diff --git a/6040-003上下料 V2.1.project b/6040-003上下料 V2.1.project
index 9076622..ee6d462 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/6040-003上料下侧ZA08.cmtp b/6040-003上料下侧ZA08.cmtp
index f1f78ae..0b8aa19 100644
Binary files a/6040-003上料下侧ZA08.cmtp and b/6040-003上料下侧ZA08.cmtp differ
diff --git a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
index 3a4c123..e4959f9 100644
--- a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
+++ b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.dat
@@ -1,4 +1,4 @@
-&ACCESS R4
+&ACCESS R6
 DEFDAT  CollDetect_UserAction
 
 
diff --git a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
index 9fb941d..d530134 100644
--- a/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
+++ b/KUKA/KRC/R1/KUKA/CollDetect_UserAction.src
@@ -1,4 +1,4 @@
-&ACCESS R4
+&ACCESS R6
 DEF CollDetect_UserAction( )
 
 
diff --git a/KUKA/KRC/R1/KUKA/masref_user.dat b/KUKA/KRC/R1/KUKA/masref_user.dat
index 80ee206..83f285e 100644
--- a/KUKA/KRC/R1/KUKA/masref_user.dat
+++ b/KUKA/KRC/R1/KUKA/masref_user.dat
@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV5
 &REL 1
 &COMMENT Mastering Reference User Program
 &PARAM DISKPATH = KRC:\R1\Program
diff --git a/KUKA/KRC/R1/KUKA/masref_user.src b/KUKA/KRC/R1/KUKA/masref_user.src
index 53546bf..4e90d6e 100644
--- a/KUKA/KRC/R1/KUKA/masref_user.src
+++ b/KUKA/KRC/R1/KUKA/masref_user.src
@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV5
 &REL 1
 &COMMENT Mastering Reference User Program
 &PARAM DISKPATH = KRC:\R1\Program
diff --git a/KUKA/KRC/R1/Program/ActionReturn.src b/KUKA/KRC/R1/Program/ActionReturn.src
index e7ceaf4..50e52d3 100644
--- a/KUKA/KRC/R1/Program/ActionReturn.src
+++ b/KUKA/KRC/R1/Program/ActionReturn.src
@@ -1,4 +1,4 @@
-&ACCESS RV1
+&ACCESS RV2
 DEF   ActionReturn (nRet:IN )  
    DECL INT nRet  
    CONTINUE
diff --git a/KUKA/KRC/R1/Program/Config.dat b/KUKA/KRC/R1/Program/Config.dat
index db9aa4d..a753af2 100644
--- a/KUKA/KRC/R1/Program/Config.dat
+++ b/KUKA/KRC/R1/Program/Config.dat
@@ -1,20 +1,20 @@
-&ACCESS RV3
+&ACCESS RV5
 DEFDAT  CONFIG PUBLIC
 
 GLOBAL INT PdtTypeLast=0
 GLOBAL INT CmdSave=11
-GLOBAL INT CmdCountLast=298
+GLOBAL INT CmdCountLast=304
 GLOBAL INT PlaceOffsetX_Save=-1258
 GLOBAL INT PlaceOffsetY_Save=-3000
 GLOBAL INT PlaceOffsetZ_Save=0
 GLOBAL INT PickOffsetX_Save=0
 GLOBAL INT PickOffsetY_Save=0
 GLOBAL INT PickOffsetZ_Save=0
-GLOBAL INT CountX_Save=11
+GLOBAL INT CountX_Save=0
 GLOBAL INT CountY_Save=3
 
 GLOBAL BOOL ConfMessSave=FALSE
 
-DECL GLOBAL E6POS END_POS={X -510.559875,Y 3333.63623,Z 553.180,A -166.138535,B 0.376175523,C 179.734436,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL GLOBAL E6POS END_POS={X -367.936188,Y 3333.63623,Z 553.180,A -166.138092,B 0.376110703,C 179.734543,S 'B0010',T 'B00100011',E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 
 ENDDAT
diff --git a/KUKA/KRC/R1/Program/Grip/GripClose.src b/KUKA/KRC/R1/Program/Grip/GripClose.src
index 860a126..3c1b5b4 100644
--- a/KUKA/KRC/R1/Program/Grip/GripClose.src
+++ b/KUKA/KRC/R1/Program/Grip/GripClose.src
@@ -1,4 +1,4 @@
-&ACCESS RVP1
+&ACCESS RVP2
 DEF  GripClose ( )
    Q_GripPosIndex=102
    Q_GripPosCount=I_GripPosCountRet+1
diff --git a/KUKA/KRC/R1/Program/Grip/GripOpen.src b/KUKA/KRC/R1/Program/Grip/GripOpen.src
index eb4883f..2406d65 100644
--- a/KUKA/KRC/R1/Program/Grip/GripOpen.src
+++ b/KUKA/KRC/R1/Program/Grip/GripOpen.src
@@ -1,4 +1,4 @@
-&ACCESS RVP
+&ACCESS RVP1
 DEF  GripOpen ( )
    
    Q_GripPosIndex=101
diff --git a/KUKA/KRC/R1/Program/Home/HomeModule.dat b/KUKA/KRC/R1/Program/Home/HomeModule.dat
index 586fc08..f6c336d 100644
--- a/KUKA/KRC/R1/Program/Home/HomeModule.dat
+++ b/KUKA/KRC/R1/Program/Home/HomeModule.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVP
 &REL 3
 &PARAM DISKPATH = KRC:\R1\Program\Home
 DEFDAT  HOMEMODULE
diff --git a/KUKA/KRC/R1/Program/Home/HomeModule.src b/KUKA/KRC/R1/Program/Home/HomeModule.src
index 4b28c6f..7f770d3 100644
--- a/KUKA/KRC/R1/Program/Home/HomeModule.src
+++ b/KUKA/KRC/R1/Program/Home/HomeModule.src
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVP
 &REL 3
 &PARAM DISKPATH = KRC:\R1\Program\Home
 DEF  HomeModule ( )
diff --git a/KUKA/KRC/R1/Program/MainModule.dat b/KUKA/KRC/R1/Program/MainModule.dat
index 292e6f9..84f4ee4 100644
--- a/KUKA/KRC/R1/Program/MainModule.dat
+++ b/KUKA/KRC/R1/Program/MainModule.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVP
 &REL 1
 DEFDAT MainModule
 ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
diff --git a/KUKA/KRC/R1/Program/MainModule.src b/KUKA/KRC/R1/Program/MainModule.src
index f6140a0..1393689 100644
--- a/KUKA/KRC/R1/Program/MainModule.src
+++ b/KUKA/KRC/R1/Program/MainModule.src
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVP
 &REL 1
 DEF MainModule()
    ;FOLD INI
@@ -74,7 +74,6 @@ DEF StopSafty()
    BRAKE F
    BAS(#BASE, 1)
    BAS(#TOOL, 1)
-   PTP $POS_INT:{z 20}
-   $FLAG[10]=TRUE
+   LIN_REL {Z 20}
    INTERRUPT ON 24
 END
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/Mylib/CheckInPos.src b/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
index a5168be..71867a0 100644
--- a/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
+++ b/KUKA/KRC/R1/Program/Mylib/CheckInPos.src
@@ -1,4 +1,4 @@
-&ACCESS RVO1
+&ACCESS RVO2
 DEFFCT BOOL CheckInPos (R_offset:IN,EndPos:IN )
    DECL REAL R_offset
    DECL BOOL b_Pok
diff --git a/KUKA/KRC/R1/Program/Mylib/GetInt16.src b/KUKA/KRC/R1/Program/Mylib/GetInt16.src
index ba33df7..3bd8bf3 100644
--- a/KUKA/KRC/R1/Program/Mylib/GetInt16.src
+++ b/KUKA/KRC/R1/Program/Mylib/GetInt16.src
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV1
 DEFFCT INT GetInt16 (iVal:IN )
    DECL INT iVal,iRet
    IF iVal>32767 THEN
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
index dcf5cbf..e29e738 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.dat
@@ -1,4 +1,4 @@
-&ACCESS RVP
+&ACCESS RVP1
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  FEEDBELT1PICK
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
index 5dfe378..645ec26 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt1Pick.src
@@ -1,4 +1,4 @@
-&ACCESS RVP
+&ACCESS RVP1
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  FeedBelt1Pick ( )
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
index 872cd9e..8c6ea98 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO1
 &REL 9
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  FEEDBELT2PICK
diff --git a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
index 361edb4..598e0b9 100644
--- a/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
+++ b/KUKA/KRC/R1/Program/PL/FeedBelt2Pick.src
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO1
 &REL 9
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  FeedBelt2Pick ( )
diff --git a/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat b/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
index fed242c..e7c98bf 100644
--- a/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
+++ b/KUKA/KRC/R1/Program/PL/NgBeltPlace.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO1
 &REL 3
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  NGBELTPLACE
diff --git a/KUKA/KRC/R1/Program/PL/NgBeltPlace.src b/KUKA/KRC/R1/Program/PL/NgBeltPlace.src
index c79722d..1232cbd 100644
--- a/KUKA/KRC/R1/Program/PL/NgBeltPlace.src
+++ b/KUKA/KRC/R1/Program/PL/NgBeltPlace.src
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO1
 &REL 3
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  NgBeltPlace ( )
diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
index 99b32d1..f2e60fb 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
+++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.dat
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV1
 &REL 15
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  PALLET1PLACE
diff --git a/KUKA/KRC/R1/Program/PL/Pallet1Place.src b/KUKA/KRC/R1/Program/PL/Pallet1Place.src
index a06d086..c57e53f 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet1Place.src
+++ b/KUKA/KRC/R1/Program/PL/Pallet1Place.src
@@ -1,4 +1,4 @@
-&ACCESS RV
+&ACCESS RV1
 &REL 15
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  Pallet1Place ( )
@@ -24,12 +24,12 @@ DEF  Pallet1Place ( )
    XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset    
    XPlace.Z=XPallet1PlaceB.Z + z_offset 
    XPlaceH=XPlace
-   XPlaceH.Z=XPlace.Z+400
+   XPlaceH.Z=XPlace.Z+310+z_offset
    XPlaceSigH=XPlace
    XPlaceSigH.Z=XPlace.Z+500
    XPlaceSigH.X=XPlace.X-50
    XPlaceSig=XPlace
-   XPlaceSig.Z=XPlace.Z+400
+   XPlaceSig.Z=XPlace.Z+310+z_offset
    XPlaceSig.X=XPlace.X-50
    
 ;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[0] ;%{PE}
diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
index c94199a..f275547 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
+++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO1
 &REL 26
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  PALLET2PLACE
@@ -12,12 +12,12 @@ DECL INT SUCCESS
 
 ;ENDFOLD (USER EXT)
 ;ENDFOLD (EXTERNAL DECLARATIONS)
-DECL MODULEPARAM_T LAST_TP_PARAMS = {PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceSigH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT19; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT7; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=   "}
+DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True; Kuka.IsAngleEnabled=False; Kuka.PointName=PlaceSigH; Kuka.FrameData.base_no=1; Kuka.FrameData.tool_no=1; Kuka.FrameData.ipo_frame=#BASE; Kuka.isglobalpoint=False; Kuka.MoveDataPtpName=PDAT19; Kuka.MovementDataPdat.apo_mode=#CDIS; Kuka.MovementDataPdat.apo_dist=500; Kuka.MovementData.vel=2; Kuka.MovementData.acc=100; Kuka.MovementData.exax_ign=0; Kuka.VelocityPtp=100; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.CurrentCDSetIndex=0; Kuka.MoveDataName=CPDAT7; Kuka.MovementData.cb={AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}; Kuka.MovementData.apo_fac=50; Kuka.MovementData.apo_dist=500; Kuka.MovementData.axis_acc=100; Kuka.MovementData.axis_vel=100; Kuka.MovementData.circ_typ=#BASE; Kuka.MovementData.jerk_fac=50; Kuka.MovementData.ori_typ=#VAR; Kuka.VelocityPath=2; Kuka.FrameData.point2=   "}
 DECL FDAT FPlaceH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPlaceH={X 109.078979,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPlaceH={X 1492.87903,Y 1744.02686,Z 467.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT1={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL FDAT FPlace={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL E6POS XPlace={X 109.078979,Y 1744.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL E6POS XPlace={X 1492.87903,Y 1744.02686,Z 67.3537521,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL LDAT LCPDAT2={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
@@ -33,12 +33,12 @@ DECL E6POS XPass={X 569.963684,Y 3051.40015,Z 726.036499,A 165.563766,B 0.200981
 DECL FDAT FPass={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL PDAT PPDAT18={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
 DECL LDAT LCPDAT5={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
-DECL E6POS XPlaceSigH={X 59.0789795,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
-DECL FDAT FPlaceSigH={BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL E6POS XPlaceSigH={X 1442.87903,Y 1744.02686,Z 567.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL FDAT FPlaceSigH={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
 DECL LDAT LCPDAT6={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 DECL PDAT PPDAT19={VEL 100.000,ACC 100.000,APO_DIST 500.000,APO_MODE #CDIS,GEAR_JERK 100.000,EXAX_IGN 0}
-DECL LDAT LCPDAT7={CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 500,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
-DECL E6POS XPlaceSig = { X 666666.666, Y 66.6, Z 666.66, A 6.6, B 66.66, C 666.6, S 0, T 0, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0 }
-DECL FDAT FPlaceSig = {BASE_NO 1,TOOL_NO 1,IPO_FRAME #BASE,POINT2[] " "}
-DECL LDAT LCPDAT8 = {CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}},APO_FAC 50.0,APO_DIST 493,AXIS_ACC 100.0,AXIS_VEL 100.0,CIRC_TYP #BASE,JERK_FAC 50.0,ORI_TYP #VAR,VEL 2,ACC 100,GEAR_JERK 100.0,EXAX_IGN 0}
+DECL LDAT LCPDAT7={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
+DECL E6POS XPlaceSig={X 1442.87903,Y 1744.02686,Z 467.353760,A -165.224686,B 0.377169758,C 179.736649,S 2,T 43,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
+DECL FDAT FPlaceSig={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " "}
+DECL LDAT LCPDAT8={VEL 2.00000,ACC 100.000,APO_DIST 493.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
 ENDDAT
\ No newline at end of file
diff --git a/KUKA/KRC/R1/Program/PL/Pallet2Place.src b/KUKA/KRC/R1/Program/PL/Pallet2Place.src
index 86aa5c4..4383787 100644
--- a/KUKA/KRC/R1/Program/PL/Pallet2Place.src
+++ b/KUKA/KRC/R1/Program/PL/Pallet2Place.src
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO1
 &REL 26
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  Pallet2Place ( )
@@ -23,13 +23,13 @@ DEF  Pallet2Place ( )
    XPlace.Y=XPallet1PlaceB.Y + CountY_Save*y_offset  
    XPlace.Z=XPallet1PlaceB.Z + z_offset      
    XPlaceH=XPlace
-   XPlaceH.Z=XPlace.Z+400
+   XPlaceH.Z=XPlace.Z+310+z_offset
    XPlaceSigH=XPlace
    XPlaceSigH.X=XPlace.X-50
    XPlaceSigH.Z=XPlace.Z+500   
    XPlaceSig=XPlace
    XPlaceSig.X=XPlace.X-50
-   XPlaceSig.Z=XPlace.Z+400
+   XPlaceSig.Z=XPlace.Z+310+z_offset
 
 ;FOLD LIN PlaceSigH CONT Vel=2 m/s CPDAT7 Tool[1] Base[1] ;%{PE}
    ;FOLD Parameters ;%{h}
diff --git a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
index 6fb5cb4..d7f1765 100644
--- a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
+++ b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO1
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  REFEEDBELTPICK
diff --git a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
index efb287e..d36199c 100644
--- a/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
+++ b/KUKA/KRC/R1/Program/PL/ReFeedBeltPick.src
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO1
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  ReFeedBeltPick ( )
diff --git a/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat b/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
index 85f7c06..caba36b 100644
--- a/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
+++ b/KUKA/KRC/R1/Program/PL/WaterBeltPick.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO1
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEFDAT  WATERBELTPICK
diff --git a/KUKA/KRC/R1/Program/PL/WaterBeltPick.src b/KUKA/KRC/R1/Program/PL/WaterBeltPick.src
index e0f608d..c288b3a 100644
--- a/KUKA/KRC/R1/Program/PL/WaterBeltPick.src
+++ b/KUKA/KRC/R1/Program/PL/WaterBeltPick.src
@@ -1,4 +1,4 @@
-&ACCESS RVO
+&ACCESS RVO1
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\PL
 DEF  WaterBeltPick ( )
diff --git a/KUKA/KRC/R1/Program/PosBase.dat b/KUKA/KRC/R1/Program/PosBase.dat
index b705fe4..2d417bc 100644
--- a/KUKA/KRC/R1/Program/PosBase.dat
+++ b/KUKA/KRC/R1/Program/PosBase.dat
@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV5
 &REL 7
 &PARAM DISKPATH = KRC:\R1\Program\TP
 DEFDAT  POSBASE PUBLIC
diff --git a/KUKA/KRC/R1/System/$config.dat b/KUKA/KRC/R1/System/$config.dat
index e0368c1..3939824 100644
--- a/KUKA/KRC/R1/System/$config.dat
+++ b/KUKA/KRC/R1/System/$config.dat
@@ -1,4 +1,4 @@
-&ACCESS RV$4
+&ACCESS RV$6
 DEFDAT  $CONFIG
 ;FOLD BASISTECH GLOBALS
 ;==================================
diff --git a/KUKA/KRC/R1/System/MqttConfig.dat b/KUKA/KRC/R1/System/MqttConfig.dat
index 98a51c1..3cac8ee 100644
--- a/KUKA/KRC/R1/System/MqttConfig.dat
+++ b/KUKA/KRC/R1/System/MqttConfig.dat
@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV5
 DEFDAT  MqttConfig PUBLIC
 
 ; Publisher IP address for KukaConnect data-set configuration.
diff --git a/KUKA/KRC/R1/System/MsgLib.dat b/KUKA/KRC/R1/System/MsgLib.dat
index 1beaf6b..5c79c42 100644
--- a/KUKA/KRC/R1/System/MsgLib.dat
+++ b/KUKA/KRC/R1/System/MsgLib.dat
@@ -1,4 +1,4 @@
-&ACCESS R4
+&ACCESS R6
 &COMMENT Message library
 DEFDAT  MsgLib PUBLIC
 
diff --git a/KUKA/KRC/R1/System/MsgLib.src b/KUKA/KRC/R1/System/MsgLib.src
index c8de9fa..8c3db27 100644
--- a/KUKA/KRC/R1/System/MsgLib.src
+++ b/KUKA/KRC/R1/System/MsgLib.src
@@ -1,4 +1,4 @@
-&ACCESS R4
+&ACCESS R6
 &COMMENT Message library
 DEF  MsgLib ( )
 ;**************************************************
diff --git a/KUKA/KRC/R1/System/bas.src b/KUKA/KRC/R1/System/bas.src
index 510613f..3077693 100644
--- a/KUKA/KRC/R1/System/bas.src
+++ b/KUKA/KRC/R1/System/bas.src
@@ -1,4 +1,4 @@
-&ACCESS R4
+&ACCESS R6
 &REL 1
 &COMMENT BASIS package
 DEF  BAS (COMMAND :IN,REAL_PAR :IN )
diff --git a/KUKA/KRC/R1/System/collmonlib.dat b/KUKA/KRC/R1/System/collmonlib.dat
index 2afd08c..35ac6ce 100644
--- a/KUKA/KRC/R1/System/collmonlib.dat
+++ b/KUKA/KRC/R1/System/collmonlib.dat
@@ -1,4 +1,4 @@
-&ACCESS R4
+&ACCESS R6
 &COMMENT Collision monitoring library
 DEFDAT  COLLMONLIB PUBLIC
 ;DO NOT MODIFY THIS FILE
diff --git a/KUKA/KRC/R1/System/collmonlib.src b/KUKA/KRC/R1/System/collmonlib.src
index 3dac17c..13ec076 100644
--- a/KUKA/KRC/R1/System/collmonlib.src
+++ b/KUKA/KRC/R1/System/collmonlib.src
@@ -1,4 +1,4 @@
-&ACCESS R4
+&ACCESS R6
 &COMMENT Collision monitoring library
 DEF CollMonLib( )
 
diff --git a/KUKA/KRC/R1/System/ir_stopm.src b/KUKA/KRC/R1/System/ir_stopm.src
index fd46679..16dce14 100644
--- a/KUKA/KRC/R1/System/ir_stopm.src
+++ b/KUKA/KRC/R1/System/ir_stopm.src
@@ -1,4 +1,4 @@
-&ACCESS R4
+&ACCESS R6
 &COMMENT HandlerOnRobotFault
 DEF  IR_STOPM ( )
 ;-----------------------------------
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
index f1882c3..508fab7 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.dat
@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV5
 &REL 1
 &COMMENT path after test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
index ca7bae7..79d4877 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestBack.src
@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV5
 &REL 1
 &COMMENT path after test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
index d8d66d7..5e3b37f 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.dat
@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV5
 &REL 1
 &COMMENT parkposition
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
index 243f452..18381d6 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestPark.src
@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV5
 &REL 1
 &COMMENT parkposition
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
index 2224ef3..3e4ce60 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.dat
@@ -1,4 +1,4 @@
-&ACCESS RVO3
+&ACCESS RVO5
 &REL 1
 &COMMENT BrkTst-main task
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
index 7f1d5f7..e0b75b6 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestReq.src
@@ -1,4 +1,4 @@
-&ACCESS RVO3
+&ACCESS RVO5
 &REL 1
 &COMMENT BrkTst-main task
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
index 53160eb..2678b19 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.dat
@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV5
 &REL 1
 &COMMENT path to test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
index 5e41adf..1462540 100644
--- a/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
+++ b/KUKA/KRC/R1/TP/BrakeTest/BrakeTestStart.src
@@ -1,4 +1,4 @@
-&ACCESS RV3
+&ACCESS RV5
 &REL 1
 &COMMENT path to test
 &PARAM EDITMASK = *
diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
index d68e7d6..4d19fc4 100644
--- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
+++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.dat
@@ -1,4 +1,4 @@
-&ACCESS RO3
+&ACCESS RO5
 &REL 2396
 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
 DEFDAT  EthernetKRL PUBLIC
diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
index d292aef..68f5a5c 100644
--- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
+++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
@@ -1,4 +1,4 @@
-&ACCESS RO3
+&ACCESS RO5
 &REL 2396
 &PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
 DEF EthernetKRL( )
diff --git a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
index 5273d0a..48c5633 100644
--- a/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
+++ b/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL_USER.src
@@ -1,4 +1,4 @@
-&ACCESS RO3
+&ACCESS RO5
 &REL 2314
 &PARAM DISKPATH = TP/EthernetKRL
 DEF EthernetKRL_USER( )
diff --git a/KUKA/KRC/R1/TP/p00.dat b/KUKA/KRC/R1/TP/p00.dat
index 43149d2..3cc8574 100644
--- a/KUKA/KRC/R1/TP/p00.dat
+++ b/KUKA/KRC/R1/TP/p00.dat
@@ -1,4 +1,4 @@
-&ACCESS R4
+&ACCESS R6
 &COMMENT EXTERNAL package
 DEFDAT  P00
 
diff --git a/KUKA/KRC/R1/TP/p00.src b/KUKA/KRC/R1/TP/p00.src
index 3493a77..f62c145 100644
--- a/KUKA/KRC/R1/TP/p00.src
+++ b/KUKA/KRC/R1/TP/p00.src
@@ -1,4 +1,4 @@
-&ACCESS R4
+&ACCESS R6
 &COMMENT EXTERNAL package
 DEF  P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN )
   DECL P00_COMMAND COMMAND
diff --git a/README.md b/README.md
index a89492d..ddc9a48 100644
--- a/README.md
+++ b/README.md
@@ -15,7 +15,7 @@
  - [x]  轴画面不能设负数
  - [x]  界面少在原位标志
  - [x]  机器人程序增加中断保护，防止撞击，
- - [ ]  机器人放料前检测下方是否有电池
+ - [x]  机器人放料前检测下方是否有电池
  - [x]  伺服手动页面可以直接跳转到伺服参数页面
  - [x]  伺服手动页面增加皮带测试按钮
  - [x]  调试NG下料拉带程序