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 e60366a..a2d0059 100644
--- a/6040-003上下料 V2.1.Device.Application.xml	
+++ b/6040-003上下料 V2.1.Device.Application.xml	
@@ -493,7 +493,7 @@
       <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="84" nativesize="28" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_ToRobot">
+    <TypeUserDef name="T_U1_EM00_ToRobot" size="88" nativesize="32" 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" />
@@ -564,10 +564,12 @@
       <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" />
+      <UserDefElement iecname="iPlaceOffsetX" type="T_INT" byteoffset="76" vartype="VAR" />
+      <UserDefElement iecname="iPlaceOffsetY" type="T_INT" byteoffset="78" vartype="VAR" />
       <UserDefElement iecname="iCountX" type="T_INT" byteoffset="80" vartype="VAR" />
       <UserDefElement iecname="iCountY" type="T_INT" byteoffset="82" vartype="VAR" />
+      <UserDefElement iecname="iPickOffsetX" type="T_INT" byteoffset="84" vartype="VAR" />
+      <UserDefElement iecname="iPickOffsetY" type="T_INT" byteoffset="86" 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" />
@@ -1976,25 +1978,24 @@
       <UserDefElement iecname="audintSetNumberLimits" type="T_ARRAY__1__16__OF_UDINT" byteoffset="64" vartype="VAR" />
       <UserDefElement iecname="RelayName" type="T_ARRAY__1__16__OF_PredicitiveRelay_Name" byteoffset="128" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U1_EM00_Data" size="290" nativesize="292" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Data">
+    <TypeUserDef name="T_U1_EM00_Data" size="286" nativesize="288" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Data">
       <UserDefElement iecname="PdtType" type="T_INT" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="bWcsEnable" type="T_BOOL" byteoffset="2" vartype="VAR" />
       <UserDefElement iecname="BatteryRowSet" type="T_INT" byteoffset="4" vartype="VAR" />
       <UserDefElement iecname="BatteryColumnSet" type="T_INT" byteoffset="6" vartype="VAR" />
       <UserDefElement iecname="BatteryRowOffset" type="T_REAL" byteoffset="8" vartype="VAR" />
       <UserDefElement iecname="BatteryColumnOffset" type="T_REAL" byteoffset="12" vartype="VAR" />
-      <UserDefElement iecname="BeltDist" type="T_REAL" byteoffset="16" vartype="VAR" />
-      <UserDefElement iecname="FeedScanData1" type="T_U1_EM00_ScanData" byteoffset="20" vartype="VAR" />
-      <UserDefElement iecname="FeedScanData2" type="T_U1_EM00_ScanData" byteoffset="48" vartype="VAR" />
-      <UserDefElement iecname="bGripExist" type="T_BOOL" byteoffset="76" vartype="VAR" />
-      <UserDefElement iecname="PalletWaterBatteryIndex1" type="T_INT" byteoffset="78" vartype="VAR" />
-      <UserDefElement iecname="PalletWaterBatteryIndex2" type="T_INT" byteoffset="80" vartype="VAR" />
-      <UserDefElement iecname="PalletPlaceIndex1" type="T_INT" byteoffset="82" vartype="VAR" />
-      <UserDefElement iecname="PalletPlaceIndex2" type="T_INT" byteoffset="84" vartype="VAR" />
-      <UserDefElement iecname="PalletBattery1" type="T_ARRAY__0__99__OF_BOOL" byteoffset="86" vartype="VAR" />
-      <UserDefElement iecname="PalletBattery2" type="T_ARRAY__0__99__OF_BOOL" byteoffset="186" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet1_State" type="T_E_StationState" byteoffset="286" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet2_State" type="T_E_StationState" byteoffset="288" vartype="VAR" />
+      <UserDefElement iecname="FeedScanData1" type="T_U1_EM00_ScanData" byteoffset="16" vartype="VAR" />
+      <UserDefElement iecname="FeedScanData2" type="T_U1_EM00_ScanData" byteoffset="44" vartype="VAR" />
+      <UserDefElement iecname="bGripExist" type="T_BOOL" byteoffset="72" vartype="VAR" />
+      <UserDefElement iecname="PalletWaterBatteryIndex1" type="T_INT" byteoffset="74" vartype="VAR" />
+      <UserDefElement iecname="PalletWaterBatteryIndex2" type="T_INT" byteoffset="76" vartype="VAR" />
+      <UserDefElement iecname="PalletPlaceIndex1" type="T_INT" byteoffset="78" vartype="VAR" />
+      <UserDefElement iecname="PalletPlaceIndex2" type="T_INT" byteoffset="80" vartype="VAR" />
+      <UserDefElement iecname="PalletBattery1" type="T_ARRAY__0__99__OF_BOOL" byteoffset="82" vartype="VAR" />
+      <UserDefElement iecname="PalletBattery2" type="T_ARRAY__0__99__OF_BOOL" byteoffset="182" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet1_State" type="T_E_StationState" byteoffset="282" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet2_State" type="T_E_StationState" byteoffset="284" vartype="VAR" />
     </TypeUserDef>
     <TypeUserDef name="T_U1_EM00_Error" size="6061" nativesize="6062" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Error">
       <UserDefElement iecname="ErrorValves" type="T_ARRAY__0__100__OF_UDT_ValveAlarm" 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 a3505c3..cd6c451 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 2f340e6..7f5eb22 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/README.md b/README.md
index 7f45b68..5d73dbd 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,7 @@
  - [x]  调试NG下料拉带程序
  - [x]  调试水份上线拉带程序
  - [x]  调试复投上线程序
+ - [ ]  机器人所有取放位置都要使用偏移计算，一键换型
 
 
 ## 机器人命令程序号