Universal Robots UR12e User Manual page 67

7. Installation
Digital The digital I/O are constructed in compliance with IEC 61131-2. The electrical specifications are
I/Os 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.
7.5.1. I/O Interface Control
Description The I/O Interface Control allows you to switch between user control and URcap control.
User Manual
Parameter
Current*
Voltage drop
Leakage current
Function
IEC 61131-2
Voltage
OFF region
ON region
Current (11-30V)
Function
IEC 61131-2
68
Min Typ Max
0 - 1
0 - 0.5
0 - 0.1
- PNP -
- 1A -
-3 - 30
-3 - 5
11 - 30
2 - 15
- PNP + -
- 3 -
Unit
A
V
mA
Type
Type
V
V
V
mA
Type
Type
UR12e