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 f8497ea..ef16ae0 100644
--- a/6040-003上下料 V2.1.Device.Application.xml	
+++ b/6040-003上下料 V2.1.Device.Application.xml	
@@ -489,7 +489,7 @@
       <UserDefElement iecname="bPlallet2ToRobotPlaceRequest" type="T_BOOL" byteoffset="39" vartype="VAR" />
       <UserDefElement iecname="bPlallet2FromRobotPlaceDone" type="T_BOOL" byteoffset="40" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U1_EM00_ToRobot" size="76" nativesize="20" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_ToRobot">
+    <TypeUserDef name="T_U1_EM00_ToRobot" size="80" nativesize="24" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_ToRobot">
       <UserDefElement iecname="bParity" type="T_BIT_X_0" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="bPgnoValid" type="T_BIT_X_1" byteoffset="1" vartype="VAR" />
       <UserDefElement iecname="bExtStart" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
@@ -542,8 +542,8 @@
       <UserDefElement iecname="bGripSafty2" type="T_BIT_X_1" byteoffset="49" vartype="VAR" />
       <UserDefElement iecname="bGripBelowExist" type="T_BIT_X_2" byteoffset="50" vartype="VAR" />
       <UserDefElement iecname="bGripExist" type="T_BIT_X_3" byteoffset="51" vartype="VAR" />
-      <UserDefElement iecname="bReserved34" type="T_BIT_X_4" byteoffset="52" vartype="VAR" />
-      <UserDefElement iecname="bReserved35" type="T_BIT_X_5" byteoffset="53" vartype="VAR" />
+      <UserDefElement iecname="bGripOpen" type="T_BIT_X_4" byteoffset="52" vartype="VAR" />
+      <UserDefElement iecname="bGripClose" type="T_BIT_X_5" byteoffset="53" vartype="VAR" />
       <UserDefElement iecname="bReserved36" type="T_BIT_X_6" byteoffset="54" vartype="VAR" />
       <UserDefElement iecname="bReserved37" type="T_BIT_X_7" byteoffset="55" vartype="VAR" />
       <UserDefElement iecname="bReserved40" type="T_BIT_X_0" byteoffset="56" vartype="VAR" />
@@ -560,6 +560,8 @@
       <UserDefElement iecname="iGripPosIndexRet" type="T_INT" byteoffset="70" vartype="VAR" />
       <UserDefElement iecname="iGripPosCountRet" type="T_INT" byteoffset="72" vartype="VAR" />
       <UserDefElement iecname="iGripPosResult" type="T_INT" byteoffset="74" vartype="VAR" />
+      <UserDefElement iecname="iOffsetX" type="T_INT" byteoffset="76" vartype="VAR" />
+      <UserDefElement iecname="iOffsetY" type="T_INT" byteoffset="78" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_U1_EM01_Data" size="8" nativesize="8" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM01_Data">
       <UserDefElement iecname="relCamOffsetMax" 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 f47767b..0db1cca 100644
Binary files a/6040-003上下料 V2.1.project and b/6040-003上下料 V2.1.project differ
diff --git a/doc/KUKA机器人PLC通信地址.xlsx b/doc/KUKA机器人PLC通信地址.xlsx
index c3b9a3f..743d7c6 100644
Binary files a/doc/KUKA机器人PLC通信地址.xlsx and b/doc/KUKA机器人PLC通信地址.xlsx differ