yep... its about half a year later and truth starts to come out... for all we knew, this was about Win95! 
since you repeatedly mention that you don't care about safety, i assume you live in part of the world where human life and regulations don't mean much.
anyway, if you do want to do this, consider enabling palletizing mode, disabling AUT and EXT (so one at least uses enabling switch), modifying reduction factors in MADA and writing program that reads controls via inputs and updates arm target position in XYZ fashion.
