5 Electrical Interface
5.1 Introduction
This chapter describes all the electrical interfaces of the robot arm and control box.
The different interfaces are divided into five groups with different purposes and properties:
• Controller I/O
• Tool I/O
• Ethernet
• Mains connection
• Robot connection
The term I/O refers both digital and analog control signals going from or to an interface.
Electrical signals through the E67 interface are described in part III.
These five groups are described in the following sections. Examples are given for most types of
I/O.
The warnings and cautions in the following section are relevant for all five groups and must be
observed.
5.2 Electrical warnings and cautions
The following warnings and cautions must be observed when a robot application is designed
and installed. The warnings and cautions also apply for service work.
DANGER:
1. Never connect safety signals to a PLC which is not a safety
PLC with the correct safety level. Failure to follow this warn-
ing could result in serious injury or death as the safety func-
tions could be overridden. It is important to keep safety inter-
face signals separated from the normal I/O interface signals.
2. All safety-related signals are constructed redundantly (Two
independent channels). Keep the two channels separate so
that a single fault cannot lead to loss of the safety function.
3. Some I/O inside the control box can be configured for either
normal or safety-related I/O. Read and understand the com-
plete section 5.3.
Version 3.11
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I-27 UR5/e-Series
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