I now have a FANUC 2000iB robot with a R-J3iC controller. I am using a 7th axis on the robot as a turntable, to rotate the piece as the robot is working on it. I have some tooling that comes out and attaches to the the axis in portions of the cycle. When in TEACH it is possible to have the tooling out (attached to the 7th axis) and then rotate the axis, destroying the tooling. What i want to know is, is there a way to disable the 7th axis (or whole group as the axis is on group 2) using a digital input. The trick is i need the robot to keep moving. I realize in a program i can avoid this using logic, but i want to disable the axis in teach, but only that axis. Also I am not using a PLC. I could cut the cable to the 7th axis motor and have it running though a contactor that is activated by the tooling not being present. But i dont want to void my FANUC warranty. Any help would be great.