diff --git a/6040-003上下料 V2.1.Device.Application.xml b/6040-003上下料 V2.1.Device.Application.xml
index 8ff9f6b..f8497ea 100644
--- a/6040-003上下料 V2.1.Device.Application.xml	
+++ b/6040-003上下料 V2.1.Device.Application.xml	
@@ -340,7 +340,7 @@
     <TypeUserDef name="T_U1_EM00_FromRobot" size="108" nativesize="24" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_FromRobot">
       <UserDefElement iecname="bAlarm_Stop" type="T_BIT_X_0" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="bUser_Safe" type="T_BIT_X_1" byteoffset="1" vartype="VAR" />
-      <UserDefElement iecname="bPeripheric_ready" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
+      <UserDefElement iecname="bPeri_rdy" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
       <UserDefElement iecname="bStop_message" type="T_BIT_X_3" byteoffset="3" vartype="VAR" />
       <UserDefElement iecname="bProcess_active" type="T_BIT_X_4" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="bProgram_number_request" type="T_BIT_X_5" byteoffset="5" vartype="VAR" />
@@ -441,7 +441,7 @@
       <UserDefElement iecname="iGripPosIndex" type="T_INT" byteoffset="104" vartype="VAR" />
       <UserDefElement iecname="iGripPosCount" type="T_INT" byteoffset="106" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U1_EM00_HMI" size="38" nativesize="40" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_HMI">
+    <TypeUserDef name="T_U1_EM00_HMI" size="40" nativesize="40" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_HMI">
       <UserDefElement iecname="btnLightControl" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="relCT_Current" type="T_REAL" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="relCT_Act" type="T_REAL" byteoffset="8" vartype="VAR" />
@@ -453,6 +453,8 @@
       <UserDefElement iecname="relRate" type="T_REAL" byteoffset="32" vartype="VAR" />
       <UserDefElement iecname="bClearCT" type="T_BOOL" byteoffset="36" vartype="VAR" />
       <UserDefElement iecname="bScanDisable" type="T_BOOL" byteoffset="37" vartype="VAR" />
+      <UserDefElement iecname="bRobotGoHome" type="T_BOOL" byteoffset="38" vartype="VAR" />
+      <UserDefElement iecname="bRobotStart" type="T_BOOL" byteoffset="39" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_U1_EM00_Port" size="41" nativesize="44" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Port">
       <UserDefElement iecname="bFeedScanFromWcsDone1" type="T_BOOL" byteoffset="0" vartype="VAR" />
@@ -566,7 +568,7 @@
     <TypeUserDef name="T_U2_EM00_FromRobot" size="108" nativesize="24" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_FromRobot">
       <UserDefElement iecname="bAlarm_Stop" type="T_BIT_X_0" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="bUser_Safe" type="T_BIT_X_1" byteoffset="1" vartype="VAR" />
-      <UserDefElement iecname="bPeripheric_ready" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
+      <UserDefElement iecname="bPeri_rdy" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
       <UserDefElement iecname="bStop_message" type="T_BIT_X_3" byteoffset="3" vartype="VAR" />
       <UserDefElement iecname="bProcess_active" type="T_BIT_X_4" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="bProgram_number_request" type="T_BIT_X_5" byteoffset="5" vartype="VAR" />
@@ -667,7 +669,7 @@
       <UserDefElement iecname="iGripPosIndex" type="T_INT" byteoffset="104" vartype="VAR" />
       <UserDefElement iecname="iGripPosCount" type="T_INT" byteoffset="106" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U2_EM00_HMI" size="38" nativesize="40" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_HMI">
+    <TypeUserDef name="T_U2_EM00_HMI" size="40" nativesize="40" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_HMI">
       <UserDefElement iecname="btnLightControl" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="relCT_Current" type="T_REAL" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="relCT_Act" type="T_REAL" byteoffset="8" vartype="VAR" />
@@ -679,6 +681,8 @@
       <UserDefElement iecname="relRate" type="T_REAL" byteoffset="32" vartype="VAR" />
       <UserDefElement iecname="bClearCT" type="T_BOOL" byteoffset="36" vartype="VAR" />
       <UserDefElement iecname="bScanDisable" type="T_BOOL" byteoffset="37" vartype="VAR" />
+      <UserDefElement iecname="bRobotGoHome" type="T_BOOL" byteoffset="38" vartype="VAR" />
+      <UserDefElement iecname="bRobotStart" type="T_BOOL" byteoffset="39" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_U2_EM00_Port" size="41" nativesize="44" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_Port">
       <UserDefElement iecname="bFeedScanFromWcsDone1" type="T_BOOL" byteoffset="0" vartype="VAR" />
@@ -788,7 +792,7 @@
     <TypeUserDef name="T_U3_EM00_FromRobot" size="108" nativesize="24" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_FromRobot">
       <UserDefElement iecname="bAlarm_Stop" type="T_BIT_X_0" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="bUser_Safe" type="T_BIT_X_1" byteoffset="1" vartype="VAR" />
-      <UserDefElement iecname="bPeripheric_ready" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
+      <UserDefElement iecname="bPeri_rdy" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
       <UserDefElement iecname="bStop_message" type="T_BIT_X_3" byteoffset="3" vartype="VAR" />
       <UserDefElement iecname="bProcess_active" type="T_BIT_X_4" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="bProgram_number_request" type="T_BIT_X_5" byteoffset="5" vartype="VAR" />
@@ -889,7 +893,7 @@
       <UserDefElement iecname="iGripPosIndex" type="T_INT" byteoffset="104" vartype="VAR" />
       <UserDefElement iecname="iGripPosCount" type="T_INT" byteoffset="106" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U3_EM00_HMI" size="38" nativesize="40" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_HMI">
+    <TypeUserDef name="T_U3_EM00_HMI" size="40" nativesize="40" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_HMI">
       <UserDefElement iecname="btnLightControl" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="relCT_Current" type="T_REAL" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="relCT_Act" type="T_REAL" byteoffset="8" vartype="VAR" />
@@ -901,6 +905,8 @@
       <UserDefElement iecname="relRate" type="T_REAL" byteoffset="32" vartype="VAR" />
       <UserDefElement iecname="bClearCT" type="T_BOOL" byteoffset="36" vartype="VAR" />
       <UserDefElement iecname="bScanDisable" type="T_BOOL" byteoffset="37" vartype="VAR" />
+      <UserDefElement iecname="bRobotGoHome" type="T_BOOL" byteoffset="38" vartype="VAR" />
+      <UserDefElement iecname="bRobotStart" type="T_BOOL" byteoffset="39" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_U3_EM00_Port" size="41" nativesize="44" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_Port">
       <UserDefElement iecname="bFeedScanFromWcsDone1" type="T_BOOL" byteoffset="0" vartype="VAR" />
@@ -1010,7 +1016,7 @@
     <TypeUserDef name="T_U4_EM00_FromRobot" size="108" nativesize="24" typeclass="Userdef" pouclass="STRUCTURE" iecname="U4_EM00_FromRobot">
       <UserDefElement iecname="bAlarm_Stop" type="T_BIT_X_0" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="bUser_Safe" type="T_BIT_X_1" byteoffset="1" vartype="VAR" />
-      <UserDefElement iecname="bPeripheric_ready" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
+      <UserDefElement iecname="bPeri_rdy" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
       <UserDefElement iecname="bStop_message" type="T_BIT_X_3" byteoffset="3" vartype="VAR" />
       <UserDefElement iecname="bProcess_active" type="T_BIT_X_4" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="bProgram_number_request" type="T_BIT_X_5" byteoffset="5" vartype="VAR" />
@@ -1111,7 +1117,7 @@
       <UserDefElement iecname="iGripPosIndex" type="T_INT" byteoffset="104" vartype="VAR" />
       <UserDefElement iecname="iGripPosCount" type="T_INT" byteoffset="106" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U4_EM00_HMI" size="38" nativesize="40" typeclass="Userdef" pouclass="STRUCTURE" iecname="U4_EM00_HMI">
+    <TypeUserDef name="T_U4_EM00_HMI" size="40" nativesize="40" typeclass="Userdef" pouclass="STRUCTURE" iecname="U4_EM00_HMI">
       <UserDefElement iecname="btnLightControl" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="relCT_Current" type="T_REAL" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="relCT_Act" type="T_REAL" byteoffset="8" vartype="VAR" />
@@ -1123,6 +1129,8 @@
       <UserDefElement iecname="relRate" type="T_REAL" byteoffset="32" vartype="VAR" />
       <UserDefElement iecname="bClearCT" type="T_BOOL" byteoffset="36" vartype="VAR" />
       <UserDefElement iecname="bScanDisable" type="T_BOOL" byteoffset="37" vartype="VAR" />
+      <UserDefElement iecname="bRobotGoHome" type="T_BOOL" byteoffset="38" vartype="VAR" />
+      <UserDefElement iecname="bRobotStart" type="T_BOOL" byteoffset="39" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_U4_EM00_Port" size="41" nativesize="44" typeclass="Userdef" pouclass="STRUCTURE" iecname="U4_EM00_Port">
       <UserDefElement iecname="bFeedScanFromWcsDone1" type="T_BOOL" byteoffset="0" vartype="VAR" />
@@ -1278,7 +1286,7 @@
       <UserDefElement iecname="usHomeRef" type="T_USINT" byteoffset="16" vartype="VAR" />
       <UserDefElement iecname="usError" type="T_USINT" byteoffset="17" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_UDT_RM_Output" size="21" nativesize="24" typeclass="Userdef" pouclass="STRUCTURE" iecname="UDT_RM_Output">
+    <TypeUserDef name="T_UDT_RM_Output" size="23" nativesize="24" typeclass="Userdef" pouclass="STRUCTURE" iecname="UDT_RM_Output">
       <UserDefElement iecname="rSetPos" type="T_REAL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="rSetVel" type="T_REAL" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="rSetTrq" type="T_REAL" byteoffset="8" vartype="VAR" />
@@ -1288,6 +1296,8 @@
       <UserDefElement iecname="usPower" type="T_USINT" byteoffset="18" vartype="VAR" />
       <UserDefElement iecname="usStop" type="T_USINT" byteoffset="19" vartype="VAR" />
       <UserDefElement iecname="usResetForce" type="T_USINT" byteoffset="20" vartype="VAR" />
+      <UserDefElement iecname="usJogAdd" type="T_USINT" byteoffset="21" vartype="VAR" />
+      <UserDefElement iecname="usJogDec" type="T_USINT" byteoffset="22" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_UDT_ValveAlarm" size="5" nativesize="5" typeclass="Userdef" pouclass="STRUCTURE" iecname="UDT_ValveAlarm">
       <UserDefElement iecname="xAlarmLeft" type="T_BOOL" byteoffset="0" vartype="VAR" />
@@ -1533,7 +1543,7 @@
       <UserDefElement iecname="biSafeDoorFeedback4" type="T_BOOL" byteoffset="63" vartype="VAR" />
       <UserDefElement iecname="stiRM" type="T_UDT_RM_Input" byteoffset="64" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U1_EM00_Output" size="53" nativesize="56" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Output">
+    <TypeUserDef name="T_U1_EM00_Output" size="55" nativesize="56" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Output">
       <UserDefElement iecname="boStackLightRed" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="boStackLightGreen" type="T_BOOL" byteoffset="1" vartype="VAR" />
       <UserDefElement iecname="boStackLightYellow" type="T_BOOL" byteoffset="2" vartype="VAR" />
@@ -1627,7 +1637,7 @@
       <UserDefElement iecname="biSafeDoorFeedback4" type="T_BOOL" byteoffset="63" vartype="VAR" />
       <UserDefElement iecname="stiRM" type="T_UDT_RM_Input" byteoffset="64" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U2_EM00_Output" size="53" nativesize="56" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_Output">
+    <TypeUserDef name="T_U2_EM00_Output" size="55" nativesize="56" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_Output">
       <UserDefElement iecname="boStackLightRed" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="boStackLightGreen" type="T_BOOL" byteoffset="1" vartype="VAR" />
       <UserDefElement iecname="boStackLightYellow" type="T_BOOL" byteoffset="2" vartype="VAR" />
@@ -1714,7 +1724,7 @@
       <UserDefElement iecname="biSafeDoorFeedback4" type="T_BOOL" byteoffset="63" vartype="VAR" />
       <UserDefElement iecname="stiRM" type="T_UDT_RM_Input" byteoffset="64" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U3_EM00_Output" size="53" nativesize="56" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_Output">
+    <TypeUserDef name="T_U3_EM00_Output" size="55" nativesize="56" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_Output">
       <UserDefElement iecname="boStackLightRed" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="boStackLightGreen" type="T_BOOL" byteoffset="1" vartype="VAR" />
       <UserDefElement iecname="boStackLightYellow" type="T_BOOL" byteoffset="2" vartype="VAR" />
@@ -1801,7 +1811,7 @@
       <UserDefElement iecname="biSafeDoorFeedback4" type="T_BOOL" byteoffset="63" vartype="VAR" />
       <UserDefElement iecname="stiRM" type="T_UDT_RM_Input" byteoffset="64" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U4_EM00_Output" size="53" nativesize="56" typeclass="Userdef" pouclass="STRUCTURE" iecname="U4_EM00_Output">
+    <TypeUserDef name="T_U4_EM00_Output" size="55" nativesize="56" typeclass="Userdef" pouclass="STRUCTURE" iecname="U4_EM00_Output">
       <UserDefElement iecname="boStackLightRed" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="boStackLightGreen" type="T_BOOL" byteoffset="1" vartype="VAR" />
       <UserDefElement iecname="boStackLightYellow" type="T_BOOL" byteoffset="2" vartype="VAR" />
@@ -2047,69 +2057,69 @@
       <UserDefElement iecname="ARRAYREAL_单小时优率" type="T_ARRAY__0__23__OF_REAL" byteoffset="7888" vartype="VAR" />
       <UserDefElement iecname="单班日期显示" type="T_ARRAY__0__3__OF_OEE_生产统计字符串" byteoffset="7984" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U1_EM00_APP" size="6514" nativesize="6648" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_APP">
+    <TypeUserDef name="T_U1_EM00_APP" size="6520" nativesize="6648" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_APP">
       <UserDefElement iecname="OpState" type="T_UDT_OpState" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="OpCtrlCmd" type="T_UDT_OpCtrlCmd" byteoffset="198" vartype="VAR" />
       <UserDefElement iecname="I" type="T_U1_EM00_Input" byteoffset="220" vartype="VAR" />
       <UserDefElement iecname="Q" type="T_U1_EM00_Output" byteoffset="304" vartype="VAR" />
-      <UserDefElement iecname="Err" type="T_U1_EM00_Error" byteoffset="358" vartype="VAR" />
-      <UserDefElement iecname="Port" type="T_U1_EM00_Port" byteoffset="6420" vartype="VAR" />
-      <UserDefElement iecname="Tag" type="T_U1_EM00_Tag" byteoffset="6461" vartype="VAR" />
-      <UserDefElement iecname="HMI" type="T_U1_EM00_HMI" byteoffset="6464" vartype="VAR" />
-      <UserDefElement iecname="FromRobot" type="T_U1_EM00_Un_FromRobot" byteoffset="6502" vartype="VAR" />
-      <UserDefElement iecname="ToRobot" type="T_U1_EM00_Un_ToRobot" byteoffset="6502" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet1_ToWcs" type="T_E_StationWcsCommand" byteoffset="6502" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet2_ToWcs" type="T_E_StationWcsCommand" byteoffset="6504" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet1_FromWcs" type="T_UDT_WcsToStation" byteoffset="6506" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet2_FromWcs" type="T_UDT_WcsToStation" byteoffset="6510" vartype="VAR" />
+      <UserDefElement iecname="Err" type="T_U1_EM00_Error" byteoffset="360" vartype="VAR" />
+      <UserDefElement iecname="Port" type="T_U1_EM00_Port" byteoffset="6424" vartype="VAR" />
+      <UserDefElement iecname="Tag" type="T_U1_EM00_Tag" byteoffset="6465" vartype="VAR" />
+      <UserDefElement iecname="HMI" type="T_U1_EM00_HMI" byteoffset="6468" vartype="VAR" />
+      <UserDefElement iecname="FromRobot" type="T_U1_EM00_Un_FromRobot" byteoffset="6508" vartype="VAR" />
+      <UserDefElement iecname="ToRobot" type="T_U1_EM00_Un_ToRobot" byteoffset="6508" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet1_ToWcs" type="T_E_StationWcsCommand" byteoffset="6508" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet2_ToWcs" type="T_E_StationWcsCommand" byteoffset="6510" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet1_FromWcs" type="T_UDT_WcsToStation" byteoffset="6512" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet2_FromWcs" type="T_UDT_WcsToStation" byteoffset="6516" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U2_EM00_APP" size="6514" nativesize="6836" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_APP">
+    <TypeUserDef name="T_U2_EM00_APP" size="6520" nativesize="6836" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_APP">
       <UserDefElement iecname="OpState" type="T_UDT_OpState" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="OpCtrlCmd" type="T_UDT_OpCtrlCmd" byteoffset="198" vartype="VAR" />
       <UserDefElement iecname="I" type="T_U2_EM00_Input" byteoffset="220" vartype="VAR" />
       <UserDefElement iecname="Q" type="T_U2_EM00_Output" byteoffset="304" vartype="VAR" />
-      <UserDefElement iecname="Err" type="T_U2_EM00_Error" byteoffset="358" vartype="VAR" />
-      <UserDefElement iecname="Port" type="T_U2_EM00_Port" byteoffset="6420" vartype="VAR" />
-      <UserDefElement iecname="Tag" type="T_U2_EM00_Tag" byteoffset="6461" vartype="VAR" />
-      <UserDefElement iecname="HMI" type="T_U2_EM00_HMI" byteoffset="6464" vartype="VAR" />
-      <UserDefElement iecname="FromRobot" type="T_U2_EM00_Un_FromRobot" byteoffset="6502" vartype="VAR" />
-      <UserDefElement iecname="ToRobot" type="T_U2_EM00_Un_ToRobot" byteoffset="6502" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet1_ToWcs" type="T_E_StationWcsCommand" byteoffset="6502" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet2_ToWcs" type="T_E_StationWcsCommand" byteoffset="6504" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet1_FromWcs" type="T_UDT_WcsToStation" byteoffset="6506" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet2_FromWcs" type="T_UDT_WcsToStation" byteoffset="6510" vartype="VAR" />
+      <UserDefElement iecname="Err" type="T_U2_EM00_Error" byteoffset="360" vartype="VAR" />
+      <UserDefElement iecname="Port" type="T_U2_EM00_Port" byteoffset="6424" vartype="VAR" />
+      <UserDefElement iecname="Tag" type="T_U2_EM00_Tag" byteoffset="6465" vartype="VAR" />
+      <UserDefElement iecname="HMI" type="T_U2_EM00_HMI" byteoffset="6468" vartype="VAR" />
+      <UserDefElement iecname="FromRobot" type="T_U2_EM00_Un_FromRobot" byteoffset="6508" vartype="VAR" />
+      <UserDefElement iecname="ToRobot" type="T_U2_EM00_Un_ToRobot" byteoffset="6508" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet1_ToWcs" type="T_E_StationWcsCommand" byteoffset="6508" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet2_ToWcs" type="T_E_StationWcsCommand" byteoffset="6510" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet1_FromWcs" type="T_UDT_WcsToStation" byteoffset="6512" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet2_FromWcs" type="T_UDT_WcsToStation" byteoffset="6516" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U3_EM00_APP" size="6514" nativesize="6648" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_APP">
+    <TypeUserDef name="T_U3_EM00_APP" size="6520" nativesize="6648" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_APP">
       <UserDefElement iecname="OpState" type="T_UDT_OpState" byteoffset="0" vartype="VAR" />
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-      <UserDefElement iecname="LoadPallet2_FromWcs" type="T_UDT_WcsToStation" byteoffset="6510" vartype="VAR" />
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+      <UserDefElement iecname="Port" type="T_U3_EM00_Port" byteoffset="6424" vartype="VAR" />
+      <UserDefElement iecname="Tag" type="T_U3_EM00_Tag" byteoffset="6465" vartype="VAR" />
+      <UserDefElement iecname="HMI" type="T_U3_EM00_HMI" byteoffset="6468" vartype="VAR" />
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       <UserDefElement iecname="OpState" type="T_UDT_OpState" byteoffset="0" vartype="VAR" />
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       <UserDefElement iecname="Q" type="T_U4_EM00_Output" byteoffset="304" vartype="VAR" />
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-      <UserDefElement iecname="LoadPallet2_FromWcs" type="T_UDT_WcsToStation" byteoffset="6510" vartype="VAR" />
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+      <UserDefElement iecname="Port" type="T_U4_EM00_Port" byteoffset="6424" vartype="VAR" />
+      <UserDefElement iecname="Tag" type="T_U4_EM00_Tag" byteoffset="6465" vartype="VAR" />
+      <UserDefElement iecname="HMI" type="T_U4_EM00_HMI" byteoffset="6468" vartype="VAR" />
+      <UserDefElement iecname="FromRobot" type="T_U4_EM00_Un_FromRobot" byteoffset="6508" vartype="VAR" />
+      <UserDefElement iecname="ToRobot" type="T_U4_EM00_Un_ToRobot" byteoffset="6508" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet1_ToWcs" type="T_E_StationWcsCommand" byteoffset="6508" vartype="VAR" />
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+      <UserDefElement iecname="LoadPallet1_FromWcs" type="T_UDT_WcsToStation" byteoffset="6512" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet2_FromWcs" type="T_UDT_WcsToStation" byteoffset="6516" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_UDT_AxisParam" size="1264" nativesize="1264" typeclass="Userdef" pouclass="STRUCTURE" iecname="UDT_AxisParam">
       <UserDefElement iecname="fSetOverVel" type="T_REAL" byteoffset="0" vartype="VAR" />
diff --git a/6040-003上下料 V2.1.project b/6040-003上下料 V2.1.project
index efab0e2..5d5b8c9 100644
Binary files a/6040-003上下料 V2.1.project and b/6040-003上下料 V2.1.project differ