Universal Robots UR10/CB3 User Manual page 40

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]
Note: *For resistive loads or inductive loads of maximum 1H.
NOTE
The word configurable is used for I/O that can be configured as either safety-
related I/O or normal I/O. These are the yellow terminals with black text.
UR10
Power
PWR
GND
24V
0V
Parameter
Voltage
Current
Voltage
Current
Parameter
Current*
Voltage drop
Leakage current
Function
IEC 61131-2
Voltage
OFF region
ON region
Current (11-30V)
Function
IEC 61131-2
32
Min Typ Max
23 24 25
0 - 2
20 24 29
0 - 6
Min Typ Max
0 - 1
0 - 0.5
0 - 0.1
- PNP -
- 1A -
-3 - 30
-3 - 5
11 - 30
2 - 15
- PNP -
- 3 -
Unit
V
A
V
A
Unit
A
V
mA
Type
Type
V
V
V
mA
Type
Type
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