Universal Robots UR3/CB3 User Manual page 50

5.3.5 Communication with other machines or PLCs
The digital I/O can be used to communicate with other equipment if a common GND
(0V) is established and if the machine uses PNP technology, see below.
5.3.6 General purpose analog I/O
The analog I/O interface is the green terminal. It can be used to set or measure voltage
(0-10V) or current (4-20mA) from and to other equipment.
The following is recommended to achieve the highest accuracy.
Input modes can be selected in the GUI, see part II. The electrical specifications are
shown below.
UR3/CB3
24V
DI0
24V
DI1
24V
DI2
24V
DI3
Digital Inputs Digital Outputs
24V 24V 0V
DI0 DI4 DO0
24V 24V 0V
DI1 DI5 DO1
24V 24V 0V
DI2 DI6 DO2
24V 24V 0V
DI3 DI7 DO3
• Use the AG terminal closest to the I/O. The pair share a common mode filter.
• Use the same gnd (0V) for equipment and control box. The analog I/O is not
galvanically isolated from the control box.
• Use a shielded cable or twisted pairs. Connect the shield to the "GND" terminal
at the terminal called "Power".
• Use of equipment that works in current mode. Current signals are less sensitive
to interferences.
Digital Inputs
24V
DI4
24V
DI5
24V
DI6
24V
DI7
0V
A B
DO4
0V
DO5
0V
DO6
0V
DO7
I-38
5.3 Controller I/O
Digital Inputs Digital Outputs
24V 24V 0V 0V
DI0 DI4 DO0 DO4
24V 24V 0V 0V
DI1 DI5 DO1 DO5
24V 24V 0V 0V
DI2 DI6 DO2 DO6
24V 24V 0V 0V
DI3 DI7 DO3 DO7
Version 3.3.3