24V
DI7
24V
DI4
0V
DO1
0V
DO2
0V
DO3
0V
DO0
Digit al Outp ut s
0V
DO5
0V
DO6
0V
DO7
0V
DO4
AG
AI1
AG
AO0
AG
AO1
AG
AI0
Analog
Anal og Outp ut s
Anal og Input s
Safegu ard St op
Emerg ency S to p
GND
0V
24V
DI8
DI9
DI10
DI11
You can use the horizontal Digital Inputs block (DI8-DI11), illustrated below, for quadrature
encoding Conveyor Tracking (see 4.4.1. Common specifications for all digital I/Oon the facing
page) for these types of input.
0V
24V
DI8
DI9
DI10
DI11
The meaning of the color schemes listed below must be observed and maintained.
Yellow with red text Dedicated safety signals
Yellow with black text Configurable for safety
Gray with black text General purpose digital I/O
Green with black text General purpose analog I/O
In the GUI, you can set up configurable I/O as either safety-related I/O or general purpose I/O (see
part).
UR5e 32 Hardware Manual
4.Electrical Interface
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Universal Robots E Series Specifications

General

Brand	Universal Robots
Model	E Series
Category	Robotics
Language	English