Controller I/O - Universal Robots E Series Original Instructions Manual

6. Electrical Interface
CAUTION
1. The robot has been tested according to international IEC standards
2. I/O cables going from the Control Box to other machinery and

6.4. Controller I/O

You can use the I/O inside the Control Box for a wide range of equipment including
pneumatic relays, PLCs and emergency stop buttons.
The illustration below shows the layout of electrical interface groups inside the Control
Box.
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
You can use the horizontal Digital Inputs block (DI8-DI11), illustrated below, for
quadrature encoding Conveyor Tracking (see
I/O on the next page) for these types of input.
The meaning of the color schemes listed below must be observed and maintained.
Yellow with red text
Yellow with black text
Gray with black text
Green with black text
User Manual
for ElectroMagnetic Compatibility (EMC). Disturbing signals with
levels higher than those defined in the specific IEC standards can
cause unexpected behaviors from the robot. Very high signal levels
or excessive exposure can damage the robot permanently. EMC
problems are found to happen usually in welding processes and are
normally prompted by error messages in the log. Universal Robots
cannot be held responsible for any damages caused by EMC
problems.
factory equipment may not be longer than 30m, unless additional
tests are performed.
Remote P ow er Confi gurable Inputs
12V P W R 24V 24V
GND GND CI0 CI4
ON 24V 24V 24V
OF F 0V CI1 CI5
24V 24V
CI2 CI6
24V 24V
CI3 CI7
Confi gurable Outputs Digital Inputs
0V 0V 24V 24V
CO0 CO4 DI0 DI4
0V 0V 24V 24V
CO1 CO5 DI1 DI5
0V 0V 24V 24V
CO2 CO6 DI2 DI6
0V 0V 24V 24V
CO3 CO7 DI3 DI7
6.4.1. Common specifications for all digital
Dedicated safety signals
Configurable for safety
General purpose digital I/O
General purpose analog I/O
35
Digital Outputs Analog
0V 0V AG
DO0 DO4 AI0
0V 0V AG
DO1 DO5 AI1
0V 0V AG
DO2 DO6 AO0
0V 0V AG
DO3 DO7 AO1
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