5.3 Controller I/O
The electrical specifications for both the internal and an external power supply are shown below.
Terminals Parameter Min Typ Max Unit
Internal 24V power supply
[PWR - GND] Voltage 23 24 25 V
[PWR - GND] Current 0 - 2 A
External 24V input requirements
[24V - 0V] Voltage 20 24 29 V
[24V - 0V] Current 0 - 6 A
The digital I/O are constructed in compliance with IEC 61131-2. The electrical specifications are
shown below.
Terminals Parameter Min Typ Max Unit
Digital outputs
[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
Note: *For resistive loads or inductive loads of maximum 1H.
NOTE:
The word configurable is used for I/O that can be configured as
either safety-related I/O or normal I/O. These are the yellow ter-
minals with black text.
5.3.2 Safety I/O
This section describes the dedicated safety inputs (Yellow terminal with red text) and the con-
figurable I/O (Yellow terminals with black text) when configured as safety I/O. The common
specifications in section 5.3.1 must be observed.
UR5/e-Series I-30 Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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