Universal Robots UR12e User Manual page 65

7. Installation
7.5. Controller I/O
Description You can use the I/O inside the Control Box for a wide range of equipment including
pneumatic relays, PLCs and emergency stop buttons.
The illustration below shows the layout of electrical interface groups inside the Control
Box.
You can use the horizontal Digital Inputs block (DI8-DI11), illustrated below, for
quadrature encoding Conveyor Tracking.
The meaning of the color schemes listed below must be observed and maintained.
Yellow with red text
Yellow with black text
Gray with black text
Green with black text
In the GUI, you can set up configurable I/O as either safety-related I/O or general
purpose I/O.
User Manual
Safety Remote P ow er
Confi gurable Inputs
24V 12V P W R 24V
EI0 GND GND CI0
24V ON 24V 24V
EI1 OF F 0V CI1
24V 24V
SI0 CI2
24V 24V
SI1 CI3
Confi gurable Outputs Digital Inputs
24V 0V 0V 24V
CI4 CO0 CO4 DI0
24V 0V 0V 24V
CI5 CO1 CO5 DI1
24V 0V 0V 24V
CI6 CO2 CO6 DI2
24V 0V 0V 24V
CI7 CO3 CO7 DI3
Dedicated safety signals
Configurable for safety
General purpose digital I/O
General purpose analog I/O
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Digital Outputs
24V 0V 0V
DI4 DO0 DO4
24V 0V 0V
DI5 DO1 DO5
24V 0V 0V
DI6 DO2 DO6
24V 0V 0V
DI7 DO3 DO7
Analog
AG
AI0
AG
AI1
AG
AO0
AG
AO1
UR12e