First shot

robotlab_safety/IRB120.sps

@@ -5,7 +5,8 @@ $Name <FILENAME>
 
 #Include <func06.fps>
 
-! Id_Pluto_B42_ASi:1=000000000000
+! Id_Pluto_B42_ASi:1=0000147245FA
+! Can_Baud=400
 
 
 
@@ -13,7 +14,25 @@ $Name <FILENAME>
 ! Instruction_Set_3
 ! ASi_Optimize=Stoptime
 
-
+! I1.42,A_Pulse,Non_Inv
+! I1.43,B_Pulse,Non_Inv
+! I1.44,A_Pulse,Non_Inv
+! I1.45,B_Pulse,Non_Inv
+! I1.46,A_Pulse,Non_Inv
+! I1.47,B_Pulse,Non_Inv
+! Q1.10,A_Pulse
+! Q1.11,B_Pulse
+
+! I1.42=Auto_A                          ;
+! I1.43=Auto_B                          ;
+! I1.44=Man_A                           ;
+! I1.45=Man_B                           ;
+! I1.46=Man100_A                        ;
+! I1.47=Man100_B                        ;
+! Q1.0=ES1                              ;Emergency stop 1
+! Q1.1=ES2                              ;Emergency stop 2
 
 
 S1.0_0
+ES1=Auto_A+Man_A+Man100_A
+;Tes