I want to get the output voltage from TMS320C6713, so the output signal can be processed by an actuator to generate a movement. Is there any port to get the digital or analog output?
Normally you would use the C6713 on a DSK (development signal procesing kit). These have an A/D and a D/A together on an analogue interface chip. That chip sends the D/A value to the DSP via a serial port. Read the manual of the DSK.
Alternately you can consider connecting a DAC chip on your own. For this you need the Serial Port of the DSP. There are many DAC chips manufactured by TI which are targeted to directly talk to DS-Processors.
On TMS320C6713, their is a port for GPIO (General Purpose Input Output). you can use this for digital Output. For analog output you can use one of the two Multichannel Audio Serial Port (McASP) peripherals on TMS320C6713 or DAC output from Audio Codec AIC23 on DSK board.