How to operate a vacuum gripper using CPRog and the Modular Control Electronics

From Wiki

In general all grippers are controlled via a DIO module on the DIN rail. Normally a single DIO module is supplied with the modular control electronics for e.g. igus robolink arms or igus gantries.

Electrical Integration

DIO pinout.png

Digital Outputs

The digital outputs are at the bottom of the image on the left.


  • Connect an external (24V) power supply to the Dout A
  • The supply is forwarded to one of the outputs pins via reed relays
  • Connect a valve or another component to the output pin
  • Connect the component to GND to close the electrical circuit
  • See the example with the lamp on output 5 on the left.
  • In CPRog:
    • Reset and Enable the robot
    • Set DOut 25 to true to switch on the lamp


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