[jgannon]

Pneumatics programming is pretty straightforward. The pneumatic solenoids and the compressor are connected through Spikes, which are in turn connected to the Relay pins on the RC. You will turn them on and off just like any other Spike, but you will want to talk to your pneumatics designer to figure out which combinations of on and off will give you the desired behavior. You will need to wire the pressure switch to a digital I/O, and then if that switch is triggered, you have to turn off the Spike that runs the compressor (per <R103>). If you have any more questions, feel free to ask.