Safety I/O - Universal Robots e Series User Manual

*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.

5.2. 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
Safety devices and equipment must be installed according to the safety instructions and the risk
assessment in chapter .
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.
Robot stops moving
Program execution
e-Series Control Box
Parameter
Current*
Voltage drop
Leakage current
Function
IEC 61131-2
Voltage
OFF region
ON region
Current (11-30V)
Function
IEC 61131-2
section Common specifications for all digital
Emergency Stop
Yes
Pauses
Min Typ Max
0 -
0 - 0.5
0 - 0.1
- PNP
- 1A
-3 - 30
-3 -
11 - 30
2 - 15
- PNP +
- 3
I/O.
Safeguard Stop
Yes
Pauses
Unit
1 A
V
mA
- Type
- Type
V
5 V
V
mA
- Type
- Type
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