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.
6.4. 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 pu ts
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 6.4.1. Common specifications for all digital
I/Oon the next page) for these types of input.
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
User Manual 35 UR5e
6.Electrical Interface
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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