Universal Robots UR5 User Manual page 41

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;
including 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
purpose 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 specifica-
tions, which are the same for all three different kinds of inputs.
It is possible to power the digital I/O from an internal 24V power supply or from an
external power source by configuring the terminal block called "Power". This block
consists of four terminals. The upper two (PWR and GND) are 24V and ground
from the internal 24V supply. The lower two terminals (24V and 0V) in the block
are the 24V input to supply the I/O. The default configuration is to use the internal
power supply, see below.
Version 3.4.5
Safety Remote Power
ConfigurablebInputs
24V 12V PWR 24V
EI0 GND GND CI0
24V ON 24V 24V
EI1 OFF 0V CI1
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
Power
PWR
GND
24V
0V
I-29
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
UR5/CB3