Мost robots have it as an option called a cooperative motion

Hello i have a robot with rj3 controller and i don't have any schematics for it. I need a description of the input outputs i guess it's a CMR 30 port.Аlso how can i add additional inputs and outputs to this controller.

Thanks in advance

Probably the robot is in hold state.Try to press RUN button on teach pendant

I think that, if you want to use this for some SAFETY reason you must have Cubic-S unit and use Protective stop function

I`m not sure but guess if you modify pos1 and type #pos1 out is set ON when Lmove instruction is completed.

kwakisaki thanks for help
Problem is solved.Outputs is appears when change settings on AUX 0607- top signal = 9 and number of signals=2 (old is

May I could not explain it properly.I made connector for inputs and connect to wrong port on 1TW board(outputs).Only pins V1in (I thought they are is COM1 and COM 2 ) and V2in were supplied with GND 24V.
Tomorrow I chek AUX settings.I think they are as you say.

I messed up input and output connectors and result of this instead connect inputs to outputs on D'SUB 37 on 1TW board.
Аs a result pins Vin 1 and Vin2 is supplied with GND on external power and short circuited.Immediately realized what happened and disconnect power supply.But after correct mistake and proper wiring some outputs not working they are is OUT 9 to OUT16.Worked outputs is 1 to 8 and 17 to 32.Are this outputs is damaged or something else?

In AS language have HOME instruction.Robot moves to specify coordinates set by programmer.