Electrical Interface; Introduction - Universal Robots UR5 User Manual

Chapter 3

Electrical Interface

3.1 Introduction

The robot is a machine that can be programmed to move a tool around in the
robots workspace. Often, it is desired to coordinate robot motion with nearby
machines or equipment on the tool. The most straightforward way to achieve
this is often by using the electrical interface.
There are electrical input and output signals (I/Os) inside the controller box
and at the robot tool flange. This chapter explains how to connect equipment
to the I/Os. Some of the I/Os inside the controller box are dedicated to the robot
safety functionality, and some are general purpose I/Os for connecting with
other machines and equipment. The general purpose I/Os can be manipulated
directly on the I/O tab in the user interface, see section ??, or by the robot
programs.
In this chapter, all unspecified voltage and current data are in DC.
For additional I/O, Modbus units can be added via the extra Ethernet con-
nector in the controller box.
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