Digital Inputs; Digital Outputs - Universal Robots UR3/CB3 Original Instructions Manual

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

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 defined 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 gal-
vanic 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
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
III-28
Min Typ
10.2 12
- -
- 400
-30 -
-30 -
10 -
0 -
7 -
0.01 -
5 -
5 -
Min Typ Max Unit
-30 24 30 V
-30 - 7 V
10 - 30 V
0 - 5 mA
6 - 10 mA
Min Typ Max Unit
0 - 120 mA
0 0.1 1
0 0 0.1 mA
- 12 25 mA
20.4 Digital Outputs
Max Unit
12.5 V
120 mA
- mA
30 V
7 V
30 V
3 mA
14 mA
6 A
50 V
250 V
V
Version 3.10