In my day job, I'm responsible for programming and support of paint and part loading robots. Integrators have always handled the install. For a side business, I have picked up a refurbished LR Mate 200iD. The LR mate came equipped with an A20B-1009-0690 that appears to be interfaced with the CRMA 15/16 slots of the main board. If I understand correctly, this afford some I/O outside the standard robot IR on the aux port of the arm. However, I can't find any documentation on this board for pinout schematic. I have an electro gripper with 4 pins: 24vdc, common, Open, Closed.
I've found a few things on the CRMA 15/16 schematic, but not how it translates to this board. This board has 8 rows of 11 pins (push release). But I can't seem to find a schematic showing where each pin maps back to the CRMA slots. Thank you for any help you can provide as we fill in gaps I normally lean on integrators for. It is a fun journey. But I find out something new every day that I didn't know I didn't know.