Hello, everyone!
I'm new with KUKA, I have KR150L110, 2002 year, with KRC2.
The robot that I have was a welding robot.
My current problem is that I don't know how to figure out the layout of I/O pins.
There are slots at the bottom of the KRC2 cabinet. You can see them on photos slots_1_frontview and slots_2_upsideview.
From these slots cables go to the DeviceNet.
As you can see at the picture slot_x11, I assume that on the Slot X11 there is a circuit that imitates a safety circuit.
I need to connect an extruder pared with Arduino to KUKA. For that, I need to figure out how to find 24V and Ground pins that I will be able to trigger through the code simply by writing, for example, $OUT[33]=TRUE. For the connection of Arduino to the 24V circuit I plan to use an optocoupler or a voltage-divider.