Universal Robots UR3/CB3 Original Instructions Manual page 46

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.
If more current is needed, an external power supply can be connected as shown below.
The electrical specifications for both the internal and an external power supply are shown below.
Terminals
Internal 24V power supply
[PWR - GND]
[PWR - GND]
External 24V input requirements
[24V - 0V]
[24V - 0V]
The digital I/O are constructed in compliance with IEC 61131-2. The electrical specifications are
shown below.
Terminals
Digital outputs
[COx / DOx]
[COx / DOx]
[COx / DOx]
[COx / DOx]
[COx / DOx]
Digital Inputs
[EIx/SIx/CIx/DIx]
[EIx/SIx/CIx/DIx]
[EIx/SIx/CIx/DIx]
[EIx/SIx/CIx/DIx]
[EIx/SIx/CIx/DIx]
[EIx/SIx/CIx/DIx]
UR3/CB3
Power
PWR
GND
24V
0V
Power
PWR
GND
24V
0V
Parameter Min
Voltage 23
Current 0
Voltage 20
Current 0
Parameter Min
Current* 0
Voltage drop 0
Leakage current 0
Function -
IEC 61131-2 -
Voltage -3
OFF region -3
ON region 11
Current (11-30V) 2
Function -
IEC 61131-2 -
I-32
5.3 Controller I/O
Typ Max Unit
24 25 V
- 2 A
24 29 V
- 6 A
Typ Max Unit
- 1 A
- 0.5 V
- 0.1 mA
PNP - Type
1A - Type
- 30 V
- 5 V
- 30 V
- 15 mA
PNP - Type
3 - Type
Version 3.10