I am working with a KR6 R700 sixx, and we have some IO on the end effector that will be controlled via the DIO on the A4 interface, X41. We went back an forth with Kuka a little while ago to determine whether the digital outputs were sinking or sourcing. They ended up determining that they were sinking, so we planned our IO around that. Turns out they were wrong, the outputs are sourcing. I have two questions:
1. Is there a way to configure these output via workvisual to sinking or sourcing?
2. Why does Kuka documentation not specify this important parameter and why would Kuka support have to "figure out" whether they were sinking or sourcing? This should be an easy answer that is well documented.