Using RI/RO without arm connector

You can access them on the CRF8-connector on the 6-axis amplifier:

The pins youre looking for are going to be part of the Robot connection cable. Youre better off not messing with that. If you're already in the controller why not just use the DO/DI?

Quote from gumpus

the DI/DO come with additional purchases no?

not true. you can use DI/DO without major purchase. Each Robot comes with a plug that can be used to wire DI/DO.

Quote from ASUA1

not true. you can use DI/DO without major purchase. Each Robot comes with a plug that can be used to wire DI/DO.

Conditionally true. This only applies if you are purchasing a Mate controller. A normal controller (R30ib+) will not have IO besides the RI/RO for free.