I am working with an older R-J3iB, pre-BGLogic, controller, and my operator needs (wants) the ability to open and close his gripper at the touch of a push-button that is to be located near where the work is being done. Only problem is, he needs to be able to toggle his gripper whether he is in AUTO or teach mode. He might need to open and close his gripper 15-20 times over the course of a setup, so flipping back and forth between the TP screens for I/O and editing becomes quite the hassle...
So anyway, if I assign macros to a couple of digital inputs it works like a charm. In AUTO. But not in teach mode. This must be much simpler than I am making it. What am I missing? How do I toggle my gripper in AUTO and teach without BGLogic?