Hi there,
I'm very new to this kind of work but am trying to design a mechanical gripper for our robot - a KR6 AGILUS (KR 6 R900 sixx) running with a KRC4 controller. The gripper will be a simple Open/shut system.
I notice a pair of ports available close to the mounting flange, one of which is the X41 port, the other is the XPN41. From my understanding the X41 port can be used to send digital high / low signals to a gripper and also provide power. Is this correct?
If so can this be controlled using the KRC4 or is other hardware required?
Looking at the Agilus, using the teach-pad I can add a command (under logic->OUT->OUT). Is this the command to send a digital signal out of this port?
Many thanks for any help you can offer!