I am working on an older RJ2 controller and the robot was previously commissioned by another company. When I first power on the robot the RO#1 (gripper close) and RO#2 (gripper open) are both OFF. If I turn either on from the pendent, from that point on they flip and which ever one is OFF the other is automatically turned ON. This makes sense as they are wired back to a three position solenoid that’s was controlling a gripper, I just would like to understand how they did this so I understand how it might work in practice, and how I might use this to my advantage in programming. From what I can tell there are only 2 macro programs and they seem to be unrelated.
Thanks!