Signals connection

  • :help:
    I need some help please. I have read the documentation and I need a confirmation about how are the signals connected from the gripper to controller. The robot is IRB2600 and single IRC5 controller. I have to use 16 digital I/O.
    Do I have to connect the wires signals from sensors to R2.CP or R2CS? And this contacts communicate with R1.CP/CS? and then with XS5?
    Which will be the mapping address for in software?
    Thank you!

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