I have a 24v/ 1.5w vacuum generator that I would like to install on the robot to ensure that the test cell I am designing will work before ordering a URcap vacuum head.
Would I be able to just use the Digital Output, 24v, and a ground to hook this up or would it be an analog output?
Thank you in advance for answering novice questions.
You’re absolutely right. 
24V and 0V for supply and digital output for signalling on and off.