Yes you will need to set up the exits below on CA 1 in order to use the VTS (robot).
You will use members CTSJUCBN and CTSJUCBR, or separately CTSJUCBX which will set up the three exits (CBRUXENT, CBRUXVNL, and CBRUXEJC) you will need in order to use the VTS (robot).
CTSJUCBN and CTSJUCBR work together and you will run each member one after the other. CTSJUCBN changes the source for the CTSUXxxx exits and saves it into the CA1 loadlib. The CTSJUCBR pulls in the CTSUXxxx source that was saved and then calls it CBRUXxxx and assembles and links it via SMP/E with the CBRxxx name into SYS1.LINKLIB.
Your other option is to use CTSJUCBX by itself which is applied directly into the IBM zone.
For further detail on the CBR exits, please review the Administrating Guide in section "Automated Tape Libraries and Virtual Tape Support".