26.I/O Tab
26.1. Robot
On this screen you can always monitor and set the live I/O signals from/to the robot control box.
The screen displays the current state of the I/O, including during program execution. If anything is
changed during program execution, the program will stop. At program stop, all output signals will
retain their states. The screen is updated at only 10Hz, so a very fast signal might not display
properly.
Configurable I/O’s can be reserved for special safety settings defined in the safety I/O
configuration section of the installation (see 21.16. I/Oon page132 ); those which are reserved
will have the name of the safety function in place of the default or user defined name. Configurable
outputs that are reserved for safety settings are not togglable and will be displayed as LED’s only.
The electrical details of the signals are described in chapter.
Voltage
In Tool Output, Voltage can be configured only when Tool Output is controlled by the User.
Selecting a URCap removes access to the Voltage.
Analog Domain Settings
The analog I/O’s can be set to either current [4-20mA] or voltage [0-10V] output. The settings will
be remembered for eventual later restarts of the robot controller when a program is saved.
Selecting a URCap, in Tool Output, removes access to the Domain Settings for the analog Tool
Inputs.
User Manual 245 UR5e
26.I/O Tab
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