Electrical Interface; Introduction - Universal Robots UR-6-85-5-A User Manual

Chapter 2

Electrical Interface

2.1 Introduction

There are electrical inputs/outputs (I/Os) inside the controller box and at the
robot tool flange. Some of the I/Os inside the controller box are dedicated
to the robot emergency stop functionality, and some I/Os allows the robot to
communicate with other machines and equipment. The I/O at the robot tool
flange can be used to control grippers and sensors placed on the tool. Both the
controller and the tool I/O can be tested at the I/O tab in the graphical user
interface, as explained in section 3.3.2. The next three sections explain how to
use the electrical I/O.
Note that according to the IEC 61000 standard cables going from the controller
box to other machinery and factory equipment may not be longer than 30m,
unless extended test requirements are performed.
Note that every minus connection (0V) is referred to as GND, and is connected
to the shield of the robot and the controller box. However, all mentioned GND
connections are only for powering and signaling. For a real ground connec-
tion there is an M 10 sized screw connection at the down right corner of the
controller box.
Note that data in this chapter is only valid when the ambient temperature of
the controller box and the robot is within its specified working range, and that
all voltage and current data is implicitly DC.
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