Universal Robots UR30 - General Purpose Digital I;O; Digital Output

8.9. General Purpose Digital I/O
Description The Startup screen contains settings for automatically loading and starting a default
program, and for auto-initializing the Robot arm during power up.
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 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.
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
In this example a load is controlled from a Digital
Outputs when connected.
In this example a simple button is
connected to a Digital Input.
Communication
with other
machines or
PLCs
You can use the digital I/O to communicate with other equipment if a common GND
(0V) is established and if the machine uses PNP technology, see below.
24V
DI1
24V
DI2
24V
DI3
24V
DI0
Digital Inputs
24V
DI5
24V
DI6
24V
DI7
24V
DI4
0V
DO1
0V
DO2
0V
DO3
0V
DO0
Digital Outputs
0V
DO5
0V
DO6
0V
DO7
0V
DO4
24V
DI1
24V
DI2
24V
DI3
24V
DI0
Digital Inputs
24V
DI5
24V
DI6
24V
DI7
24V
DI4
0V
DO1
0V
DO2
0V
DO3
0V
DO0
Digital Outputs
0V
DO5
0V
DO6
0V
DO7
0V
DO4
A B
8.9.1. Digital Output
UR30 89 User Manual
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