run RJ2 by PLC

To run production you can use
• Program Select method (Remote/Local must be set to Remote)
— Program Number Select (PNS)
— Robot Service Request (RSR)
— Style Program Select (optional) *
— OTHER Program Select Mode *
• Production Start method (Remote/Local must be set to Remote)
— UOP PRODUCTION START input
— OTHER
• Default program on SELECT menu method (Remote/Local must be set to Local)
— SOP CYCLE START input

You also need to setup the following inputs:
IMSTP (UI1)
HOLD (UI2)
SFSD (UI3)
CSTOP (UI4)
RESET (UI5)
START (UI6)
ENABLE (UI8)
PNS/RSR 1 (UI9)
PNS/RSR 2 (UI10)
and so on depending on how many programs you need

And you can use these outputs:
COMMAND ENABLE (UO1)
SYSTEM READY (UO2)
PROGRAM RUNNING (UO3)
PAUSED (UO4)
HELD (UO5)
FAULT (UO6)