Terminals Parameter Min Typ Max Unit
[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.
NOTE
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.
4.4.2. 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4.4.1. 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1.Safetyon page5.
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.
Emergency Stop Safeguard Stop
Robot stops moving Yes Yes
Program execution Pauses Pauses
UR5e 34 Hardware Manual
4.Electrical Interface
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
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