Digital Inputs - Universal Robots UR5 User Manual

20.3 Digital Inputs

The digital inputs are implemented as pnp and are galvanically connected to the
controller box. The inputs are compliant with all three types of digital inputs de-
fined in IEC 61131-2 and EN 61131-2, which means that they will work together
with all types of digital outputs defined in the same standards.
20.4 Digital Outputs
The digital outputs are implemented as pnp and are galvanically connected to the
IMM. The galvanic isolation between the IMM and robot potentials conforms to IEC
60664-1 and EN 60664-1, pollution degree 2, overvoltage Category II. The outputs
are constructed in compliance with all three types of digital inputs defined in IEC
61131-2 and EN 61131-2, and with all requirements for digital outputs of the same
standards.
The digital outputs use some mA from the 24V of the IMM to control and bias the
transistors forming solid-state relays.
CB3
Parameter
[C1-C2][C3-C4] Voltage
[C1-C2][C3-C4] Current (Each output)
[C1-C2][C3-C4] Current protection
[A1-A2][A3-A4] Input voltage
[A1-A2][A3-A4] Guaranteed OFF if
[A1-A2][A3-A4] Guaranteed ON if
[A1-A2][A3-A4] Guaranteed OFF if
[A1-A2][A3-A4] ON Current (10-30V)
[A1-C1][A2-C2][A3-C3] Current AC/DC
[A1-C1][A2-C2][A3-C3] Voltage DC
[A1-C1][A2-C2][A3-C3] Voltage AC
Parameter
Input voltage
Input guaranteed OFF if
Input guaranteed ON if
Guaranteed OFF if
ON Current (10-30V)
Parameter
Source current per output
Voltage drop when ON
Leakage current when OFF
Current used from IMM 24V
Min Typ
-30 24
-30 -
10 -
0 -
6 -
Min Typ
0
0
0
-
III-26
20.4 Digital Outputs
Min Typ Max Unit
10.2 12 12.5
- - 120 mA
- 400 - mA
-30 - 30
-30 - 7
10 - 30
0 - 3 mA
7 - 14 mA
0.01 - 6
5 - 50
5 - 250
Max Unit
30 V
7 V
30 V
5 mA
10 mA
Max Unit
- 120 mA
0.1 1 V
0 0.1 mA
12 25 mA
Version 3.4.5
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