D series, Manually controlling I/O signals?

Let me start out by saying that I'm fairly new to the industrial robot programming side of things. I'm working on a project with a ZX series robot and a D series controller. I'm trying to figure out how I can manually control the I/O signals from the teach pendant to do some testing while getting this robot set up. For example the robot's gripper is set up to be actuated by a single solenoid, I want to be able to close and open the gripper. The controller has a break out board for the I/O signals connected to the 1 GW board. Any help would be greatly appreciated thanks.

Thanks, I have that manual I just wasn't looking in the right place. It seems like half the battle sometimes is finding the info in the manuals.

So I determined the gripper solenoid is on outputs 4 and 5. When I switch one or the other of the outputs on I'm not getting any output voltage. I know the wiring to the gripper is good the solenoid is good and the ground is good because when I remove the wire's from the I/O output and put them across 24v the gripper opens and closes. Any Ideas? I'm sure its probably something simple I'm over looking.

I attached a picture of the I/O board that's on the controller. The teach pendant does turn from grey to yellow when I turn on the output, and I'm only turning on one or the other. The led on the I/O board that associated with that output is also turning on and off.

I ended up rewiring the output relay, so it works now.