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 a (external 24V) power supply to the D-out A SUP (see image on the left)
  • The supply voltage can be output to the pins labeled DOut A 1-3 and D-out B 4-7. There are seven separate reed relays that do the switching.
  • Depending on the gripper in use, connect the positive side of a solenoid valve or electrical gripper output pin. Here D-out B pin 5.
  • Connect the negative side of the gripper to GND of the same power supply to close the electrical circuit.
  • See the example with the lamp on output 5 on the left.
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