Universal Robots UR10/CB3 User Manual page 45

NOTE
The Universal Robots safety system does not support multiple Three-Position
Enabling Devices.
NOTE
The two input channels for the Three-Position Enabling Device input have a
disagreement tolerance of 1 second.
General purpose digital I/O
This section describes the general purpose 24V I/O (Gray terminals) and the configurable I/O
(Yellow terminals with black text) when not configured as safety I/O. The common specifications
in section Common specifications for all digital I/O on page 31
The general purpose I/O can be used to drive equipment like pneumatic relays directly or for
communication with other PLC systems. All digital outputs can be disabled automatically when
program execution is stopped, see more in
mode, the output is always low when a program is not running. Examples are shown in the
following subsections. These examples use regular digital outputs but any configurable outputs
could also have be used if they are not configured to perform a safety function.
Load controlled by a digital output
This example shows how to connect a load to be controlled from a digital output, see below.
User Manual
Configurable Inputs
24V 24V
CI0 CI4
24V 24V
CI1 CI5
24V 24V
CI2 CI6
24V 24V
CI3 CI7
part Part II PolyScope Manual on
Digital Outputs
0V 0V
DO0 DO4
0V 0V
DO1 DO5
0V 0V
DO2 DO6
0V 0V
DO3 DO7
3-Position Switch
must be observed.
LOAD
37
page 85. In this
UR10