Code based on the OpenABB project by Michael Dawson-Haggerty: https://github.com/robotics/open_abb See this in action at: https://www.youtube.com/watch?v=mI93TwYS0So Summary: Code to go on the IRC5 controller: MainModule.mod Enables extruder, and starts the Server process. Also contains some useful test functions for I/O SERVER.mod Parses input from PC PC code: abb.py Interface with IRC5 controller via ethernet abb_testing.py Similar functions to abb.py, but animates the toolpath output testConnections.py Shows the use of a few functions, tests digital output RESET_POSITION.py Resets robot position and sets all signals to 0 Setup: Requires a DSQC 652 digital I/O board, configured to have a Group Output called GO_Signal IP address (line 40-41) in SERVER.mod should be set for if using the robot (192...) or RobotStudio (125...) This should be called when intiialising the interface in abb.py