IRB2000 M93 S3 224 analog outputs

Hi, does anyone know how I can program the analog outputs on the combined I/O board 224. I have got a 223 I/O in slot 2 mapped for system and panel. I have got digital input 1 one the combined board wired and working. I have programming, product and service manuals but struggling to find the information to actually use the two analogs on the 224 board. Thanks for looking.

Ok thanks. I have worked out quite a bit of how to work the robot. Managed to build a remote control panel and got the safety side just about sorted. But most of that has been reasonable straight forward to work out (I build water treatment RO systems amongst other things) so applied that knowledge for the wiring etc. But i was struggling a bit with this side of it. Hopefully I can get it to work with the new turning jig we're building.