Universal Robots UR10e PolyScope X User Manual page 54

Digital I/Os The digital I/O are constructed in compliance with IEC 61131-2. The electrical
specifications are shown below.
*For resistive loads or inductive loads of maximum 1H.
4.3. Safety I/O
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.
Safety devices and equipment must be installed according to the safety instructions and
the risk assessment in chapter Safety.
All safety I/O are paired (redundant), so a single fault does not cause loss of the safety
function. However, the safety I/O must be kept as two separate branches.
The permanent safety input types are:
UR10e PolyScope X
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]
•
Robot Emergency Stop for emergency stop equipment only
•
Safeguard Stop for protective devices
•
3PE Stop for protective devices
Parameter Min
Current* 0
Voltage drop 0
Leakage current 0
Function -
IEC 61131-2 -
Voltage -3
OFF region -3
ON region 11
Current (11-30V) 2
Function -
IEC 61131-2 -
54
4. Electrical Interface
Typ Max Unit
- 1 A
- 0.5 V
- 0.1 mA
PNP - Type
1A - Type
- 30 V
- 5 V
- 30 V
- 15 mA
PNP + - Type
3 - Type
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