From 6c56d463881a02b21954234d8df99c0f7963fe2b Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Wed, 11 Mar 2020 17:03:26 +0100
Subject: [PATCH] First shot

---
 robotlab_safety/IRB120.sps | 23 +++++++++++++++++++++--
 1 file changed, 21 insertions(+), 2 deletions(-)

diff --git a/robotlab_safety/IRB120.sps b/robotlab_safety/IRB120.sps
index 8d39262..d98084e 100644
--- a/robotlab_safety/IRB120.sps
+++ b/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
-- 
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