QuoteCongratulations to all, I managed to overcome the errors thanks to the panic mode tips, I still replaced the smartpad and the errors that prevented the work from moving disappeared, so the problem was a faulty smartpad. Also thanks to Visentainer_Sulivan. who shared the winter program for the PLC, I managed to start the robot in automatic mode.
I also connected the 7th axis, which also works synchronously. Thanks to everyone who helped me figure this out.