General Purpose Analog I/O; Digital Input From A Button - Universal Robots UR5 User Manual

5.3 Controller I/O
shown in the following subsections. These examples use regular digital outputs
but any configurable outputs could also have be used if they are not configured to
perform a safety function.
5.3.3.1 Load controlled by a digital output
This example shows how to connect a load to be controlled from a digital output,
see below.

5.3.4 Digital input from a button

The example below shows how to connect a simple button to a digital input.
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.
Version 3.4.5
Digital Outputs
0V
DO0
0V
DO1
0V
DO2
0V
DO3
Digital Inputs
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.
0V
DO4
0V
DO5
0V
DO6
0V
DO7
24V
DI4
24V
DI5
24V
DI6
24V
DI7
0V
A B
DO4
0V
DO5
0V
DO6
0V
DO7
I-35
LOAD
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
UR5/CB3