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F26_001_UR

Company Universal Robots

Drawing number 3.0.3.1

Project name Universal Robots UR3

Created on 09-03-2015
Edit date 10-03-2015 Number of pages 18

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Table of contents Column X: An automatically generated page was edited F06_101_UR

Page Page description Supplementary page field Date Edited by X

/ 1 Project Front Page 10-03-2015 VKV

/ 2 Table of Contents (index) 10-03-2015 VKV

=UR3 / 10 Overview UR3 10-03-2015 VKV

=UR3 / 11 Controller UR3 10-03-2015 VKV

=UR3 / 12 Robot arm UR3 10-03-2015 VKV

=UR3 / 15 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 16 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 17 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 18 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 19 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 20 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 21 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 22 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 23 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 24 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 25 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 26 UR3 Controller I/O 10-03-2015 VKV

=UR3 / 27 UR3 Tools I/O 10-03-2015 VKV

1 =UR3/10
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CB3.1 Overview UR3

I/O

Robot Teach
arm Pendant

100-240 VAC
47-63 Hz Controller

I/O

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CON
Wire colour codes
BN Black BK
L L +V

12V PSU
Blue BU
BU 12V Brown BN

Current Distributor
N N
Supply: GNYE PSU Green GN
L GND GND -V Grey GY
100-240 VAC Orange OG
47-63 Hz
N
BN CB3.1 Controller UR3 Pink PK

48V PSU1
GND L L +V Red RD
BU 48V White WH
N N
GNYE PSU Yellow YE
GND GND -V Green/Yellow GNYE
48V PSU2

L
N
GND

RD
BK
BK

WH

WH
OG

GN

GN
BN

BN
GY

YE
PK
YE

WH
+48V

BN
Energy

+
GND

+
+
GND
GND
Eater +
+ Motherboard CB3.1

12V
TCP/IP
GND
12V 12V GND

RS485
48V
+IN

TC
48V
+OUT
GND GND

P
Relay
48V

/IP
12V

Touch

USB

USB
TCP/IP

TCP/IP
Safety Control Board

USB

USB
RS232
DVI

BLUE
ON/OFF

Config. DO

Config. DO
24V

Config. DI

Config. DI
SAFETY

AI/AO
DO

DO
DI

DI
Euromap E67

S/N
SYSTEM-SW
GND
8 47 65 31

Robot
RS485
48V USB
24v
DI/DO Teach Pendant
Shoulder

EMC Filter
Wrist 1

Wrist 2

Wrist 3
Elbow
ID=0

ID=1

ID=2

ID=3

ID=4

ID=5
Base

AI
Tool

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CB3.1 UR3 Robot arm

Base_Mounting_Bracket

Base Shoulder Elbow Wrist_1

ID: 0 ID: 1 ID: 2 ID: 3

RS485

RS485

RS485

RS485
EMC Filter

GND

GND

GND

GND
48V

48V

48V

48V
GND
12.2 48V
12.3

Wrist_2 Wrist_3 Tool_Mounting_Bracket

ID: 4 ID: 5

RS485

RS485

RS485
Tool connector

GND

48V
GND

GND
48V

48V
5
1 2 3 4 5 6 7 8
6
4
GND 8
12.8 48V 7 3
12.8
RS485

GND

48V

1 2
Controller

Lumberg Automation
Type: RSMEDG 8

1 = white AI[2]
2 = brown AI[3]
3 = green DI[9] (pnp)
4 = yellow DI[8] (pnp)
5 = grey 12/24V (power)
6 = pink DO[9] (npn)
7 = blue DO[8] (npn)
8 = red GND

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-UR3
/16.0
/17.0
/18.0
/19.0
/20.0
/21.0
/22.0
/23.0
/24.0
/25.0
/26.0
/27.0
CB3.1 UR3
GND

TCP/IP
N
L

Supply Data I/O

100-240 VAC
47-63 Hz

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-UR3
/15.0

CB3.1 UR3
Safety
Emergency Stop Safeguard Stop

24V EI0 24V EI1 24V SI0 24V SI1

Default connections Default connections

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CB3.1 UR3
Remote Power

12V GND ON OFF PWR GND 24V 0V

Default connections

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CB3.1 UR3
Configurable Inputs

24V CI0 24V CI1 24V CI2 24V CI3

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CB3.1 UR3
Configurable Inputs

24V CI4 24V CI5 24V CI6 24V CI7

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CB3.1 UR3
Configurable Outputs

0V CO0 0V CO1 0V CO2 0V CO3

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CB3.1 UR3
Configurable Outputs

0V CO4 0V CO5 0V CO6 0V CO7

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CB3.1 UR3
Digital Inputs

24V DI0 24V DI1 24V DI2 24V DI3

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CB3.1 UR3
Digital Inputs

24V DI4 24V DI5 24V DI6 24V DI7

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CB3.1 UR3
Digital Outputs

0V DO0 0V DO1 0V DO2 0V DO3

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CB3.1 UR3
Digital Outputs

0V DO4 0V DO5 0V DO6 0V DO7

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/15.0

CB3.1 UR3
Analog I/O (is not galvanically isolated from Control Box)

Analog Inputs Analog Outputs

AG AI0 AG AI1 AG AO0 AG AO1

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CB3.1 UR3
Tools connector Inputs/Outputs
PNP PNP NPN NPN
AI2 AI3 DI9 DI8 12/24V DO9 DO8 GND

1 2 3 4 5 6 7 8

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