Universal Robots UR16e

Terminals Parameter Min Typ Max Unit
Internal 24V power supply
[PWR - GND]
Voltage 23 24 25 V
[PWR - GND]
Current 0 - 2* A
External 24V input requirements
[24V - 0V]
Voltage 20 24 29 V
[24V - 0V]
Current 0 - 6 A
*3.5A for 500ms or 33% duty cycle.
The digital I/O are constructed in compliance with IEC 61131-2. The electrical specifications are
shown below.
Terminals Parameter Min Typ Max Unit
Digital Outputs
[COx / DOx]
Current* 0 - 1 A
[COx / DOx]
Voltage drop 0 - 0.5 V
[COx / DOx]
Leakage current 0 - 0.1 mA
[COx / DOx]
Function - PNP - Type
[COx / DOx]
IEC 61131-2 - 1A - Type
Digital Inputs
[EIx/SIx/CIx/DIx]
Voltage -3 - 30 V
[EIx/SIx/CIx/DIx]
OFF region -3 - 5 V
[EIx/SIx/CIx/DIx]
ON region 11 - 30 V
[EIx/SIx/CIx/DIx]
Current (11-30V) 2 - 15 mA
[EIx/SIx/CIx/DIx]
Function - PNP + - Type
[EIx/SIx/CIx/DIx]
IEC 61131-2 - 3 - Type
*For resistive loads or inductive loads of maximum 1H.
Safety I/O
This section describes dedicated safety input (Yellow terminal with red text) and configurable I/O
(Yellow terminals with black text) when configured as safety I/O. Follow the Common specifications
for all digital I/O in sectionCommon specifications for all digital I/Oon the previous page.
Safety devices and equipment must be installed according to the safety instructions and the risk
assessment in chapterSafety.
All safety I/O are paired (redundant) and must be kept as two separate branches. A single fault does
not cause loss of the safety function.
There are two permanent safety input types:
•
Robot Emergency Stop for emergency stop equipment only
•
Safeguard Stop for protective devices
The functional difference is shown below.
UR16e 40 User Manual
2.Part I Hardware Installation Manual
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