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 55f5df0..9dcbfe0 100644
--- a/6040-003上下料 V2.1.Device.Application.xml	
+++ b/6040-003上下料 V2.1.Device.Application.xml	
@@ -1975,20 +1975,22 @@
       <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="276" nativesize="276" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Data">
+    <TypeUserDef name="T_U1_EM00_Data" size="284" nativesize="284" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Data">
       <UserDefElement iecname="bWcsEnable" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="BatteryRowSet" type="T_INT" byteoffset="2" vartype="VAR" />
       <UserDefElement iecname="BatteryColumnSet" type="T_INT" byteoffset="4" vartype="VAR" />
-      <UserDefElement iecname="FeedScanData1" type="T_U1_EM00_ScanData" byteoffset="8" vartype="VAR" />
-      <UserDefElement iecname="FeedScanData2" type="T_U1_EM00_ScanData" byteoffset="36" vartype="VAR" />
-      <UserDefElement iecname="PalletWaterBatteryIndex1" type="T_INT" byteoffset="64" vartype="VAR" />
-      <UserDefElement iecname="PalletWaterBatteryIndex2" type="T_INT" byteoffset="66" vartype="VAR" />
-      <UserDefElement iecname="PalletPlaceIndex1" type="T_INT" byteoffset="68" vartype="VAR" />
-      <UserDefElement iecname="PalletPlaceIndex2" type="T_INT" byteoffset="70" vartype="VAR" />
-      <UserDefElement iecname="PalletBattery1" type="T_ARRAY__0__99__OF_BOOL" byteoffset="72" vartype="VAR" />
-      <UserDefElement iecname="PalletBattery2" type="T_ARRAY__0__99__OF_BOOL" byteoffset="172" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet1_State" type="T_E_StationState" byteoffset="272" vartype="VAR" />
-      <UserDefElement iecname="LoadPallet2_State" type="T_E_StationState" byteoffset="274" vartype="VAR" />
+      <UserDefElement iecname="BatteryRowOffset" type="T_REAL" byteoffset="8" vartype="VAR" />
+      <UserDefElement iecname="BatteryColumnOffset" type="T_REAL" byteoffset="12" 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="PalletWaterBatteryIndex1" type="T_INT" byteoffset="72" vartype="VAR" />
+      <UserDefElement iecname="PalletWaterBatteryIndex2" type="T_INT" byteoffset="74" vartype="VAR" />
+      <UserDefElement iecname="PalletPlaceIndex1" type="T_INT" byteoffset="76" vartype="VAR" />
+      <UserDefElement iecname="PalletPlaceIndex2" type="T_INT" byteoffset="78" vartype="VAR" />
+      <UserDefElement iecname="PalletBattery1" type="T_ARRAY__0__99__OF_BOOL" byteoffset="80" vartype="VAR" />
+      <UserDefElement iecname="PalletBattery2" type="T_ARRAY__0__99__OF_BOOL" byteoffset="180" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet1_State" type="T_E_StationState" byteoffset="280" vartype="VAR" />
+      <UserDefElement iecname="LoadPallet2_State" type="T_E_StationState" byteoffset="282" 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" />
@@ -2253,7 +2255,7 @@
           <Comment>伺服预测维护数据</Comment>
         </Node>
         <Node name="SVData" type="T_ARRAY__0__40__OF_UDT_AxisParam" access="ReadWrite" directaddress="%MB256992" />
-        <Node name="U1_EM00_Data" type="T_U1_EM00_Data" access="ReadWrite" directaddress="%MB137012" />
+        <Node name="U1_EM00_Data" type="T_U1_EM00_Data" access="ReadWrite" directaddress="%MB137648" />
         <Node name="U1_EM01_Data" type="T_U1_EM01_Data" access="ReadWrite" directaddress="%MB131912" />
         <Node name="UnitOverride" type="T_ARRAY__0__10__OF_REAL" access="ReadWrite" directaddress="%MB131860">
           <Comment>整机倍率设定</Comment>
diff --git a/6040-003上下料 V2.1.project b/6040-003上下料 V2.1.project
index b484cb1..070b85f 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/README.md b/README.md
index 2fdc055..e6965d9 100644
--- a/README.md
+++ b/README.md
@@ -8,8 +8,9 @@
  - [ ] kuka功能块验证
  - [x]  其他工位HMI IO显示
  - [x]  轴画面不能设负数
- - [ ] 界面少在原位标志
- - [ ] 机器人程序增加中断保护，防止撞击，防止放料时下方有物料
+ - [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
 
 
 ## 机器人命令程序号
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
new file mode 100644
index 0000000..e69de29