Hello, I have a kuka kr15/2 with krc1 and I dont know where are the inputs for the gripper. Maybe somebody will help me. Thx.
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Hello, I have a kuka kr15/2 with krc1 and I dont know where are the inputs for the gripper. Maybe somebody will help me. Thx.
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That's simple. There aren't any "gripper inputs" on a KRC1. There are simply general inputs, which can be wired and mapped many different ways. Whomever installed the gripper onto your robot would have had to allocate certain $IN inputs to the gripper sensors. Assuming the gripper has any sensors -- many of the cheap ones do not.
To answer your question would require us to see the electrical schematics of how the gripper is connected to your KRC1.
you can also check IOSYS.INI to see what I/O (if any) are mapped. then you can cycle gripper and monitor those inputs for any change.