Universal Robots UR16e

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Part II PolyScope Manual).
Common specifications for all digital I/O
This section defines electrical specifications for the following 24V digital I/O of the Control Box.
•
Safety I/O.
•
Configurable I/O.
•
General purpose I/O.
NOTICE
The word configurable is used for I/O configured as either safety-related I/O or
normal I/O. These are the yellow terminals with black text.
Install the robot according to the electrical specifications which are the same for all three inputs.
It is possible to power the digital I/O from an internal 24V power supply or from an external power
source by configuring the terminal block called Power. This block consists of four terminals. The
upper two (PWR and GND) are 24V and ground from the internal 24V supply. The lower two
terminals (24V and 0V) in the block are the 24V input to supply the I/O. The default configuration
uses the internal power supply (see below).
If more current is needed, connect an external power supply as shown below.
24V
0V
PWR
GND
Power
24V
0V
PWR
GND
Power
This example illustrates the default
configuration using the internal power supply
This example illustrates the default
configuration with an external power supply for
more current.
The electrical specifications for both the internal and external power supply are shown below.
User Manual 39 UR16e
2.Part I Hardware Installation Manual
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