From 09eb52754c3d199a944a166f2ce2f626dcc51086 Mon Sep 17 00:00:00 2001
From: gac-S_Changer <gac-S_Changer@PC12288.psi.ch>
Date: Wed, 22 Feb 2017 14:09:56 +0100
Subject: [PATCH] Added versioning to robot project

---
 .../MXLAB/Controller1/Controller1.controller  |  13 +
 .../usr/applicom/Modbus/modbus.xml            |  10 +
 robot/MXLAB/Controller1/usr/configs/arm.cfx   |  22 ++
 robot/MXLAB/Controller1/usr/configs/bio.cfx   |  35 ++
 robot/MXLAB/Controller1/usr/configs/bio2.cfx  |  35 ++
 robot/MXLAB/Controller1/usr/configs/cell.cfx  |  68 ++++
 robot/MXLAB/Controller1/usr/configs/cio.cfx   |  27 ++
 .../Controller1/usr/configs/controller.cfx    |  37 +++
 .../MXLAB/Controller1/usr/configs/encoder.cfx |  45 +++
 robot/MXLAB/Controller1/usr/configs/mio.cfx   |  67 ++++
 .../MXLAB/Controller1/usr/configs/network.cfx |  29 ++
 .../usr/configs/profiles/default.cfx          |  21 ++
 .../usr/configs/profiles/maintenance.cfx      |  21 ++
 robot/MXLAB/Controller1/usr/configs/sio.cfx   |  11 +
 .../Controller1/usr/configs/systemios.cfx     | 304 ++++++++++++++++++
 .../Controller1/usr/configs/val3version.xml   |   4 +
 .../usrapp/ForceDetection/ForceDetection.dtx  |  87 +++++
 .../usrapp/ForceDetection/ForceDetection.pjx  |  26 ++
 .../usr/usrapp/ForceDetection/comModbus.pgx   |  55 ++++
 .../usr/usrapp/ForceDetection/comTcp.pgx      |  85 +++++
 .../usr/usrapp/ForceDetection/detect.pgx      |  76 +++++
 .../usr/usrapp/ForceDetection/getContact.pgx  |  25 ++
 .../usrapp/ForceDetection/onCommandModbus.pgx |  27 ++
 .../usrapp/ForceDetection/onCommandTcp.pgx    |  32 ++
 .../usr/usrapp/ForceDetection/resetData.pgx   |  29 ++
 .../usrapp/ForceDetection/sendEventTcp.pgx    |  23 ++
 .../usr/usrapp/ForceDetection/setInZone.pgx   |  21 ++
 .../usr/usrapp/ForceDetection/setOutZone.pgx  |  22 ++
 .../usrapp/ForceDetection/simulateEvents.pgx  |  19 ++
 .../usr/usrapp/ForceDetection/start.pgx       |  65 ++++
 .../usrapp/ForceDetection/startDetection.pgx  |  36 +++
 .../usrapp/ForceDetection/startTraining.pgx   |  31 ++
 .../usr/usrapp/ForceDetection/stop.pgx        |   7 +
 .../usr/usrapp/ForceDetection/train.pgx       |  28 ++
 robot/MXLAB/MXLAB.cell                        |   4 +
 script/local.py                               |   1 +
 36 files changed, 1448 insertions(+)
 create mode 100644 robot/MXLAB/Controller1/Controller1.controller
 create mode 100644 robot/MXLAB/Controller1/usr/applicom/Modbus/modbus.xml
 create mode 100644 robot/MXLAB/Controller1/usr/configs/arm.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/bio.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/bio2.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/cell.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/cio.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/controller.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/encoder.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/mio.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/network.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/profiles/default.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/profiles/maintenance.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/sio.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/systemios.cfx
 create mode 100644 robot/MXLAB/Controller1/usr/configs/val3version.xml
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.pjx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comModbus.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/getContact.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandModbus.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/resetData.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setInZone.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setOutZone.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startDetection.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startTraining.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/stop.pgx
 create mode 100644 robot/MXLAB/Controller1/usr/usrapp/ForceDetection/train.pgx
 create mode 100644 robot/MXLAB/MXLAB.cell

diff --git a/robot/MXLAB/Controller1/Controller1.controller b/robot/MXLAB/Controller1/Controller1.controller
new file mode 100644
index 0000000..5f3e6bb
--- /dev/null
+++ b/robot/MXLAB/Controller1/Controller1.controller
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LocalController xmlns="http://www.staubli.com/robotics/controller/1">
+  <Version>s7.9.1</Version>
+  <Properties>
+    <Property type="SRS.VAL3Studio.Services.RobotSkinControllerProperty">
+      <RobotSkin xmlns="http://www.staubli.com/robotics/robotskincontrollerproperty/1">TX60L-HB-L-WS</RobotSkin>
+    </Property>
+  </Properties>
+  <Target hostname="">
+    <Context type="RemoteConnection" port="5653" username="default" />
+    <Context type="ClientRemoteAccess" port="800" username="default" />
+  </Target>
+</LocalController>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/applicom/Modbus/modbus.xml b/robot/MXLAB/Controller1/usr/applicom/Modbus/modbus.xml
new file mode 100644
index 0000000..607856a
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/applicom/Modbus/modbus.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="ISO-8859-1" standalone="yes"?>
+<TOPICSLIST>
+	<TOPIC Name="Modbus" Card="0" Channel="0" Equipment="0" RefreshPeriod="200" Actif="1">
+		<MODULE Tag_name_root="Bit" IDModule="BOOLEAN" InputSize="" OutputSize="0">
+			</MODULE>
+		<MODULE Tag_name_root="Word" IDModule="WORD" InputSize="" OutputSize="1264">
+			<ITEM Name="M1" Syntaxe="%IW0" Offset="0"/><ITEM Name="M2" Syntaxe="%IW1" Offset="1"/><ITEM Name="M3" Syntaxe="%IW2" Offset="2"/><ITEM Name="M4" Syntaxe="%IW3" Offset="3"/><ITEM Name="M5" Syntaxe="%IW4" Offset="4"/><ITEM Name="M6" Syntaxe="%IW5" Offset="5"/><ITEM Name="STATUS" Syntaxe="%IW6:6" Offset="6"/><ITEM Name="COMMAND" Syntaxe="%QW12" Offset="12"/><ITEM Name="REQUEST" Syntaxe="%QW13" Offset="13"/><ITEM Name="ACKNOWLEDGE" Syntaxe="%IW14" Offset="14"/><ITEM Name="RETURN" Syntaxe="%IW15:32" Offset="15"/><ITEM Name="ARGUMENTS" Syntaxe="%QW47:32" Offset="47"/></MODULE>
+	</TOPIC>
+	<GENERAL_PARAMETERS TopicName="Modbus" TCP_Port="502" ConnectionNumber="2"/>
+</TOPICSLIST>
diff --git a/robot/MXLAB/Controller1/usr/configs/arm.cfx b/robot/MXLAB/Controller1/usr/configs/arm.cfx
new file mode 100644
index 0000000..9742c85
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/arm.cfx
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<arm>
+  <String name="arm" value="tx60l-S1" />
+  <String name="tuning" value="" />
+  <String name="mount" value="floor" />
+  <FloatArray name="zeroOffset">
+    <Float index="0" value="0.0000000" />
+    <Float index="1" value="0.0000000" />
+    <Float index="2" value="0.0000000" />
+    <Float index="3" value="0.0000000" />
+    <Float index="4" value="0.0000000" />
+    <Float index="5" value="0.0000000" />
+  </FloatArray>
+  <FloatArray name="factoryMark">
+    <Float index="0" value="0.0000001" />
+    <Float index="1" value="0.0000000" />
+    <Float index="2" value="0.0000000" />
+    <Float index="3" value="0.0000000" />
+    <Float index="4" value="0.0000000" />
+    <Float index="5" value="0.0000000" />
+  </FloatArray>
+</arm>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/bio.cfx b/robot/MXLAB/Controller1/usr/configs/bio.cfx
new file mode 100644
index 0000000..ac01acb
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/bio.cfx
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<bio>
+  <bioDin index="0"  name="bIn0" mode="notInverted" />
+  <bioDin index="1"  name="bIn1" mode="notInverted" />
+  <bioDin index="2"  name="bIn2" mode="notInverted" />
+  <bioDin index="3"  name="bIn3" mode="notInverted" />
+  <bioDin index="4"  name="bIn4" mode="notInverted" />
+  <bioDin index="5"  name="bIn5" mode="notInverted" />
+  <bioDin index="6"  name="bIn6" mode="notInverted" />
+  <bioDin index="7"  name="bIn7" mode="notInverted" />
+  <bioDin index="8"  name="bIn8" mode="notInverted" />
+  <bioDin index="9"  name="bIn9" mode="notInverted" />
+  <bioDin index="10"  name="bIn10" mode="notInverted" />
+  <bioDin index="11"  name="bIn11" mode="notInverted" />
+  <bioDin index="12"  name="bIn12" mode="notInverted" />
+  <bioDin index="13"  name="bIn13" mode="notInverted" />
+  <bioDin index="14"  name="bIn14" mode="notInverted" />
+  <bioDin index="15"  name="bIn15" mode="notInverted" />
+  <bioDout index="0"  name="bOut0" mode="notInverted" />
+  <bioDout index="1"  name="bOut1" mode="notInverted" />
+  <bioDout index="2"  name="bOut2" mode="notInverted" />
+  <bioDout index="3"  name="bOut3" mode="notInverted" />
+  <bioDout index="4"  name="bOut4" mode="notInverted" />
+  <bioDout index="5"  name="bOut5" mode="notInverted" />
+  <bioDout index="6"  name="bOut6" mode="notInverted" />
+  <bioDout index="7"  name="bOut7" mode="notInverted" />
+  <bioDout index="8"  name="bOut8" mode="notInverted" />
+  <bioDout index="9"  name="bOut9" mode="notInverted" />
+  <bioDout index="10"  name="bOut10" mode="notInverted" />
+  <bioDout index="11"  name="bOut11" mode="notInverted" />
+  <bioDout index="12"  name="bOut12" mode="notInverted" />
+  <bioDout index="13"  name="bOut13" mode="notInverted" />
+  <bioDout index="14"  name="bOut14" mode="notInverted" />
+  <bioDout index="15"  name="bOut15" mode="notInverted" />
+</bio>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/bio2.cfx b/robot/MXLAB/Controller1/usr/configs/bio2.cfx
new file mode 100644
index 0000000..867f8f4
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/bio2.cfx
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<bio>
+  <bio2Din index="0"  name="b2In0" mode="notInverted" />
+  <bio2Din index="1"  name="b2In1" mode="notInverted" />
+  <bio2Din index="2"  name="b2In2" mode="notInverted" />
+  <bio2Din index="3"  name="b2In3" mode="notInverted" />
+  <bio2Din index="4"  name="b2In4" mode="notInverted" />
+  <bio2Din index="5"  name="b2In5" mode="notInverted" />
+  <bio2Din index="6"  name="b2In6" mode="notInverted" />
+  <bio2Din index="7"  name="b2In7" mode="notInverted" />
+  <bio2Din index="8"  name="b2In8" mode="notInverted" />
+  <bio2Din index="9"  name="b2In9" mode="notInverted" />
+  <bio2Din index="10"  name="b2In10" mode="notInverted" />
+  <bio2Din index="11"  name="b2In11" mode="notInverted" />
+  <bio2Din index="12"  name="b2In12" mode="notInverted" />
+  <bio2Din index="13"  name="b2In13" mode="notInverted" />
+  <bio2Din index="14"  name="b2In14" mode="notInverted" />
+  <bio2Din index="15"  name="b2In15" mode="notInverted" />
+  <bio2Dout index="0"  name="b2Out0" mode="notInverted" />
+  <bio2Dout index="1"  name="b2Out1" mode="notInverted" />
+  <bio2Dout index="2"  name="b2Out2" mode="notInverted" />
+  <bio2Dout index="3"  name="b2Out3" mode="notInverted" />
+  <bio2Dout index="4"  name="b2Out4" mode="notInverted" />
+  <bio2Dout index="5"  name="b2Out5" mode="notInverted" />
+  <bio2Dout index="6"  name="b2Out6" mode="notInverted" />
+  <bio2Dout index="7"  name="b2Out7" mode="notInverted" />
+  <bio2Dout index="8"  name="b2Out8" mode="notInverted" />
+  <bio2Dout index="9"  name="b2Out9" mode="notInverted" />
+  <bio2Dout index="10"  name="b2Out10" mode="notInverted" />
+  <bio2Dout index="11"  name="b2Out11" mode="notInverted" />
+  <bio2Dout index="12"  name="b2Out12" mode="notInverted" />
+  <bio2Dout index="13"  name="b2Out13" mode="notInverted" />
+  <bio2Dout index="14"  name="b2Out14" mode="notInverted" />
+  <bio2Dout index="15"  name="b2Out15" mode="notInverted" />
+</bio>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/cell.cfx b/robot/MXLAB/Controller1/usr/configs/cell.cfx
new file mode 100644
index 0000000..617cbc5
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/cell.cfx
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<cell>
+  <String name="language" value="english" />
+  <Uint name="coderCounts" value="1024" />
+  <String name="valve1Mode" value="notInverted" />
+  <String name="valve2Mode" value="notInverted" />
+  <String name="vreg1Mode" value="inverted" />
+  <String name="vreg2Mode" value="inverted" />
+  <String name="vreg1_enMode" value="inverted" />
+  <String name="vreg2_enMode" value="inverted" />
+  <String name="usrIn0Mode" value="notInverted" />
+  <String name="usrIn1Mode" value="notInverted" />
+  <Bool name="longEsOut" value="true" />
+  <Uint name="magicFlag" value="0" />
+  <Float name="cycleTime" value="-1" />
+  <Float name="val3WatchdogPeriod" value="-1" />
+  <Float name="maxManuCartSpeed" value="250" />
+  <Float name="maxStartMonitorSpeed" value="10" />
+  <FloatArray name="minCellJointPos" >
+    <Float index="0" value="-99999" />
+    <Float index="1" value="-99999" />
+    <Float index="2" value="-99999" />
+    <Float index="3" value="-99999" />
+    <Float index="4" value="-99999" />
+    <Float index="5" value="-99999" />
+  </FloatArray>
+  <FloatArray name="maxCellJointPos" >
+    <Float index="0" value="99999" />
+    <Float index="1" value="99999" />
+    <Float index="2" value="99999" />
+    <Float index="3" value="99999" />
+    <Float index="4" value="99999" />
+    <Float index="5" value="99999" />
+  </FloatArray>
+  <CellJntRange>
+  </CellJntRange>
+  <String name="refPos" value="FactoryMarks" />
+  <FloatArray name="refPos1" >
+    <Float index="0" value="0" />
+    <Float index="1" value="0" />
+    <Float index="2" value="0" />
+    <Float index="3" value="0" />
+    <Float index="4" value="0" />
+    <Float index="5" value="0" />
+  </FloatArray>
+  <FloatArray name="refPos2" >
+    <Float index="0" value="0" />
+    <Float index="1" value="0" />
+    <Float index="2" value="0" />
+    <Float index="3" value="0" />
+    <Float index="4" value="0" />
+    <Float index="5" value="0" />
+  </FloatArray>
+  <Bool name="parkCheckInAutoMode" value="false" />
+  <String name="robotName" value="" />
+  <autoStart name="" location="" />
+  <String name="initWorkingMode" value="manual" />
+  <CellDynamicParams>
+    <VectCart name="gravity" x="0" y="0" z="-9.81" />
+  </CellDynamicParams>
+  <Bool name="miniJog" value="true" />
+  <Bool name="useUsUnits" value="false" />
+  <String name="T1_key" value="valve1" />
+  <String name="T2_key" value="valve2" />
+  <String name="T3_key" value="" />
+  <String name="defaultUser" value="default" />
+  <Float name="monitorSpeed" value="10" />
+</cell>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/cio.cfx b/robot/MXLAB/Controller1/usr/configs/cio.cfx
new file mode 100644
index 0000000..68c8816
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/cio.cfx
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<cio>
+  <cioDin index="0"  name="cDin0" mode="notInverted" />
+  <cioDin index="1"  name="cDin1" mode="notInverted" />
+  <cioDin index="2"  name="cDin2" mode="notInverted" />
+  <cioDin index="3"  name="cDin3" mode="notInverted" />
+  <cioDin index="4"  name="cDin4" mode="notInverted" />
+  <cioDin index="5"  name="cDin5" mode="notInverted" />
+  <cioDin index="6"  name="cDin6" mode="notInverted" />
+  <cioDin index="7"  name="cDin7" mode="notInverted" />
+  <cioDout index="0"  name="cDout0" mode="notInverted" />
+  <cioDout index="1"  name="cDout1" mode="notInverted" />
+  <cioDout index="2"  name="cDout2" mode="notInverted" />
+  <cioDout index="3"  name="cDout3" mode="notInverted" />
+  <cioDout index="4"  name="cDout4" mode="notInverted" />
+  <cioDout index="5"  name="cDout5" mode="notInverted" />
+  <cioDout index="6"  name="cDout6" mode="notInverted" />
+  <cioDout index="7"  name="cDout7" mode="notInverted" />
+  <cioAin index="0"  name="cAin0" coefA="1" coefB="0" />
+  <cioAin index="1"  name="cAin1" coefA="1" coefB="0" />
+  <cioAin index="2"  name="cAin2" coefA="1" coefB="0" />
+  <cioAin index="3"  name="cAin3" coefA="1" coefB="0" />
+  <cioAout index="0"  name="cAout0" coefA="1" coefB="0" />
+  <cioAout index="1"  name="cAout1" coefA="1" coefB="0" />
+  <cioAout index="2"  name="cAout2" coefA="1" coefB="0" />
+  <cioAout index="3"  name="cAout3" coefA="1" coefB="0" />
+</cio>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/controller.cfx b/robot/MXLAB/Controller1/usr/configs/controller.cfx
new file mode 100644
index 0000000..7b3ca9f
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/controller.cfx
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<controller>
+  <String name="testMode" value="Demo" />
+  <Bool name="buildBio" value="true" />
+  <Bool name="buildBio2" value="true" />
+  <Bool name="buildMio" value="true" />
+  <Bool name="buildCio" value="false" />
+  <String name="cioBoardConfig" value="" />
+  <Bool name="buildSerial1" value="false" />
+  <Bool name="buildSerial2" value="false" />
+  <Bool name="buildSerial3" value="false" />
+  <Bool name="buildSerial4" value="false" />
+  <Bool name="buildSerial5" value="false" />
+  <Bool name="buildSerial6" value="false" />
+  <Bool name="buildSerial7" value="false" />
+  <Bool name="buildSerial8" value="false" />
+  <String name="UserApp" value="usrapp" />
+  <String name="templateDir" value="templates" />
+  <Bool name="buildStarc2" value="true" />
+  <starc2Slot index="0"  board="" />
+  <starc2Slot index="1"  board="" />
+  <starc2Slot index="2"  board="" />
+  <uniVALparams>
+    <String name="config" value="axis" />
+    <String name="fieldbus" value="" />
+  </uniVALparams>
+  <String name="simulMode" value="simulation" />
+  <String name="serialNumber" value="" />
+  <Bool name="buttonWorkingMode" value="true" />
+  <Bool name="traceSignals" value="false" />
+  <Bool name="logging" value="true" />
+  <Uint name="loggerSize" value="1048576" />
+  <Float name="powerShutdownDelay" value="-1" />
+  <String name="standardFiles" value="" />
+  <Float name="lliCycleTime" value="-1" />
+  <Float name="powerHourCount" value="0" />
+</controller>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/encoder.cfx b/robot/MXLAB/Controller1/usr/configs/encoder.cfx
new file mode 100644
index 0000000..ccb512d
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/encoder.cfx
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<encoders>
+  <encoderBoard index="0" >
+    <encoder index="0" >
+      <encoderCfg index="0"  name="e00PrstPos" value="0" />
+      <encoderCfg index="1"  name="e00Counts" value="4096" />
+      <encoderCfg index="2"  name="e00LatchEdgFall" value="0" />
+      <encoderCfg index="3"  name="e00LatchFilter" value="0" />
+    </encoder>
+    <encoder index="1" >
+      <encoderCfg index="0"  name="e01PrstPos" value="0" />
+      <encoderCfg index="1"  name="e01Counts" value="4096" />
+      <encoderCfg index="2"  name="e01LatchEdgFall" value="0" />
+      <encoderCfg index="3"  name="e01LatchFilter" value="0" />
+    </encoder>
+  </encoderBoard>
+  <encoderBoard index="1" >
+    <encoder index="0" >
+      <encoderCfg index="0"  name="e10PrstPos" value="0" />
+      <encoderCfg index="1"  name="e10Counts" value="4096" />
+      <encoderCfg index="2"  name="e10LatchEdgFall" value="0" />
+      <encoderCfg index="3"  name="e10LatchFilter" value="0" />
+    </encoder>
+    <encoder index="1" >
+      <encoderCfg index="0"  name="e11PrstPos" value="0" />
+      <encoderCfg index="1"  name="e11Counts" value="4096" />
+      <encoderCfg index="2"  name="e11LatchEdgFall" value="0" />
+      <encoderCfg index="3"  name="e11LatchFilter" value="0" />
+    </encoder>
+  </encoderBoard>
+  <encoderBoard index="2" >
+    <encoder index="0" >
+      <encoderCfg index="0"  name="e20PrstPos" value="0" />
+      <encoderCfg index="1"  name="e20Counts" value="4096" />
+      <encoderCfg index="2"  name="e20LatchEdgFall" value="0" />
+      <encoderCfg index="3"  name="e20LatchFilter" value="0" />
+    </encoder>
+    <encoder index="1" >
+      <encoderCfg index="0"  name="e21PrstPos" value="0" />
+      <encoderCfg index="1"  name="e21Counts" value="4096" />
+      <encoderCfg index="2"  name="e21LatchEdgFall" value="0" />
+      <encoderCfg index="3"  name="e21LatchFilter" value="0" />
+    </encoder>
+  </encoderBoard>
+</encoders>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/mio.cfx b/robot/MXLAB/Controller1/usr/configs/mio.cfx
new file mode 100644
index 0000000..f57cf92
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/mio.cfx
@@ -0,0 +1,67 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<mio>
+  <mioDin index="0"  name="mIn0" mode="notInverted" />
+  <mioDin index="1"  name="mIn1" mode="notInverted" />
+  <mioDin index="2"  name="mIn2" mode="notInverted" />
+  <mioDin index="3"  name="mIn3" mode="notInverted" />
+  <mioDin index="4"  name="mIn4" mode="notInverted" />
+  <mioDin index="5"  name="mIn5" mode="notInverted" />
+  <mioDin index="6"  name="mIn6" mode="notInverted" />
+  <mioDin index="7"  name="mIn7" mode="notInverted" />
+  <mioDin index="8"  name="mIn8" mode="notInverted" />
+  <mioDin index="9"  name="mIn9" mode="notInverted" />
+  <mioDin index="10"  name="mIn10" mode="notInverted" />
+  <mioDin index="11"  name="mIn11" mode="notInverted" />
+  <mioDin index="12"  name="mIn12" mode="notInverted" />
+  <mioDin index="13"  name="mIn13" mode="notInverted" />
+  <mioDin index="14"  name="mIn14" mode="notInverted" />
+  <mioDin index="15"  name="mIn15" mode="notInverted" />
+  <mioDin index="16"  name="mIn16" mode="notInverted" />
+  <mioDin index="17"  name="mIn17" mode="notInverted" />
+  <mioDin index="18"  name="mIn18" mode="notInverted" />
+  <mioDin index="19"  name="mIn19" mode="notInverted" />
+  <mioDin index="20"  name="mIn20" mode="notInverted" />
+  <mioDin index="21"  name="mIn21" mode="notInverted" />
+  <mioDin index="22"  name="mIn22" mode="notInverted" />
+  <mioDin index="23"  name="mIn23" mode="notInverted" />
+  <mioDin index="24"  name="mIn24" mode="notInverted" />
+  <mioDin index="25"  name="mIn25" mode="notInverted" />
+  <mioDin index="26"  name="mIn26" mode="notInverted" />
+  <mioDin index="27"  name="mIn27" mode="notInverted" />
+  <mioDin index="28"  name="mIn28" mode="notInverted" />
+  <mioDin index="29"  name="mIn29" mode="notInverted" />
+  <mioDin index="30"  name="mIn30" mode="notInverted" />
+  <mioDin index="31"  name="mIn31" mode="notInverted" />
+  <mioDout index="0"  name="mOut0" mode="notInverted" />
+  <mioDout index="1"  name="mOut1" mode="notInverted" />
+  <mioDout index="2"  name="mOut2" mode="notInverted" />
+  <mioDout index="3"  name="mOut3" mode="notInverted" />
+  <mioDout index="4"  name="mOut4" mode="notInverted" />
+  <mioDout index="5"  name="mOut5" mode="notInverted" />
+  <mioDout index="6"  name="mOut6" mode="notInverted" />
+  <mioDout index="7"  name="mOut7" mode="notInverted" />
+  <mioDout index="8"  name="mOut8" mode="notInverted" />
+  <mioDout index="9"  name="mOut9" mode="notInverted" />
+  <mioDout index="10"  name="mOut10" mode="notInverted" />
+  <mioDout index="11"  name="mOut11" mode="notInverted" />
+  <mioDout index="12"  name="mOut12" mode="notInverted" />
+  <mioDout index="13"  name="mOut13" mode="notInverted" />
+  <mioDout index="14"  name="mOut14" mode="notInverted" />
+  <mioDout index="15"  name="mOut15" mode="notInverted" />
+  <mioDout index="16"  name="mOut16" mode="notInverted" />
+  <mioDout index="17"  name="mOut17" mode="notInverted" />
+  <mioDout index="18"  name="mOut18" mode="notInverted" />
+  <mioDout index="19"  name="mOut19" mode="notInverted" />
+  <mioDout index="20"  name="mOut20" mode="notInverted" />
+  <mioDout index="21"  name="mOut21" mode="notInverted" />
+  <mioDout index="22"  name="mOut22" mode="notInverted" />
+  <mioDout index="23"  name="mOut23" mode="notInverted" />
+  <mioDout index="24"  name="mOut24" mode="notInverted" />
+  <mioDout index="25"  name="mOut25" mode="notInverted" />
+  <mioDout index="26"  name="mOut26" mode="notInverted" />
+  <mioDout index="27"  name="mOut27" mode="notInverted" />
+  <mioDout index="28"  name="mOut28" mode="notInverted" />
+  <mioDout index="29"  name="mOut29" mode="notInverted" />
+  <mioDout index="30"  name="mOut30" mode="notInverted" />
+  <mioDout index="31"  name="mOut31" mode="notInverted" />
+</mio>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/network.cfx b/robot/MXLAB/Controller1/usr/configs/network.cfx
new file mode 100644
index 0000000..e784a07
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/network.cfx
@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<network>
+  <Bool name="dhcpClient" value="false" />
+  <Int name="dhcpClientType" value="-1" />
+  <String name="dhcpClientAddress" value="" />
+  <Inet name="ipAddress" value="129.129.126.74" />
+  <Inet name="ipMask" value="255.255.0.0" />
+  <Inet name="ipAddress2" value="172.31.0.1" />
+  <Inet name="ipMask2" value="255.255.0.0" />
+  <Uint name="remotePort" value="800" />
+  <Uint name="fieldbusConsolePort" value="5001" />
+  <Uint name="telnetPort" value="23" />
+  <soapServer>
+    <String name="host" value="" />
+    <Uint name="port" value="851" />
+    <Int name="sendTimeout" value="60" />
+    <Int name="receiveTimeout" value="1" />
+    <Int name="acceptTimeout" value="0" />
+    <Uint name="maxKeepAlive" value="2147483647" />
+    <Float name="sessionTimeout" value="3600" />
+    <Int name="backLog" value="100" />
+  </soapServer>
+  <sntpClient>
+    <Bool name="enable" value="false" />
+    <Inet name="serverIp" value="0.0.0.0" />
+    <Int name="gmt" value="0" />
+    <Int name="timeout" value="3000" />
+  </sntpClient>
+</network>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/profiles/default.cfx b/robot/MXLAB/Controller1/usr/configs/profiles/default.cfx
new file mode 100644
index 0000000..a173ef0
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/profiles/default.cfx
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Profile>
+  <Password name="password" value="" />
+  <Password name="connectionPassword" value="" />
+  <Bool name="writeAccess" value="true" />
+  <Bool name="readAccess" value="true" />
+  <Bool name="armWriteAccess" value="false" />
+  <Bool name="recovery" value="true" />
+  <Bool name="ioWriteAccess" value="false" />
+  <Bool name="123KeysControl" value="false" />
+  <Bool name="manualMode" value="true" />
+  <Bool name="testMode" value="true" />
+  <Bool name="localMode" value="true" />
+  <Bool name="remoteMode" value="true" />
+  <Bool name="monitorSpeed" value="true" />
+  <Bool name="powerButton" value="true" />
+  <Bool name="moveHoldKey" value="true" />
+  <Bool name="stopKey" value="true" />
+  <Bool name="menuKey" value="true" />
+  <Bool name="hardwareFaultAck" value="true" />
+</Profile>
diff --git a/robot/MXLAB/Controller1/usr/configs/profiles/maintenance.cfx b/robot/MXLAB/Controller1/usr/configs/profiles/maintenance.cfx
new file mode 100644
index 0000000..e5fa2ea
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/profiles/maintenance.cfx
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Profile>
+  <Password name="password" value="c20519dd1699f3ee" />
+  <Password name="connectionPassword" value="7107f0212d" />
+  <Bool name="writeAccess" value="true" />
+  <Bool name="readAccess" value="true" />
+  <Bool name="armWriteAccess" value="true" />
+  <Bool name="recovery" value="true" />
+  <Bool name="ioWriteAccess" value="true" />
+  <Bool name="123KeysControl" value="true" />
+  <Bool name="manualMode" value="true" />
+  <Bool name="testMode" value="true" />
+  <Bool name="localMode" value="true" />
+  <Bool name="remoteMode" value="true" />
+  <Bool name="monitorSpeed" value="true" />
+  <Bool name="powerButton" value="true" />
+  <Bool name="moveHoldKey" value="true" />
+  <Bool name="stopKey" value="true" />
+  <Bool name="menuKey" value="true" />
+  <Bool name="hardwareFaultAck" value="true" />
+</Profile>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/sio.cfx b/robot/MXLAB/Controller1/usr/configs/sio.cfx
new file mode 100644
index 0000000..b330109
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/sio.cfx
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<sio>
+  <socketSrv>
+    <String name="name" value="sSIO" />
+    <String name="desc" value="" />
+    <Uint name="portNumber" value="1000" />
+    <Int name="endOfString" value="10" />
+    <Float name="timeOut" value="1" />
+    <Bool name="nagle" value="true" />
+  </socketSrv>
+</sio>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/configs/systemios.cfx b/robot/MXLAB/Controller1/usr/configs/systemios.cfx
new file mode 100644
index 0000000..74107f3
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/systemios.cfx
@@ -0,0 +1,304 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<SystemCards>
+
+  <!-- ======= -->
+  <!-- CS8 IOs -->
+  <!-- ======= -->
+  <Cs8>
+  
+    <!-- Common Cards -->
+    <CommonCards>
+    
+      <Card name="UserIO" type="DIGITAL">
+        <DInputs>
+          <DInput name="usrIn0" description="" />
+          <DInput name="usrIn1" description="" />
+          <DInput name="vreg1" description="" />
+          <DInput name="vreg2" description="" />
+        </DInputs>
+        <DOutputs>
+          <DOutput name="vreg1_en" description="" />
+          <DOutput name="vreg2_en" description="" />
+          <DOutput name="valve1" description="" />
+          <DOutput name="valve2" description="" />
+        </DOutputs>
+      </Card>
+    
+      <Card name="CpuIO" type="ANALOGIC">
+        <AInputs>
+          <AInput name="CPU_TEMP" description="" />
+        </AInputs>
+        <AOutputs />
+      </Card>
+
+      <Card name="UsbiIO" type="ANALOGIC">
+        <AInputs>
+          <AInput name="CBT_TEMP" description="" />
+        </AInputs>
+        <AOutputs />
+      </Card>
+            
+    </CommonCards>
+    
+  </Cs8>
+  
+  
+  
+  <!-- ======== -->
+  <!-- CS8C IOs -->
+  <!-- ======== -->
+  <Cs8C>
+  
+    <!-- Common Cards -->
+    <CommonCards>
+
+      <Card name="PtCFaultIO" type="DIGITAL">
+        <DInputs>
+          <DInput name="MOTOR_1_2_GEAR_1" description="" />
+          <DInput name="MOTOR_3_4" description="" />
+          <DInput name="MOTOR_1_3" description="" />
+          <DInput name="MOTOR_2_4" description="" />
+          <DInput name="MOTOR_1_3_5" description="" />
+          <DInput name="MOTOR_2_4_6" description="" />
+          <DInput name="CASTING" description="" />
+          <DInput name="DSI_BOARD" description="" />
+          <DInput name="EXCHANGER" description="" />
+          <DInput name="GLOBAL_PTC" description="" />
+        </DInputs>
+        <DOutputs />
+      </Card>
+      
+      <Card name="CpuIO" type="ANALOGIC">
+        <AInputs>
+          <AInput name="CPU_TEMP" description="" />
+        </AInputs>
+        <AOutputs />
+      </Card>
+          
+      <Card name="UserIO" type="DIGITAL">
+        <DInputs>
+          <DInput name="usrIn0" description="" />
+          <DInput name="usrIn1" description="" />
+        </DInputs>
+        <DOutputs>
+          <DOutput name="valve1" description="" />
+          <DOutput name="valve2" description="" />
+        </DOutputs>
+      </Card>
+
+      <Card name="FastIO" type="DIGITAL">
+        <DInputs>
+          <DInput name="fIn0" description="" />
+          <DInput name="fIn1" description="" />
+          <DInput name="SECTEUR_OK" description="" />
+        </DInputs>
+        <DOutputs>
+          <DOutput name="fOut0" description="" />
+        </DOutputs>
+      </Card>
+
+      <Card name="RsiIO" type="ANALOGIC">
+        <AInputs>
+          <AInput name="CBT_TEMP" description="" />
+        </AInputs>
+        <AOutputs />
+      </Card>
+              
+    </CommonCards>
+    
+    <!-- Starc 1 -->
+    <Starc1Cards>
+    
+      <Card name="EncoderIO" type="ANALOGIC_DIGITAL">
+        <AInputs>
+          <AInput name="cCurrPos" description="" />
+          <AInput name="cLatchPos" description="" />
+        </AInputs>
+        <AOutputs>
+          <AOutput name="cCounts" description="" />
+          <AOutput name="cPrstPos" description="" />
+        </AOutputs>    
+        <DInputs>
+          <DInput name="cLatch" description="" />
+          <DInput name="cHwErr" description="" />
+          <DInput name="cOvsErr" description="" />
+        </DInputs>
+        <DOutputs>
+          <DOutput name="cEnLatch" description="" />
+          <DOutput name="cEnPrst" description="" />
+          <DOutput name="cRstErr" description="" />
+        </DOutputs>
+      </Card>
+    
+    </Starc1Cards>
+
+    <!-- Starc 2 -->
+    <Starc2Cards>
+    
+      <Card name="EncoderIO-B0_0" type="ANALOGIC_DIGITAL">
+        <AInputs>
+          <AInput name="e00CurrPos" description="" />
+          <AInput name="e00LatchPos" description="" />
+          <AInput name="e00CountsMes" description="" />
+        </AInputs>
+        <AOutputs>
+          <AOutput name="e00Counts" description="" />
+          <AOutput name="e00PrstPos" description="" />
+          <AOutput name="e00LatchFilter" description="" />
+        </AOutputs>    
+        <DInputs>
+          <DInput name="e00LatchSig" description="" />
+          <DInput name="e00Latch" description="" />
+          <DInput name="e00PowerErr" description="" />
+          <DInput name="e00HwErr" description="" />
+          <DInput name="e00OvsErr" description="" />
+          <DInput name="e00CountsErr" description="" />
+        </DInputs>
+        <DOutputs>
+          <DOutput name="e00EnLatch" description="" />
+          <DOutput name="e00EnPrst" description="" />
+          <DOutput name="e00RstErr" description="" />
+          <DOutput name="e00LatchEdgFall" description="" />
+        </DOutputs>
+      </Card>
+
+      <Card name="EncoderIO-B0_1" type="ANALOGIC_DIGITAL">
+        <AInputs>
+          <AInput name="e01CurrPos" description="" />
+          <AInput name="e01LatchPos" description="" />
+          <AInput name="e01CountsMes" description="" />
+        </AInputs>
+        <AOutputs>
+          <AOutput name="e01Counts" description="" />
+          <AOutput name="e01PrstPos" description="" />
+          <AOutput name="e01LatchFilter" description="" />
+        </AOutputs>    
+        <DInputs>
+          <DInput name="e01LatchSig" description="" />
+          <DInput name="e01Latch" description="" />
+          <DInput name="e01PowerErr" description="" />
+          <DInput name="e01HwErr" description="" />
+          <DInput name="e01OvsErr" description="" />
+          <DInput name="e01CountsErr" description="" />
+        </DInputs>
+        <DOutputs>
+          <DOutput name="e01EnLatch" description="" />
+          <DOutput name="e01EnPrst" description="" />
+          <DOutput name="e01RstErr" description="" />
+          <DOutput name="e01LatchEdgFall" description="" />
+        </DOutputs>
+      </Card>
+      
+      <Card name="EncoderIO-B1_0" type="ANALOGIC_DIGITAL">
+        <AInputs>
+          <AInput name="e10CurrPos" description="" />
+          <AInput name="e10LatchPos" description="" />
+          <AInput name="e10CountsMes" description="" />
+        </AInputs>
+        <AOutputs>
+          <AOutput name="e10Counts" description="" />
+          <AOutput name="e10PrstPos" description="" />
+          <AOutput name="e10LatchFilter" description="" />
+        </AOutputs>    
+        <DInputs>
+          <DInput name="e10LatchSig" description="" />
+          <DInput name="e10Latch" description="" />
+          <DInput name="e10PowerErr" description="" />
+          <DInput name="e10HwErr" description="" />
+          <DInput name="e10OvsErr" description="" />
+          <DInput name="e10CountsErr" description="" />
+        </DInputs>
+        <DOutputs>
+          <DOutput name="e10EnLatch" description="" />
+          <DOutput name="e10EnPrst" description="" />
+          <DOutput name="e10RstErr" description="" />
+          <DOutput name="e10LatchEdgFall" description="" />
+        </DOutputs>
+      </Card>
+
+      <Card name="EncoderIO-B1_1" type="ANALOGIC_DIGITAL">
+        <AInputs>
+          <AInput name="e11CurrPos" description="" />
+          <AInput name="e11LatchPos" description="" />
+          <AInput name="e11CountsMes" description="" />
+        </AInputs>
+        <AOutputs>
+          <AOutput name="e11Counts" description="" />
+          <AOutput name="e11PrstPos" description="" />
+          <AOutput name="e11LatchFilter" description="" />
+        </AOutputs>    
+        <DInputs>
+          <DInput name="e11LatchSig" description="" />
+          <DInput name="e11Latch" description="" />
+          <DInput name="e11PowerErr" description="" />
+          <DInput name="e11HwErr" description="" />
+          <DInput name="e11OvsErr" description="" />
+          <DInput name="e11CountsErr" description="" />
+        </DInputs>
+        <DOutputs>
+          <DOutput name="e11EnLatch" description="" />
+          <DOutput name="e11EnPrst" description="" />
+          <DOutput name="e11RstErr" description="" />
+          <DOutput name="e11LatchEdgFall" description="" />
+        </DOutputs>
+      </Card>
+      
+      <Card name="EncoderIO-B2_0" type="ANALOGIC_DIGITAL">
+        <AInputs>
+          <AInput name="e20CurrPos" description="" />
+          <AInput name="e20LatchPos" description="" />
+          <AInput name="e20CountsMes" description="" />
+        </AInputs>
+        <AOutputs>
+          <AOutput name="e20Counts" description="" />
+          <AOutput name="e20PrstPos" description="" />
+          <AOutput name="e20LatchFilter" description="" />
+        </AOutputs>    
+        <DInputs>
+          <DInput name="e20LatchSig" description="" />
+          <DInput name="e20Latch" description="" />
+          <DInput name="e20PowerErr" description="" />
+          <DInput name="e20HwErr" description="" />
+          <DInput name="e20OvsErr" description="" />
+          <DInput name="e20CountsErr" description="" />
+        </DInputs>
+        <DOutputs>
+          <DOutput name="e20EnLatch" description="" />
+          <DOutput name="e20EnPrst" description="" />
+          <DOutput name="e20RstErr" description="" />
+          <DOutput name="e20LatchEdgFall" description="" />
+        </DOutputs>
+      </Card>
+
+      <Card name="EncoderIO-B2_1" type="ANALOGIC_DIGITAL">
+        <AInputs>
+          <AInput name="e21CurrPos" description="" />
+          <AInput name="e21LatchPos" description="" />
+          <AInput name="e21CountsMes" description="" />
+        </AInputs>
+        <AOutputs>
+          <AOutput name="e21Counts" description="" />
+          <AOutput name="e21PrstPos" description="" />
+          <AOutput name="e21LatchFilter" description="" />
+        </AOutputs>    
+        <DInputs>
+          <DInput name="e21LatchSig" description="" />
+          <DInput name="e21Latch" description="" />
+          <DInput name="e21PowerErr" description="" />
+          <DInput name="e21HwErr" description="" />
+          <DInput name="e21OvsErr" description="" />
+          <DInput name="e21CountsErr" description="" />
+        </DInputs>
+        <DOutputs>
+          <DOutput name="e21EnLatch" description="" />
+          <DOutput name="e21EnPrst" description="" />
+          <DOutput name="e21RstErr" description="" />
+          <DOutput name="e21LatchEdgFall" description="" />
+        </DOutputs>
+      </Card>
+            
+    </Starc2Cards> 
+  </Cs8C>
+  
+
+</SystemCards>
diff --git a/robot/MXLAB/Controller1/usr/configs/val3version.xml b/robot/MXLAB/Controller1/usr/configs/val3version.xml
new file mode 100644
index 0000000..7824503
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/configs/val3version.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="ISO-8859-1"?>
+<Versions xmlns="http://www.staubli.com/robotics/VAL3/Config/1">
+  <Version name="val3" compatibility='7'>s7.9.1</Version>
+</Versions>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
new file mode 100644
index 0000000..b59ee63
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Database xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Data/2">
+  <Datas>
+    <Data name="jSafe" access="private" xsi:type="array" type="jointRx" size="1">
+      <Value key="0" j1="68.451859" j2="12.0998448" j3="75.745245" j4="-7.951387E-16" j5="92.15491" j6="-257.185421" />
+    </Data>
+    <Data name="mNomSpeed" access="private" xsi:type="array" type="mdesc" size="1" />
+    <Data name="pForce1" access="private" xsi:type="array" type="pointRx" size="1">
+      <Value key="0" x="177.353535" y="513.634231" z="-23.304373" rx="-0.00095359" ry="-179.999632" rz="34.36272" fatherId="world[0]" />
+    </Data>
+    <Data name="pForce2" access="private" xsi:type="array" type="pointRx" size="1">
+      <Value key="0" x="-94.656318" y="513.634233" z="-23.253066" rx="1.08559E-05" ry="-179.999615" rz="34.362403" fatherId="world[0]" />
+    </Data>
+    <Data name="bContact" access="private" xsi:type="array" type="bool" size="1" />
+    <Data name="bInZone" access="private" xsi:type="array" type="bool" size="1" />
+    <Data name="mSlow" access="private" xsi:type="array" type="mdesc" size="1">
+      <Value key="0" leave="10" reach="10" />
+    </Data>
+    <Data name="nJntForce" access="private" xsi:type="array" type="num" size="6">
+      <Value key="0" value="0.62658" />
+      <Value key="1" value="-1.962937" />
+      <Value key="2" value="-2.381452" />
+      <Value key="3" value="-0.772125" />
+      <Value key="4" value="-1.706145" />
+      <Value key="5" value="-0.557219" />
+    </Data>
+    <Data name="nJntMaxForce" access="private" xsi:type="array" type="num" size="6" />
+    <Data name="nJntMaxMeasured" access="private" xsi:type="array" type="num" size="6" />
+    <Data name="JF" access="private" xsi:type="array" type="aio" size="6">
+      <Value key="0" link="ModbusSrv-0\Modbus-Word\M1" />
+      <Value key="1" link="ModbusSrv-0\Modbus-Word\M2" />
+      <Value key="2" link="ModbusSrv-0\Modbus-Word\M3" />
+      <Value key="3" link="ModbusSrv-0\Modbus-Word\M4" />
+      <Value key="4" link="ModbusSrv-0\Modbus-Word\M5" />
+      <Value key="5" link="ModbusSrv-0\Modbus-Word\M6" />
+    </Data>
+    <Data name="wAcknowlege" access="private" xsi:type="array" type="aio" size="1">
+      <Value key="0" link="ModbusSrv-0\Modbus-Word\ACKNOWLEDGE" />
+    </Data>
+    <Data name="wReturn" access="private" xsi:type="array" type="aio" size="12">
+      <Value key="0" link="ModbusSrv-0\Modbus-Word\RETURN[0]" />
+      <Value key="1" link="ModbusSrv-0\Modbus-Word\RETURN[1]" />
+      <Value key="2" link="ModbusSrv-0\Modbus-Word\RETURN[2]" />
+      <Value key="3" link="ModbusSrv-0\Modbus-Word\RETURN[3]" />
+      <Value key="4" link="ModbusSrv-0\Modbus-Word\RETURN[4]" />
+      <Value key="5" link="ModbusSrv-0\Modbus-Word\RETURN[5]" />
+      <Value key="6" link="ModbusSrv-0\Modbus-Word\RETURN[6]" />
+      <Value key="7" link="ModbusSrv-0\Modbus-Word\RETURN[7]" />
+      <Value key="8" link="ModbusSrv-0\Modbus-Word\RETURN[8]" />
+      <Value key="9" link="ModbusSrv-0\Modbus-Word\RETURN[9]" />
+      <Value key="10" link="ModbusSrv-0\Modbus-Word\RETURN[10]" />
+      <Value key="11" link="ModbusSrv-0\Modbus-Word\RETURN[11]" />
+    </Data>
+    <Data name="wStatus" access="private" xsi:type="array" type="aio" size="6">
+      <Value key="0" link="ModbusSrv-0\Modbus-Word\STATUS[0]" />
+      <Value key="1" link="ModbusSrv-0\Modbus-Word\STATUS[1]" />
+      <Value key="2" link="ModbusSrv-0\Modbus-Word\STATUS[2]" />
+      <Value key="3" link="ModbusSrv-0\Modbus-Word\STATUS[3]" />
+      <Value key="4" link="ModbusSrv-0\Modbus-Word\STATUS[4]" />
+      <Value key="5" link="ModbusSrv-0\Modbus-Word\STATUS[5]" />
+    </Data>
+    <Data name="wRequest" access="private" xsi:type="array" type="aio" size="1">
+      <Value key="0" link="ModbusSrv-0\Modbus-Word\REQUEST" />
+    </Data>
+    <Data name="wCommand" access="private" xsi:type="array" type="aio" size="1">
+      <Value key="0" link="ModbusSrv-0\Modbus-Word\COMMAND" />
+    </Data>
+    <Data name="wArguments" access="private" xsi:type="array" type="aio" size="12">
+      <Value key="0" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[0]" />
+      <Value key="1" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[1]" />
+      <Value key="2" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[2]" />
+      <Value key="3" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[3]" />
+      <Value key="4" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[4]" />
+      <Value key="5" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[5]" />
+      <Value key="6" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[6]" />
+      <Value key="7" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[7]" />
+      <Value key="8" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[8]" />
+      <Value key="9" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[9]" />
+      <Value key="10" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[10]" />
+      <Value key="11" link="ModbusSrv-0\Modbus-Word\ARGUMENTS[11]" />
+    </Data>
+    <Data name="sSio" access="private" xsi:type="array" type="sio" size="1">
+      <Value key="0" link="Socket\sSIO" />
+    </Data>
+    <Data name="events" access="private" xsi:type="array" type="string" size="10" />
+  </Datas>
+</Database>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.pjx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.pjx
new file mode 100644
index 0000000..f9a6756
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.pjx
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project xmlns="http://www.staubli.com/robotics/VAL3/Project/3">
+  <Parameters version="s7.9" stackSize="5000" millimeterUnit="true" />
+  <Programs>
+    <Program file="comModbus.pgx" />
+    <Program file="comTcp.pgx" />
+    <Program file="detect.pgx" />
+    <Program file="getContact.pgx" />
+    <Program file="onCommandModbus.pgx" />
+    <Program file="onCommandTcp.pgx" />
+    <Program file="resetData.pgx" />
+    <Program file="sendEventTcp.pgx" />
+    <Program file="setInZone.pgx" />
+    <Program file="setOutZone.pgx" />
+    <Program file="simulateEvents.pgx" />
+    <Program file="start.pgx" />
+    <Program file="startDetection.pgx" />
+    <Program file="startTraining.pgx" />
+    <Program file="stop.pgx" />
+    <Program file="train.pgx" />
+  </Programs>
+  <Database>
+    <Data file="ForceDetection.dtx" />
+  </Database>
+  <Libraries />
+</Project>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comModbus.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comModbus.pgx
new file mode 100644
index 0000000..146cce8
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comModbus.pgx
@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="comModbus">
+    <Locals>
+      <Local name="l_nJointForce" type="num" xsi:type="array" size="6" />
+      <Local name="i" type="num" xsi:type="array" size="1" />
+      <Local name="cmd" type="num" xsi:type="array" size="1" />
+      <Local name="req" type="bool" xsi:type="array" size="1" />
+      <Local name="ret" type="num" xsi:type="array" size="32" />
+      <Local name="args" type="num" xsi:type="array" size="32" />
+      <Local name="error" type="num" xsi:type="array" size="1" />
+    </Locals>
+    <Code><![CDATA[begin
+  req = false
+  aioSet(wAcknowlege,0)   
+  aioSet(wReturn,0)     
+  while true
+    //Record the joint force (comment out next line for use with expansion add-on)
+    getJointForce(l_nJointForce)
+    for i=0 to 5
+      aioSet(JF[i], l_nJointForce[i]*100)  
+    endFor
+    
+    
+    if !req
+      if aioGet(wRequest) != 0
+        req = true        
+        cmd = aioGet(wCommand)   
+        args = aioGet(wArguments)   
+        error = 1
+        for i=0 to size(ret)-1
+          ret[i]=0
+        endFor        
+        call onCommandModbus(cmd, args, ret, error)            
+        for i=0 to size(wReturn)-1
+          aioSet(wReturn[i],ret[i])     
+        endFor                
+        if error == 0
+          error = 1
+        endIf
+        aioSet(wAcknowlege,error)        
+      endIf
+    else
+      if aioGet(wRequest) == 0        
+        req = false               
+        aioSet(wAcknowlege,0)    
+      endIf    
+    endIf        
+    
+    
+    delay(0)
+  endWhile  
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
new file mode 100644
index 0000000..8aab98e
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="comTcp">
+    <Locals>
+      <Local name="rx" type="string" xsi:type="array" size="1" />
+      <Local name="tx" type="string" xsi:type="array" size="1" />
+      <Local name="rec_val" type="num" xsi:type="array" size="1" />
+      <Local name="rec_count" type="num" xsi:type="array" size="1" />
+      <Local name="msg" type="string" xsi:type="array" size="1" />
+      <Local name="msg_id" type="string" xsi:type="array" size="1" />
+      <Local name="index" type="num" xsi:type="array" size="1" />
+      <Local name="cmd" type="string" xsi:type="array" size="1" />
+      <Local name="args" type="string" xsi:type="array" size="10" />
+      <Local name="arg" type="num" xsi:type="array" size="1" />
+      <Local name="ex" type="string" xsi:type="array" size="1" />
+      <Local name="array_separator" type="string" xsi:type="array" size="1" />
+    </Locals>
+    <Code><![CDATA[begin        
+    rx=""
+    sioCtrl(sSio,"timeout",1)
+    sioCtrl(sSio, "endOfString", 10)
+  array_separator = "|"
+    while true
+    while sioGet(sSio,rec_val) >0
+      if rec_val>31
+        rx=rx+chr(rec_val)
+      elseIf rec_val==10
+        if len(rx)<4
+          rx = ""
+        else 
+          msg_id = left(rx, 4)
+          if msg_id == "EVT "
+            rx="" 
+            if events[0] == ""
+              sSio = msg_id 
+            else 
+              sSio = msg_id  +  events[0]              
+              for index=0 to 8
+                events[index]= events[index+1]
+              endFor              
+              events[9] = ""
+            endIf        
+          else 
+              msg = right(rx, len(rx)-4)
+              rx="" 
+              for index=0 to 9
+                args[index]=""
+              endFor
+              index = find(msg, " ") 
+              if index < 0 
+                cmd = msg
+              else
+                cmd = left(msg, index)
+                msg = right(msg, len(msg) - index -1)                
+                arg=0
+                while (len(msg) > 0 and (arg < 10))
+                  index = find(msg, array_separator)
+                  if index<0
+                    args[arg] = msg
+                    msg =""
+                  else
+                    args[arg] = left(msg, index)
+                    msg = right(msg, len(msg) - index -1)                    
+                  endIf
+                  arg = arg+1                  
+                endWhile
+              endIf                                                
+              tx = ""
+              ex = ""        
+              call onCommandTcp(cmd,args, tx, ex)                                                  
+              if len(ex) == 0
+                sSio = msg_id + tx 
+              else
+                msg_id = replace (msg_id,"*",1,3)
+                sSio = msg_id  + ex 
+              endIf              
+            endIf
+          endIf
+        endIf
+    endWhile
+    delay(0)    
+  endWhile
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx
new file mode 100644
index 0000000..01c30c7
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx
@@ -0,0 +1,76 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="detect">
+    <Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1">
+      <Parameter name="x_nTolPercent" type="num" xsi:type="element" />
+    </Parameters>
+    <Locals>
+      <Local name="l_nIndex" type="num" xsi:type="array" size="1" />
+      <Local name="l_bCondition" type="bool" xsi:type="array" size="1" />
+      <Local name="l_sDisplay" type="string" xsi:type="array" size="1" />
+      <Local name="x_nThreshold" type="num" xsi:type="array" size="1" />
+      <Local name="l_nPerc" type="num" xsi:type="array" size="1" />
+    </Locals>
+    <Code><![CDATA[begin
+  //-----------------------------------------------------------------------
+  //Header begin
+  //Description of program
+  //  Reads the current joint force values to compare them to the trained ones (a tolerance can be added).
+  //  If the force on a joint becomes greater than the trained value for this joint +
+  //  the tolerance, the robot is stopped and the motion stack is emptied.
+  //
+  //Input paramaters
+  //  num x_nTolPercent :
+  //    role : tolerance percentage to apply to the trained values.
+  //
+  //History
+  //  Creation : 23-04-08 - f.Rob
+  //  Modification: 11-03-09 - ffab
+  //Header end
+  //-----------------------------------------------------------------------
+  // Wait to be in the zone
+  wait(bInZone)
+
+    cls()
+    gotoxy(0,7)
+    put("MaxForc Thresld Measur  %       %max")
+  
+  // Detect contact while robot into the zone
+  while bInZone
+    //Record the joint force (comment out next line for use with expansion add-on)
+    getJointForce(nJntForce)
+    //Uncomment next line for use with expansion add-on
+    //$getJntForce(nJntForce)
+    // Compare with the trained values        
+    for l_nIndex=0 to 5
+      x_nThreshold = abs(nJntMaxForce[l_nIndex])+abs(x_nTolPercent*nJntMaxForce[l_nIndex]/100)
+      l_nPerc = abs(nJntForce[l_nIndex]/nJntMaxForce[l_nIndex] *100)
+      if l_nPerc>nJntMaxMeasured[l_nIndex]
+        nJntMaxMeasured[l_nIndex]=l_nPerc
+      endIf      
+      l_bCondition=abs(nJntForce[l_nIndex]) > x_nThreshold
+      
+      gotoxy(0,8+l_nIndex)
+      put(toString(".2",nJntMaxForce[l_nIndex]))
+      gotoxy(8,8+l_nIndex)
+      put(toString(".2",x_nThreshold))  
+      gotoxy(16,8+l_nIndex)      
+      put(toString(".2",abs(nJntForce[l_nIndex])))
+      gotoxy(24,8+l_nIndex)      
+      put(toString(".2",l_nPerc))
+      gotoxy(32,8+l_nIndex)      
+      put(toString(".2",nJntMaxMeasured[l_nIndex]))
+            
+      if l_bCondition
+        stopMove()
+        resetMotion()
+        bContact=true
+        l_sDisplay="Contact: force on joint "+toString("",l_nIndex+1)+" = "+toString("",abs(nJntForce[l_nIndex]))
+        logMsg(l_sDisplay)
+      endIf
+    endFor
+    delay(0)
+  endWhile
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/getContact.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/getContact.pgx
new file mode 100644
index 0000000..59c8c37
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/getContact.pgx
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="getContact" access="public">
+    <Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1">
+      <Parameter name="x_bContact" type="bool" xsi:type="array" use="reference" />
+    </Parameters>
+    <Code><![CDATA[begin
+  //-----------------------------------------------------------------------
+  //Header begin
+  //Description of program
+  //  Returns the boolean bContact that is set to true when a collision is
+  //  detected.
+  //
+  //Output parameters
+  //  bool& x_bContact
+  //    role: collision flag, turns true when a collision is detected
+  //
+  //History
+  //  Creation : 23-04-08 - f.Rob
+  //Header end
+  //-----------------------------------------------------------------------
+  x_bContact=bContact
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandModbus.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandModbus.pgx
new file mode 100644
index 0000000..09fe785
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandModbus.pgx
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="onCommandModbus">
+    <Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1">
+      <Parameter name="cmd" type="num" xsi:type="element" />
+      <Parameter name="args" type="num" xsi:type="array" use="reference" />
+      <Parameter name="ret" type="num" xsi:type="array" use="reference" />
+      <Parameter name="error" type="num" xsi:type="element" use="reference" />
+    </Parameters>
+    <Code><![CDATA[begin  
+  switch(cmd)
+    case 1
+      aioSet(wStatus[5], 1)
+      ret[0]=100
+    break
+    case 2
+      aioSet(wStatus[5], 2)
+      ret[1]=200
+    break
+    default
+      //Unknown command
+      error = 2
+    break       
+  endSwitch      
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
new file mode 100644
index 0000000..0af5c5a
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="onCommandTcp">
+    <Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1">
+      <Parameter name="cmd" type="string" xsi:type="element" />
+      <Parameter name="args" type="string" xsi:type="array" use="reference" />
+      <Parameter name="tx" type="string" xsi:type="element" use="reference" />
+      <Parameter name="ex" type="string" xsi:type="element" use="reference" />
+    </Parameters>
+    <Locals>
+      <Local name="index" type="num" xsi:type="array" size="1" />
+      <Local name="puck" type="num" xsi:type="array" size="1" />
+      <Local name="sample" type="num" xsi:type="array" size="1" />
+      <Local name="bOk" type="bool" xsi:type="array" size="1" />
+    </Locals>
+    <Code><![CDATA[begin
+  switch(cmd)
+    case "eval"
+      tx=$exec(cmd)
+      break
+    case "mount"
+        toNum(args[0], puck, bOk)
+        toNum(args[1], sample, bOk)
+        tx = "Mounting sample " + toString("", puck) + ":" +  toString("", sample)
+    break
+    default
+        ex = "Invalid command: " + cmd
+    break       
+  endSwitch    
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/resetData.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/resetData.pgx
new file mode 100644
index 0000000..f9ecb24
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/resetData.pgx
@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="resetData" access="public">
+    <Locals>
+      <Local name="l_nIndex" type="num" xsi:type="array" size="1" />
+    </Locals>
+    <Code><![CDATA[begin
+  //-----------------------------------------------------------------------
+  //Header begin
+  //Description of program
+  //  Reset the specified data set to -9999.
+  //  on all 6 values
+  //
+  //Example
+  //  call resetData()
+  //
+  //History
+  //  Creation : 23-04-08 - f.Rob
+  //  Modification: 11-03-09 - ffab
+  //Header end
+  //-----------------------------------------------------------------------
+  // Reset Values
+  for l_nIndex=0 to 5
+    nJntMaxForce[l_nIndex]=-9999
+    nJntMaxMeasured[l_nIndex]=0
+  endFor
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx
new file mode 100644
index 0000000..a503f6e
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="sendEventTcp">
+    <Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1">
+      <Parameter name="ev" type="string" xsi:type="element" />
+    </Parameters>
+    <Locals>
+      <Local name="msg" type="string" xsi:type="array" size="1" />
+      <Local name="index" type="num" xsi:type="array" size="1" />
+    </Locals>
+    <Code><![CDATA[begin
+  //How to break a for?
+  for index=0 to 9
+    if ev != ""
+      if events[index] == ""
+        events[index] = ev
+        ev = ""
+      endIf
+    endIf
+  endFor                
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setInZone.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setInZone.pgx
new file mode 100644
index 0000000..537bd33
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setInZone.pgx
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="setInZone" access="public">
+    <Code><![CDATA[begin
+  //-----------------------------------------------------------------------
+  //Header begin
+  //Description of program
+  //  Specifies when the robot is inside the force controlled zone
+  //  which means that the training or monitoring of the forces needs
+  //  to begin.
+  //
+  //History
+  //  Creation : 23-04-08 - f.Rob
+  //  Modification: 11-03-09 - ffab
+  //Header end
+  //-----------------------------------------------------------------------
+  // Turn on bInzone
+  bInZone=true
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setOutZone.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setOutZone.pgx
new file mode 100644
index 0000000..44c16b4
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setOutZone.pgx
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="setOutZone" access="public">
+    <Code><![CDATA[begin
+  //-----------------------------------------------------------------------
+  //Header begin
+  //Description of program
+  //  Specifies when the robot is outside of the force controlled zone
+  //  which means that the training or monitoring of the forces needs
+  //  to end.
+  //
+  //History
+  //  Creation : 23-04-08 - f.Rob
+  //  Modification: 11-03-09 - ffab
+  //Header end
+  //-----------------------------------------------------------------------
+  // Turn off bInzone
+  bInZone=false
+  bContact=false
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx
new file mode 100644
index 0000000..8af977a
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="simulateEvents">
+    <Locals>
+      <Local name="str" type="string" xsi:type="array" size="1" />
+    </Locals>
+    <Code><![CDATA[begin
+  while true
+    delay(3)    
+    if isPowered()
+      str = "ON"
+    else
+      str = "OFF"
+    endIf    
+    call sendEventTcp(str)
+  endWhile  
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx
new file mode 100644
index 0000000..53c0354
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx
@@ -0,0 +1,65 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="start">
+    <Locals>
+      <Local name="l_bTrain" type="bool" xsi:type="array" size="1" />
+      <Local name="l_bContact" type="bool" xsi:type="array" size="1" />
+    </Locals>
+    <Code><![CDATA[begin
+  //Trining mode for the first cicle
+  l_bTrain=true
+  resetMotion(jSafe)
+  
+  taskCreate "com_modbus",10,comModbus()
+  taskCreate "com_tcp",10,comTcp()  
+  taskCreate "sim_ev",10,simulateEvents()
+  
+  while true
+    movel(pForce1,flange,mNomSpeed)
+    waitEndMove()
+    
+    //Force controling section
+    if (l_bTrain)
+      // Reset joint force limits
+      call resetData()
+      // Start training of force limits
+      call startTraining()
+    else
+      // Start forces monitoring
+      call startDetection(20)
+    endIf
+    // Activate force controlled zone
+    call setInZone()
+    
+    
+    movel(pForce2,flange,mNomSpeed)
+    waitEndMove()
+    
+        
+    if l_bTrain
+      call setOutZone()
+    else
+      //Detection mode, check if collision was detected
+      //BEFORE terminating force monitoring
+      call getContact(l_bContact)
+      //Terminate force monitoring
+      call setOutZone()
+      if l_bContact
+        //A collision was detected, inform user and move up
+        popUpMsg("Collision detected . Press Enter to proceed.")
+        //gotoxy(0,0)
+        //put("Collision detected . Press Enter to proceed.")        
+        wait(getKey()==270)
+        resetMotion(jSafe)
+        waitEndMove()
+      else
+        //No collision detected, move up from last point
+      endIf
+    endIf
+    //Set to detection mode after the end of the first cycle
+    l_bTrain=false
+    
+  endWhile
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startDetection.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startDetection.pgx
new file mode 100644
index 0000000..2905e91
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startDetection.pgx
@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="startDetection" access="public">
+    <Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1">
+      <Parameter name="x_nTolPercent" type="num" xsi:type="element" />
+    </Parameters>
+    <Code><![CDATA[begin
+  //-----------------------------------------------------------------------
+  //Header begin
+  //Description of program
+  //  Reads the current joint force values to compare them to the trained ones (a tolerance can be added).
+  //  If the force on a joint becomes greater than the trained value for this joint +
+  //  the tolerance, the robot is stopped and the motion stack is emptied.
+  //  The monitoring is active when the robot is inside the specified zone (function setInZone()).
+  //  This functions sets the boolean “bContact” when an overrun is detected.
+  //
+  //Input parameters
+  //  num x_nTolPercent :
+  //    role : tolerance percentage to apply to the trained values.
+  //
+  //Example
+  //  call startDetection(20)
+  //
+  //History
+  //  Creation : 23-04-08 - f.Rob
+  //  Modification: 11-03-09 - ffab
+  //Header end
+  //-----------------------------------------------------------------------
+  // Wait the previous task is ended
+  bInZone=false
+  wait(taskStatus("train")==-1 and taskStatus("detect")==-1)
+  // Create the task
+  taskCreate "detect",100,detect(x_nTolPercent)
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startTraining.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startTraining.pgx
new file mode 100644
index 0000000..8b89127
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startTraining.pgx
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="startTraining" access="public">
+    <Locals>
+      <Local name="l_nIndex" type="num" xsi:type="array" size="1" />
+    </Locals>
+    <Code><![CDATA[begin
+  //-----------------------------------------------------------------------
+  //Header begin
+  //  Reads and store the current joint force values.
+  //  It is used to record the forces required for a specific robot cycle
+  //  that will need to be monitored for collisions afterwards.
+  //  The recording is active when the robot is inside the specified zone
+  //  (function setInZone()).
+  //
+  //Example
+  //  call startTraining()
+  //
+  //History
+  //  Creation : 23-04-08 - f.Rob
+  //  Modification: 11-03-09 - ffab
+  //Header end
+  //-----------------------------------------------------------------------
+  // Wait the previous task is ended
+  bInZone=false
+  wait(taskStatus("train")==-1 and taskStatus("detect")==-1)
+  // Create the task
+  taskCreate "train",100,train()
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/stop.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/stop.pgx
new file mode 100644
index 0000000..29c09b8
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/stop.pgx
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2" >
+  <Program name="stop" access="private" >
+    <Code><![CDATA[begin
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/train.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/train.pgx
new file mode 100644
index 0000000..4ab99bc
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/train.pgx
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
+  <Program name="train">
+    <Locals>
+      <Local name="l_nIndex" type="num" xsi:type="array" size="1" />
+    </Locals>
+    <Code><![CDATA[begin
+  //  Modification: 11-03-09 - ffab
+  //
+  // Wait to be in the zone
+  wait(bInZone)
+  // Update the data while robot into the zone
+  while bInZone
+    //Record the joint force (comment out next line for use with expansion add-on)
+    getJointForce(nJntForce)
+    //Uncomment next line for use with expansion add-on
+    //$getJntForce(nJntForce)
+    // Record data
+    for l_nIndex=0 to 5
+      if abs(nJntForce[l_nIndex])>nJntMaxForce[l_nIndex]
+        nJntMaxForce[l_nIndex]=abs(nJntForce[l_nIndex])
+      endIf
+    endFor
+    delay(0)
+  endWhile
+end]]></Code>
+  </Program>
+</Programs>
\ No newline at end of file
diff --git a/robot/MXLAB/MXLAB.cell b/robot/MXLAB/MXLAB.cell
new file mode 100644
index 0000000..12217e7
--- /dev/null
+++ b/robot/MXLAB/MXLAB.cell
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Cell xmlns="http://www.staubli.com/robotics/cell/1">
+  <File path="Controller1\Controller1.controller" />
+</Cell>
\ No newline at end of file
diff --git a/script/local.py b/script/local.py
index e6ca0ac..2ca406b 100644
--- a/script/local.py
+++ b/script/local.py
@@ -220,3 +220,4 @@ def fit(ydata, xdata = None, draw_plot = True):
         print "Invalid gaussian fit: " +  str(mean)
         return (None, None, None)
 
+context = get_context()
\ No newline at end of file