Universal Robots UR16e

24V
CI1
24V
CI2
24V
CI3
24V
CI0
24V
CI5
24V
CI6
24V
CI7
24V
CI4
Configurable Inputs
3-Position Switch
Operational Mode Switch
The illustration below shows an Operational Mode Switch. See sectionOperational modeon
page127 for more about operational Modes.
24V
CI1
24V
CI2
24V
CI3
24V
CI0
24V
CI5
24V
CI6
24V
CI7
24V
CI4
Configurable Inputs
Operational mode Switch
General purpose digital I/O
This section describes the general purpose 24V I/O (Gray terminals) and the configurable I/O
(Yellow terminals with black text) when not configured as safety I/O. The common specifications in
section Common specifications for all digital I/Oon page39must be observed.
The general purpose I/O can be used to drive equipment like pneumatic relays directly or for
communication with other PLC systems. All Digital Outputs can be disabled automatically when
program execution is stopped, see partPart II PolyScope Manual. In this mode, the output is always
low when a program is not running. Examples are shown in the following subsections. These
examples use regular Digital Outputs but any configurable outputs could also have be used if they
are not configured to perform a safety function.
0V
DO1
0V
DO2
0V
DO3
0V
DO0
Digital Outputs
0V
DO5
0V
DO6
0V
DO7
0V
DO4
LOAD
24V
DI1
24V
DI2
24V
DI3
24V
DI0
Digital Inputs
24V
DI5
24V
DI6
24V
DI7
24V
DI4
This example shows how a load is controlled
from a Digital Outputs when connected.
This example shows how a simple button is
connected to a Digital Input.
UR16e 44 User Manual
2.Part I Hardware Installation Manual
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