5.3 Controller I/O
NOTE:
The Universal Robots safety system does not support multiple Three-
Position Enabling Devices.
NOTE:
The two input channels for the Three-Position Enabling Device input
have a disagreement tolerance of 1 second.
5.3.3 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 5.3.1 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 more in part II. 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.
5.3.3.1 Load controlled by a digital output
This example shows how to connect a load to be controlled from a digital output, see below.
0V
DO1
0V
DO2
0V
DO3
0V
DO0
Digital Outputs
0V
DO5
0V
DO6
0V
DO7
0V
DO4
LOAD
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
I-37 UR3/CB3
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