Universal Robots UR e Series Hardware Manual

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 must be observed.
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.
0V
DO1
0V
DO2
0V
DO3
0V
DO0
Digital Outputs
0V
DO5
0V
DO6
0V
DO7
0V
DO4
LOAD
4.4.4. Digital Inputs from a button
This example illustrates connecting a simple button to a Digital Inputs.
24V
DI1
24V
DI2
24V
DI3
24V
DI0
Digital Inputs
24V
DI5
24V
DI6
24V
DI7
24V
DI4
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.
24V
DI1
24V
DI2
24V
DI3
24V
DI0
Digital Inputs
24V
DI5
24V
DI6
24V
DI7
24V
DI4
0V
DO1
0V
DO2
0V
DO3
0V
DO0
Digital Outputs
0V
DO5
0V
DO6
0V
DO7
0V
DO4
24V
DI1
24V
DI2
24V
DI3
24V
DI0
Digital Inputs
24V
DI5
24V
DI6
24V
DI7
24V
DI4
0V
DO1
0V
DO2
0V
DO3
0V
DO0
Digital Outputs
0V
DO5
0V
DO6
0V
DO7
0V
DO4
A B
Hardware Manual 39 UR5e
4.Electrical Interface
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.

Universal Robots UR e Series Specifications

General

Brand	Universal Robots
Model	UR e Series
Category	Robotics
Language	English