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

6. Electrical Interface
*3.5A for 500ms or 33% duty cycle.
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]
*For resistive loads or inductive loads of maximum 1H.
NOTE
The word configurable is used for I/O configured as either safety-related
I/O or normal I/O. These are the yellow terminals with black text.

6.4.2. Safety I/O

This section describes dedicated safety input (Yellow terminal with red text) and
configurable I/O (Yellow terminals with black text) when configured as safety I/O. Follow
the Common specifications for all digital I/O in
all digital I/O on the previous
Safety devices and equipment must be installed according to the safety instructions and
the risk assessment in
All safety I/O are paired (redundant) and must be kept as two separate branches. A single
fault does not cause loss of the safety function.
There are two permanent safety input types:
• Robot Emergency Stop for emergency stop equipment only
• Safeguard Stop for protective devices
The functional difference is shown below.
User Manual
Parameter
Current*
Voltage drop
Leakage current
Function
IEC 61131-2
Voltage
OFF region
ON region
Current (11-30V)
Function
IEC 61131-2
page.
chapter 2. Safety on page 7.
37
Min Typ
0 -
0 -
0 -
- PNP
- 1A
-3 -
-3 -
11 -
2 -
- PNP +
- 3
section 6.4.1. Common specifications for
Max Unit
1 A
0.5 V
0.1 mA
- Type
- Type
30 V
5 V
30 V
15 mA
- Type
- Type
UR5e