Controller I/O - Universal Robots UR5 User Manual

Parameter
24V Voltage tolerance
Current available from 24V supply
Overload protection
[TA-TB][A ][R ] Voltage
[TA-TB][A ][R ] Current
[TA-TB][A ][R ] Current protection
[SA-SB] Input voltage
[SA-SB] Guaranteed OFF if
[SA-SB] Guaranteed ON if
[SA-SB] Guaranteed OFF if
[SA-SB] ON Current (10-30V)
[A ][R ] Input voltage
[A ][R ] Input guaranteed OFF if
[A ][R ] Input guaranteed ON if
[A ][R ] Guaranteed OFF if
[A ][R ] ON Current (10-30V)
The safeguard stop input SA-SB is a potential free input conforming to IEC
60664-1 and EN 60664-1, pollution degree 2, over-voltage category II.
Note that the yellow 24V connections is sourced by the same internal 24V power
supply as the 24V connections of the normal I/O, and that the maximum of 1.2
A is for both power sources together.

3.3 Controller I/O

Inside the controller box there is a panel of screw terminals with various I/O
parts, as shown above. The rightmost part of this panel is general purpose I/O.
The I/O panel in the controller box has 8 digital and 2 analog inputs, 8 digital
and 2 analog outputs, and a built in 24V power supply. Digital inputs and outputs
are pnp technology and constructed in compliance with IEC 61131-2 and EN
61131-2. 24V and GND can be used as input for the I/O module or output as
a 24V power supply. When the controller box is booting it checks if voltage
is applied to the 24V connection from an external power supply, and if not, it
automatically connects the internal 24V power supply.
All Rights Reserved
+24V supply connection
[24V]
0V supply connection
[GND]
Digital output number x
[DOx]
Digital input number x
[DIx]
Analog output number x plus
[AOx]
Analog output GND
[AG]
Analog input number x plus
[Ax+]
Analog input number x minus
[Ax-]
32
3.3. Controller I/O
Min Typ Max
-15% - +20%
- - 1.2
- 1.4 -
10.5 12 12.5
- - 120
- 400 -
-30 - 30
-30 - 7
10 - 30
0 - 3
7 - 14
-30 - 30
-30 - 7
10 - 30
0 - 5
6 - 10
Unit
-
A
A
V
mA
mA
V
V
V
mA
mA
V
V
V
mA
mA
UR5