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

In general all grippers are controlled via a DIO module on the DIN rail. Normally, even when no gripper has been supplied, the Modular Control Electronics come with a single DIO module.

The DigitalIO module does not provide its own supply voltage. However the main supply of the Modular Control Electronics can be connected to the SUP pin (see section below) to supply power to the components connected to the digital outputs.

Electrical Integration

Digital Outputs

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

• Disconnect the robot and its control electronics from power.
• 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. (You would obviously connect the gripper in place of the lamp for the purpose of this tutorial.)