I have posted the following text in another post with the same issue (iPad will not charge Via USB), hopefully it sheds some light on the problem/solution........
It's a software glitch! I have 2 iPad mini's and the latest iPod Touch all with ios10 installed. The iPod battery graphics work; and shows it being powered, but the two iPad mini's don't.
I run an i7, 16Gb ram PC, with 2, 3.0 USB connectors. The lightening cables for both iPads are what came with them when bought from apple and all work. Yes, it does charge the iPads by plugging them in to the USB adapter wall socket plug; and yep, it shows the charging graphics every time I do it this way, but plugging it into the PC USB sockets, erm, no graphic visuals!
Now, you might ask "Why say software issue?" Well, yesterday I left both iPads plugged in to the PC whilst updating my files, had the 'not connected' message, nor did I see the charging icon next to the battery. Anyhow, went to sleep, got up this morning and both pads are fully charged!! Not just that, they both have the power icon displaying next to the nice 100% green battery image!
It's also visible in iTunes as being 100% charged, so it does work when connected to a PC USB connector, unfortunately, you don't get any visual indication that it's charged until it reaches 100%; and then turns on the charging icon.
Hopefully this helps.