Communication With Other Machines Or Plcs; General Purpose Analog I/O - Universal Robots E Series Original Instructions Manual

6. Electrical Interface

6.4.5. Communication with other machines or PLCs

You can use the digital I/O to communicate with other equipment if a common GND (0V)
is established and if the machine uses PNP technology, see below.

6.4.6. General purpose analog I/O

The analog I/O interface is the green terminal. It is used to set or measure voltage (0-10V)
or current (4-20mA) to and from other equipment.
The following directions is recommended to achieve the highest accuracy.
• Use the AG terminal closest to the I/O. The pair share a common mode filter.
• Use the same GND (0V) for equipment and Control Box. The analog I/O is not
galvanically isolated from the Control Box.
• Use a shielded cable or twisted pairs. Connect the shield to the GND terminal at the
terminal called Power.
• Use equipment that works in current mode. Current signals are less sensitive to
interferences.
In the GUI you can select input modes (see
The electrical specifications are shown below.
Terminals
Analog Input in current mode
[AIx - AG]
[AIx - AG]
[AIx - AG]
Analog Input in voltage mode
[AIx - AG]
[AIx - AG]
[AIx - AG]
Analog Output in current mode
[AOx - AG]
[AOx - AG]
[AOx - AG]
User Manual
Digital Inputs Digital Outputs
24V 24V 0V 0V
A B
DI0 DI4 DO0 DO4
24V 24V 0V 0V
DI1 DI5 DO1 DO5
24V 24V 0V 0V
DI2 DI6 DO2 DO6
24V 24V 0V 0V
DI3 DI7 DO3 DO7
part Part II PolyScope Manual on
Parameter
Current
Resistance
Resolution
Voltage
Resistance
Resolution
Current
Voltage
Resolution
43
Digital Inputs Digital Outputs
24V 24V 0V 0V
DI0 DI4 DO0 DO4
24V 24V 0V 0V
DI1 DI5 DO1 DO5
24V 24V 0V 0V
DI2 DI6 DO2 DO6
24V 24V 0V 0V
DI3 DI7 DO3 DO7
Min Typ
4 -
- 20
- 12
0 -
- 10
- 12
4 -
0 -
- 12
page 97).
Max Unit
20 mA
- ohm
- bit
10 V
- Kohm
- bit
20 mA
24 V
- bit
UR5e