Universal Robots e Series Manual de usuario
UniversalRobots e-Series
User Manual
e-Series Control Box
Original instructions (en)
Contents
1.Introduction 4
1.0.1. Control Box Bracket 4
2.Electrical Warnings and Cautions 5
3.Ethernet 7
4.Connections 8
4.1. Mains Connection 8
4.2. Robot Connection: Robot Cable 9
4.2.1. Robot Cable connector 9
4.3. Robot Connection: Base Flange Cable 10
4.3.1. Base Flange Cable connector 10
5.General Purpose I/O 11
5.0.1. Digital Inputs from a button 11
5.0.2. Communication with other machines or PLCs 11
5.0.3. General purpose analog I/O 12
5.0.4. Remote ON/OFF control 13
5.1. Controller I/O 14
5.2. Safety I/O 16
6.Index 21
User Manual e-Series Control Box
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
1.Introduction
This chapter describes electrical interface groups for the Robot Arm in the Control Box. Examples
are given for most types of I/O. The term I/O refers to both digital and analog control signals to or
from the electrical interface groups listed below.
•Mains connection
•Robot connection
•Controller I/O
•Tool I/O
•Ethernet
1.0.1. Control Box Bracket
On the underside of the I/O interface groups, there is a bracket with ports that allows for additional
connections (illustrated below). The base of the Control Box has a capped opening for easy
connection (see ).
The Mini Displayport supports monitors with Displayport and requires an active Mini Display to DVI
or HDMI converter to connect monitors with DVI/HDMI interface. Passive converters do not work
with DVI/HDMI ports.
The Fuse must be UL marked, Mini Blade type with maximum current rating: 10A and minimum
voltage rating: 32V
e-Series Control Box User Manual
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
2.Electrical Warnings and Cautions
Observe the following warnings for all the aforementioned interface groups, in addition to when the
robot application is designed and installed.
All voltages and currents are in Direct Current (DC) unless otherwise specified.
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/Os inside the Control Box can be configured for either normal or
safety-related I/O. Read and understand the complete section.
WARNING
1. Make sure all equipment not rated for water exposure remain dry. If water is
allowed to enter the product, lockout-tagout all power and then contact your
local Universal Robots service provider for assistance.
2. Only use the original cables supplied with the robot only. Do not use the
robot for applications where the cables are subject to flexing.
3. Negative connections are referred to as Ground (GND) and are connected to
the casing of the robot and the Control Box. All mentioned GND connections
are only for powering and signalling. For PE (Protective Earth) use the M6-
size screw connections marked with earth symbols inside the Control Box.
The grounding conductor shall have at least the current rating of the highest
current in the system.
4. Use caution when installing interface cables to the robot I/O. The metal plate
in the bottom is intended for interface cables and connectors. Remove the
plate before drilling holes. Make sure that all shavings are removed before
reinstalling the plate. Remember to use correct gland sizes.
User Manual e-Series Control Box
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
CAUTION
1. The robot has been tested according to international IEC standards for
ElectroMagnetic Compatibility (EMC). Disturbing signals with levels higher
than those defined in the specific IEC standards can cause unexpected
behaviors from the robot. Very high signal levels or excessive exposure can
damage the robot permanently. EMC problems are found to happen usually
in welding processes and are normally prompted by error messages in the
log. Universal Robots cannot be held responsible for any damages caused by
EMC problems.
2. I/O cables going from the Control Box to other machinery and factory
equipment may not be longer than 30m, unless additional tests are
performed.
e-Series Control Box User Manual
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
3.Ethernet
The Ethernet interface can be used for:
•MODBUS, EtherNet/IP and PROFINET (see part).
•Remote access and control.
To connect the Ethernet cable by passing it through the hole at the base of the Control Box, and
plugging it into the Ethernet port on the underside of the bracket.
Replace the cap at the base of the Control Box with an appropriate cable gland to connect the
cable to the Ethernet port.
The electrical specifications are shown in the table below.
Parameter Min Typ Max Unit
Communication speed 10 - 1000 Mb/s
User Manual e-Series Control Box
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
4.Connections
4.1. Mains Connection
The mains cable from the Control Box has a standard IEC plug at the end. Connect a country
specific mains plug, or cable, to the IEC plug.
NOTE
•IEC 61000-6-4: Chapter 1 Scope: "This part of IEC 61000 for emission
requirement applies to electrical and electronic equipment intended for use
within the environment of existing at industrial locations".
•IEC 61000-6-4: Chapter 3.1.12 industrial location: “Locations characterized
by a separate power network, supplied from a high- or medium-voltage
transformer, dedicated for the supply of the installation".
To power the robot, the Control Box must be connected to the mains via the standard IEC C20 plug
at the bottom of the Control Box, through a corresponding IEC C19 cord (see illustration below).
The mains supply is equipped with the following:
•Connection to ground
•Main fuse
•Residual current device
It is recommended to install a main switch to power off all equipment in the robot application as an
easy means for lockout-tagout under service. The electrical specifications are shown in the table
below.
e-Series Control Box User Manual
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
Parameter Min Typ Max Unit
Input voltage 100 - 240 VAC
External mains fuse (@ 100-200V) 15 - 16 A
External mains fuse (@ 200-265V) 8 - 16 A
Input frequency 47 - 440 Hz
Stand-by power - - <1.5 W
Nominal operating power 90 250 500 W
WARNING
1. Ensure the robot is grounded correctly (electrical connection to ground). Use
the unused bolts associated with grounding symbols inside the Control Box
to create common grounding of all equipment in the system. The grounding
conductor shall have at least the current rating of the highest current in the
system.
2. Ensure the input power to the Control Box is protected with a Residual
Current Device (RCD) and a correct fuse.
3. Lockout-tagout all power for the complete robot installation during service.
Other equipment shall not supply voltage to the robot I/O when the system is
locked out.
4. Ensure all cables are connected correctly before the Control Box is powered.
Always use the original power cord.
4.2. Robot Connection: Robot Cable
This subsection describes the connection for a robot arm configured with a fixed 6 meter Robot
Cable. For information on connecting a robot arm configured with a Base Flange Cable connector,
see 4.3. Robot Connection: Base Flange Cableon the next page.
4.2.1. Robot Cable connector
Establish the robot connection by connecting the robot arm to the Control Box with the Robot
Cable.
Plug and lock the cable from the robot into the connector at the bottom of the Control Box (see
illustration below). Twist the connector twice to ensure it is properly locked before turning on the
robot arm.
You can turn the connector to the right to make it easier to lock after the cable is plugged in.
User Manual e-Series Control Box
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
CAUTION
Improper robot connection can result in loss of power to the robot arm.
•Do not disconnect the Robot Cable when the robot arm is turned on.
•Do not extend or modify the original Robot Cable.
4.3. Robot Connection: Base Flange Cable
This subsection describes the connection for a robot arm configured with a Base Flange Cable
connector. For information on connecting a robot arm configured with a fixed 6 meter Robot Cable,
see 4.2. Robot Connection: Robot Cableon the previous page.
4.3.1. Base Flange Cable connector
Establish the robot connection by connecting the robot arm to the Control Box with the Robot
Cable. The Robot Cable connects to the Base Flange Cable connector and to the Control Box
connector.
You can lock each connector when robot connection is established.
CAUTION
The maximum robot connection from the robot arm to the Control Box is 12 m.
Improper robot connection can result in loss of power to the robot arm.
•Do not extend a 6 m Robot Cable.
NOTICE
Connecting the Base Flange Cable directly to any Control Box can result in
equipment or property damage.
•Do not connect the Base Flange Cable directly to the Control Box.
e-Series Control Box User Manual
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
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