Universal Robots E Series User Manual

22.I/O Tab
Description 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/Os can be reserved for special safety settings defined in the safety I/O
configuration section of the installation (see17.7 Safety I/Oon page149); 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.
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.
UR10e 322 User Manual
22.I/O Tab
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Universal Robots E Series Specifications

General

Degrees of Freedom	6
IP Rating	IP54
Programming	Polyscope graphical user interface
Payload	3 kg, 5 kg, 10 kg, 12.5 kg, 16 kg (depending on model)
Reach	500 mm to 1300 mm
Joint Range	± 360º (all joints)
Operating Voltage	100-240 VAC, 50-60 Hz
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1, ISO/TS 15066
Repeatability	+/- 0.03 mm (UR3e, UR5e, UR10e, UR16e)