Universal Robots UR16e Hardware Manual

Contents
1.Safety 5
1.1. Introduction 5
1.2. Warning Symbols in this Manual 6
1.3. General Warnings and Cautions 7
2.Safety-related Functions and Interfaces 15
2.1. Introduction 15
2.2. Stop Categories 15
2.3. Configurable Safety Functions 16
2.4. Safety Function 19
2.5. Modes 20
3.Mechanical Interface 23
3.1. Introduction 23
3.2. Workspace of the Robot 23
3.3. Mounting 24
3.4. Maximum Payload 26
3.4.1. Payload Inertia 27
4.Electrical Interface 29
4.1. Introduction 29
4.1.1. Control Box Bracket 29
4.2. Ethernet 29
4.3. Electrical Warnings and Cautions 30
4.4. Controller I/O 32
4.4.1. Common specifications for all digital I/O 33
4.4.2. Safety I/O 34
4.4.3. General purpose digital I/O 39
4.4.4. Digital Inputs from a button 39
4.4.5. Communication with other machines or PLCs 39
4.4.6. General purpose analog I/O 40
4.4.7. Remote ON/OFF control 41
4.5. Mains Connection 42
4.6. Robot Connection: Robot Cable 44
4.6.1. Robot Cable connector 44
Hardware Manual UR5e
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Universal Robots UR16e Specifications

General

Brand	Universal Robots
Model	UR16e
Category	Robotics
Language	English