Universal Robots UR16e

10.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5.7. Safety I/Oon
page141); 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.
UR16e 332 User Manual
10.I/O Tab
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