I'm sorry to tell you that I don't have documentation for the robot you want to adapt.
However, I have seen that the base connector is the same on both VSG and VPG robots.
If you have already managed to select the type of robot in the controller and have also placed the appropriate IPM boards, why do you want to change the wiring of the CN22?
The best thing would be to have both robots to check the correspondence of resistances and continuity in each of the pins of both robots. Is that possible?
I'm not 100% sure, but I think nothing needs to be changed; Simply connect the robot to the controller and try.
All the best.