Electrical Characteristics - OnRobot VG10 User Manual

VG10 User Manual 1.1.0

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:
Pin Color Primary function
5 Grey +24V <600mA
8 Red GND / 0V / Shield
7 Blue Data input (npn)
6 Pink Data input (npn)
4 Yellow Data output (pnp)
3 Green Data output (pnp)
1 White Analog output
2 Brown Analog output
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.
Page 28 of 40
Alternate function
+24V <1500mA
Data input (pnp)
Data input (pnp)
MODBUS RS485 (–)
MODBUS RS485 (+)
Manual function UR I/O
Power
0V/GND
CHA On/Off DO8/TO
0
CHB On/Off DO9/TO
1
CHA vacuum OK DI8/TI0
CHB vacuum OK DI9/TI1
CHA vacuum % AI2
CHB vacuum % AI3