Universal Robots UR10/CB3, Руководство пользователя

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1.9. Electrical Interface
1.9.1. Introduction
This chapter describes all the electrical interfaces of the robot arm and control box.
The different interfaces are divided into five groups with different purposes and properties:
• Controller I/O
• Tool I/O
• Ethernet
• Mains connection
• Robot connection
The term I/O refers both digital and analog control signals going from or to an interface.
Electrical signals through the E67 interface are described in part EUROMAP 67 Interface on
page 215 .
These five groups are described in the following sections. Examples are given for most types of
I/O.
The warnings and cautions in the following section are relevant for all five groups and must be
observed.
1.9.2. Electrical warnings and cautions
The following warnings and cautions must be observed when a robot application is designed and
installed. The warnings and cautions also apply for service work.
WARNING
1. Never connect safety signals to a PLC which is not a safety PLC with the
correct safety level. Failure to follow this warning could result in serious
injury or death as the safety functions could be overridden. It is important
to keep safety interface signals separated from the normal I/O interface
signals.
2. All safety-related signals are constructed redundantly (Two independent
channels). Keep the two channels separate so that a single fault cannot
lead to loss of the safety function.
3. Some I/O inside the control box can be configured for either normal or
safety-related I/O. Read and understand the complete section 1.9.3.
Controller I/O on the next page .
User Manual 29 UR10
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