Universal Robots UR3/CB3 User Manual (English)

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13.8 Installation → I/O Setup

• Analog standard general purpose and tool

• MODBUS

• General purpose registers (boolean, integer and ﬂoat) The general purpose registers can be

accessed by a ﬁeldbus (e.g., Proﬁnet and EtherNet/IP).

13.8.1 I/O Signal Type

To limit the number of signals listed in the Input and Output sections, use the View drop-down

menu at the top of the screen to change the displayed content based on signal type.

13.8.2 Assigning User-deﬁned Names

To easily remember what the signals do while working with the robot, users can associate names

to Input and Output signals.

1. Select the desired signal

2. Tap the text ﬁeld in the lower part of the screen to set the name.

3. To reset the name to default, tap Clear.

A general purpose register must be given a user-deﬁned name to make it available in the program

(i.e., for a Wait command or the conditional expression of an If command) The Wait and If com-

mands are described in (14.11) and (14.20), respectively. Named general purpose registers

can be found in the Input or Output selector on the Expression Editor screen.

13.8.3 I/O Actions and I/O Tab Control

Input and Output Actions: Physical and Fieldbus digital I/Os can be used to trigger actions or react

to the status of a program.

Available Input Actions:

• Start: starts or resumes the current program on a rising edge.

• Stop: Stops the current program on a rising edge.

• Pause: Pauses the current program on a rising edge.

• Freedrive: When the input is high, the robot is in freedrive ( similar to the freedrive but-

ton). The input is ignored if a program is running or other conditions disallow freedrive.

WARNING:

If the robot is stopped while using the Start input action, the robot

slowly moves to the ﬁrst waypoint of the program before executing

that program. If the robot is paused while using the Start input ac-

tion, the robot slowly moves to the position from where it was paused

before resuming that program.

Available Output Actions:

• Low when not running: Output is low when the program state is “stopped” or “paused”.

• High when not running: Output is high when the program state is “stopped” or “paused”.

CB3 II-48 Version 3.10

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Universal Robots UR3/CB3 Specifications

General

Payload	3 kg
Reach	500 mm
Degrees of Freedom	6
IP Rating	IP54
Repeatability	±0.1 mm
Power Supply	100-240 VAC, 50-60 Hz
Protection Class	IP54
Weight	11 kg
Base Footprint	128 mm diameter
Max Speed	1 m/s
Programming Method	Graphical programming interface
Communication Interface	Ethernet
Safety Standards	EN ISO 10218-1
Operating Voltage	24 VDC