Controller I/O; Common Specifications For All Digital I/O; Safety I/O; General Purpose Digital I/O - Universal Robots UR3/CB3 User Manual

5.3 Controller I/O

5.3 Controller I/O
This chapter explains how to connect equipment to I/O inside the control box. This
I/O is extremely flexible and can be used for wide range of different equipment; in-
cluding pneumatic relays, PLCs and emergency stop buttons.
The illustration below shows the layout of electrical interface inside the control box.
The meaning of the different colors must be observed, see below.
The "configurable" I/O can be configured as either safety-related I/O or general pur-
pose I/O in the GUI. See more in part II.
How to use the digital I/O is described in the following subsections. The section
describing the common specifications must be observed.
5.3.1 Common specifications for all digital I/O
This section define electrical specifications for the following 24V digital I/O of the
control box.
It is very important that UR robots are installed according the electrical specifications,
which are the same for all three different kinds of inputs.
Version 3.3.3
NOTE:
All voltages and currents are in DC (Direct Current) unless otherwise
specified.
Safety Remote Power ConfigurablebInputs
24V 12V PWR 24V
EI0 GND GND CI0
24V ON 24V 24V
EI1 0V CI1
OFF
24V 24V
SI0 CI2
24V 24V
SI1 CI3
Yellow with red text
Yellow with black text
Gray with black text
Green with black text

• Safety I/O.

• Configurable I/O.
• General purpose I/O.
ConfigurablebOutputs DigitalbInputs
24V 0V 0V 24V
CI4 CO0 CO4 DI0
24V 0V 0V 24V
CI5 CO1 CO5 DI1
24V 0V 0V 24V
CI6 CO2 CO6 DI2
24V 0V 0V 24V
CI7 CO3 CO7 DI3
Dedicated safety signals
Configurable for safety

General purpose digital I/O

General purpose analog I/O

I-31
DigitalbOutputs Analog
24V 0V 0V AG
DI4 DO0 DO4 AI0
24V 0V 0V AG
DI5 DO1 DO5 AI1
24V 0V 0V AG
DI6 DO2 DO6 AO0
24V 0V 0V AG
DI7 DO3 DO7 AO1
UR3/CB3