I/O Ports; Inputs And Outputs - Universal Robots UR3 Installation Manual

5. I/O Ports

5.1 Inputs and Outputs

Relevant
YES Check all terminals for proper connection.
Terminals should not be loose. You should
also take caution that the shield of the wire
(if present) is not contacting any terminal
connections.
Incorrect or loose connection of these
terminals can result in problems with the
signals.
Controller Be sure that the current per single I/O is not
I/O used? above the maximum allowed value.
YES Be sure that the total current used by all I/O
NO is not above the maximum allowed.
If there is a need for larger current supplying
capacity than can be supplied by internal
power supply unit use an external power
supply unit and make sure the 24 V jumper
is properly configured and that the internal
24 V supply of the robot is not tied to the
external 24 V supply. It is not good practice
to have the outputs of two different 24 V
power supplies connected together.
Tool I/O Be sure that the current per single I/O is not
used? above the maximum allowed value.
YES Be sure that the total current used by all I/O
NO is not above the maximum allowed value.
Safety Check mismatch time settings on safety
devices signals on external safety devices. Note that
connected? dual channel safety outputs are switched
with a maximum delay of 8 ms within the
YES UR robots safety IO and an internal error
NO message is triggered after 48 ms. A value of
20 ms is recommended for setting the
mismatch on safety inputs on external
devices (like Safety PLCs).
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Description
8
Further Information
UR User Manual
Chapter "Controller
I/O"
UR User Manual
Chapter "Controller
I/O"
UR Support Website
Article "Connecting
internal inputs and
outputs (I/O) on the
robot's controller"
UR User Manual
Chapter "Tool I/O"
UR Support Website
Article "Scan time for
CB3 and e-Series
controller I/O"
Installation Guide (en) 1.3.3
Checked