Fanuc R30ib mate system UOP

ACK signals are outputs to acknowledge when RSR signals have been received. If you're not using Robot Service Requests then you don't need to bother with that. You can map any of the UOP outputs to Digital outputs and monitor them that way or you can monitor the UOP directly from the TP program or PLC/HMI via PLC access driver or through mapped IO. Cycle Start will run a program and you can monitor UO3, PROGRUN to verify the robot is running a program.