@chris-annin yes working fine also when we check test switch program all working fine but the problem, in calibration CALL FUNCT TO DRIVE BACK TO LI...

@chris-annin thanx for replay It should be add wait input on after each move What about request interruptions in

No im using for AR2 I want to get signal from ALM then use it to stop the robot

Yes we are using AR2 And all joint fixed in the best way But the X Y Z jogging in false direction