General Purpose Digital I/O; Digital Inputs From A Button; Communication With Other Machines Or Plcs - Universal Robots e Series Hardware Manual

4. Electrical Interface

4.4.3. General purpose digital I/O

This section describes the general purpose 24V I/O (Gray terminals) and the configurable I/O
(Yellow terminals with black text) when not configured as safety I/O. The common specifications
in section 4.4.1. Common specifications for all digital I/O on page 33
The general purpose I/O can be used to drive equipment like pneumatic relays directly or for
communication with other PLC systems. All Digital Outputs can be disabled automatically when
program execution is stopped, see PolyScope. In this mode, the output is always low when a
program is not running. Examples are shown in the following subsections. These examples use
regular Digital Outputs but any configurable outputs could also have be used if they are not
configured to perform a safety function.
Load controlled by a Digital Outputs
This example shows how a load is controlled from a Digital Outputs when connected.

4.4.4. Digital Inputs from a button

This example illustrates connecting a simple button to a Digital Inputs.

4.4.5. 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.
Hardware Manual
Digital Outputs
0V 0V
DO0 DO4
0V 0V
DO1 DO5
0V 0V
DO2 DO6
0V 0V
DO3 DO7
Digital Inputs
24V 24V
DI0 DI4
24V 24V
DI1 DI5
24V 24V
DI2 DI6
24V 24V
DI3 DI7
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
39
must be observed.
LOAD
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
UR5e