5.3 Controller I/O
24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
Safeguard Stop
Emergency Stop
24V 0V
24V
0V
24V
CI1
24V
CI2
24V
CI3
24V
CI0
Configurable Inputs
24V
CI5
24V
CI6
24V
CI7
24V
CI4
5.3.2.6 Three-Position Enabling Device
The illustration below shows how to connect a Three-Position Enabling Device. See section 10.13.1
for more about Three-Position Enabling Device.
NOTE:
The Universal Robots safety system does not support multiple
Three-Position Enabling Devices.
24V
CI1
24V
CI2
24V
CI3
24V
CI0
24V
CI5
24V
CI6
24V
CI7
24V
CI4
Configurable Inputs
3-Position Switch
NOTE:
The two input channels for the Three-Position Enabling Device in-
put 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 specifica-
tions 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
UR5/e-Series I-34 Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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