OnRobot VG10 - Electrical Characteristics

VG10 User Manual 1.1.0
Page 28 of 40
Electrical characteristics
The VG10 supports a wide range of control methods, making it suitable for all of the
following:
• Universal Robots – URCap, scripts and manual I/O control
• Other robots – Manual 24 V I/O control and MODBUS RTU (RS485) commands
• PLC – Manual 24 V I/O control and MODBUS RTU (RS485) commands
The connector on the VG10 is an 8-way, coding A, gold contacts as defined in IEC
61076-2-104. The following cables are compliant and recommended:
• OnRobot A/S, 200 mm male-female, PN 10071
• Phoenix contact, 200 mm male-female, PN 1416505
• Phoenix contact, 10 meter open ended PN 1404183
The 24V I/O signals in the VG10 control cable are constructed for
reliable communication with robots and PLC’s conforming to IEC
61131-2. Below is an overview of the signals and their respective
functions:
By default, the VG10 support basic manual control through simple 24V PLC I/Os, see
manual control on page 17. OnRobot A/S continuously improve guidance and features
for different robot manufacturers; find more on www.onrobot.com.
Pin
Color
Primary function
Alternate function
Manual function
UR I/O
5
Grey
+24V <600mA
+24V <1500mA
Power
8
Red
GND / 0V / Shield
0V/GND
7
Blue
Data input (npn)
Data input (pnp)
CHA On/Off
DO8/TO
0
6
Pink
Data input (npn)
Data input (pnp)
CHB On/Off
DO9/TO
1
4
Yellow
Data output (pnp)
CHA vacuum OK
DI8/TI0
3
Green
Data output (pnp)
CHB vacuum OK
DI9/TI1
1
White
Analog output
MODBUS RS485 (–)
CHA vacuum %
AI2
2
Brown
Analog output
MODBUS RS485 (+)
CHB vacuum %
AI3