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 d2489a7..cba88e3 100644
--- a/6040-003上下料 V2.1.Device.Application.xml	
+++ b/6040-003上下料 V2.1.Device.Application.xml	
@@ -20,6 +20,7 @@
     <TypeSimple name="T_STRING_12_" size="13" swapsize="0" typeclass="String" iecname="STRING(12)" />
     <TypeSimple name="T_UDINT" size="4" swapsize="4" typeclass="UDInt" iecname="UDINT" />
     <TypeSimple name="T_UINT" size="2" swapsize="2" typeclass="UInt" iecname="UINT" />
+    <TypeSimple name="T_USINT" size="1" swapsize="1" typeclass="USInt" iecname="USINT" />
     <TypeSimple name="T_WSTRING" size="162" swapsize="2" typeclass="WString" iecname="WSTRING" />
     <TypeSimple name="T_WSTRING_10_" size="22" swapsize="2" typeclass="WString" iecname="WSTRING(10)" />
     <TypeSimple name="T_WSTRING_20_" size="42" swapsize="2" typeclass="WString" iecname="WSTRING(20)" />
@@ -82,6 +83,9 @@
     <TypeArray name="T_ARRAY__0__61__OF_UDINT" size="248" nativesize="248" typeclass="Array" iecname="ARRAY [0..61] OF UDINT" basetype="T_UDINT">
       <ArrayDim minrange="0" maxrange="61" />
     </TypeArray>
+    <TypeArray name="T_ARRAY__0__63__OF_BYTE" size="64" nativesize="64" typeclass="Array" iecname="ARRAY [0..63] OF BYTE" basetype="T_BYTE">
+      <ArrayDim minrange="0" maxrange="63" />
+    </TypeArray>
     <TypeArray name="T_ARRAY__0__99__OF_BOOL" size="100" nativesize="100" typeclass="Array" iecname="ARRAY [0..99] OF BOOL" basetype="T_BOOL">
       <ArrayDim minrange="0" maxrange="99" />
     </TypeArray>
@@ -338,38 +342,6 @@
       <UserDefElement iecname="bClearCT" type="T_BOOL" byteoffset="36" vartype="VAR" />
       <UserDefElement iecname="bScanDisable" type="T_BOOL" byteoffset="37" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U1_EM00_Output" size="30" nativesize="30" 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" />
-      <UserDefElement iecname="boBuzzer" type="T_BOOL" byteoffset="3" vartype="VAR" />
-      <UserDefElement iecname="boSafeReset" type="T_BOOL" byteoffset="4" vartype="VAR" />
-      <UserDefElement iecname="boHomePosLight" type="T_BOOL" byteoffset="5" vartype="VAR" />
-      <UserDefElement iecname="boResetLight" type="T_BOOL" byteoffset="6" vartype="VAR" />
-      <UserDefElement iecname="boStartLight" type="T_BOOL" byteoffset="7" vartype="VAR" />
-      <UserDefElement iecname="boStopLight" type="T_BOOL" byteoffset="8" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorDisable" type="T_BOOL" byteoffset="9" vartype="VAR" />
-      <UserDefElement iecname="boReFeedLight" type="T_BOOL" byteoffset="10" vartype="VAR" />
-      <UserDefElement iecname="boWaterLight" type="T_BOOL" byteoffset="11" vartype="VAR" />
-      <UserDefElement iecname="boNgLight" type="T_BOOL" byteoffset="12" vartype="VAR" />
-      <UserDefElement iecname="boReFeedBuzzer" type="T_BOOL" byteoffset="13" vartype="VAR" />
-      <UserDefElement iecname="boWaterBuzzer" type="T_BOOL" byteoffset="14" vartype="VAR" />
-      <UserDefElement iecname="boNgBuzzer" type="T_BOOL" byteoffset="15" vartype="VAR" />
-      <UserDefElement iecname="boToPrevAllow" type="T_BOOL" byteoffset="16" vartype="VAR" />
-      <UserDefElement iecname="boToPrevFeedDone" type="T_BOOL" byteoffset="17" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose1" type="T_BOOL" byteoffset="18" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight1" type="T_BOOL" byteoffset="19" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight1" type="T_BOOL" byteoffset="20" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose2" type="T_BOOL" byteoffset="21" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight2" type="T_BOOL" byteoffset="22" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight2" type="T_BOOL" byteoffset="23" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose3" type="T_BOOL" byteoffset="24" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight3" type="T_BOOL" byteoffset="25" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight3" type="T_BOOL" byteoffset="26" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose4" type="T_BOOL" byteoffset="27" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight4" type="T_BOOL" byteoffset="28" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight4" type="T_BOOL" byteoffset="29" 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" />
       <UserDefElement iecname="bFeedScanFromWcsDone2" type="T_BOOL" byteoffset="1" vartype="VAR" />
@@ -420,37 +392,6 @@
       <UserDefElement iecname="bClearCT" type="T_BOOL" byteoffset="36" vartype="VAR" />
       <UserDefElement iecname="bScanDisable" type="T_BOOL" byteoffset="37" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U2_EM00_Output" size="29" nativesize="29" 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" />
-      <UserDefElement iecname="boBuzzer" type="T_BOOL" byteoffset="3" vartype="VAR" />
-      <UserDefElement iecname="boHomePosLight" type="T_BOOL" byteoffset="4" vartype="VAR" />
-      <UserDefElement iecname="boResetLight" type="T_BOOL" byteoffset="5" vartype="VAR" />
-      <UserDefElement iecname="boStartLight" type="T_BOOL" byteoffset="6" vartype="VAR" />
-      <UserDefElement iecname="boStopLight" type="T_BOOL" byteoffset="7" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorDisable" type="T_BOOL" byteoffset="8" vartype="VAR" />
-      <UserDefElement iecname="boReFeedLight" type="T_BOOL" byteoffset="9" vartype="VAR" />
-      <UserDefElement iecname="boWaterLight" type="T_BOOL" byteoffset="10" vartype="VAR" />
-      <UserDefElement iecname="boNgLight" type="T_BOOL" byteoffset="11" vartype="VAR" />
-      <UserDefElement iecname="boReFeedBuzzer" type="T_BOOL" byteoffset="12" vartype="VAR" />
-      <UserDefElement iecname="boWaterBuzzer" type="T_BOOL" byteoffset="13" vartype="VAR" />
-      <UserDefElement iecname="boNgBuzzer" type="T_BOOL" byteoffset="14" vartype="VAR" />
-      <UserDefElement iecname="boToPrevAllow" type="T_BOOL" byteoffset="15" vartype="VAR" />
-      <UserDefElement iecname="boToPrevFeedDone" type="T_BOOL" byteoffset="16" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose1" type="T_BOOL" byteoffset="17" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight1" type="T_BOOL" byteoffset="18" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight1" type="T_BOOL" byteoffset="19" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose2" type="T_BOOL" byteoffset="20" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight2" type="T_BOOL" byteoffset="21" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight2" type="T_BOOL" byteoffset="22" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose3" type="T_BOOL" byteoffset="23" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight3" type="T_BOOL" byteoffset="24" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight3" type="T_BOOL" byteoffset="25" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose4" type="T_BOOL" byteoffset="26" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight4" type="T_BOOL" byteoffset="27" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight4" type="T_BOOL" byteoffset="28" 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" />
       <UserDefElement iecname="bFeedScanFromWcsDone2" type="T_BOOL" byteoffset="1" vartype="VAR" />
@@ -497,37 +438,6 @@
       <UserDefElement iecname="bClearCT" type="T_BOOL" byteoffset="36" vartype="VAR" />
       <UserDefElement iecname="bScanDisable" type="T_BOOL" byteoffset="37" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U3_EM00_Output" size="29" nativesize="29" 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" />
-      <UserDefElement iecname="boBuzzer" type="T_BOOL" byteoffset="3" vartype="VAR" />
-      <UserDefElement iecname="boHomePosLight" type="T_BOOL" byteoffset="4" vartype="VAR" />
-      <UserDefElement iecname="boResetLight" type="T_BOOL" byteoffset="5" vartype="VAR" />
-      <UserDefElement iecname="boStartLight" type="T_BOOL" byteoffset="6" vartype="VAR" />
-      <UserDefElement iecname="boStopLight" type="T_BOOL" byteoffset="7" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorDisable" type="T_BOOL" byteoffset="8" vartype="VAR" />
-      <UserDefElement iecname="boReFeedLight" type="T_BOOL" byteoffset="9" vartype="VAR" />
-      <UserDefElement iecname="boWaterLight" type="T_BOOL" byteoffset="10" vartype="VAR" />
-      <UserDefElement iecname="boNgLight" type="T_BOOL" byteoffset="11" vartype="VAR" />
-      <UserDefElement iecname="boReFeedBuzzer" type="T_BOOL" byteoffset="12" vartype="VAR" />
-      <UserDefElement iecname="boWaterBuzzer" type="T_BOOL" byteoffset="13" vartype="VAR" />
-      <UserDefElement iecname="boNgBuzzer" type="T_BOOL" byteoffset="14" vartype="VAR" />
-      <UserDefElement iecname="boToPrevAllow" type="T_BOOL" byteoffset="15" vartype="VAR" />
-      <UserDefElement iecname="boToPrevFeedDone" type="T_BOOL" byteoffset="16" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose1" type="T_BOOL" byteoffset="17" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight1" type="T_BOOL" byteoffset="18" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight1" type="T_BOOL" byteoffset="19" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose2" type="T_BOOL" byteoffset="20" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight2" type="T_BOOL" byteoffset="21" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight2" type="T_BOOL" byteoffset="22" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose3" type="T_BOOL" byteoffset="23" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight3" type="T_BOOL" byteoffset="24" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight3" type="T_BOOL" byteoffset="25" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose4" type="T_BOOL" byteoffset="26" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight4" type="T_BOOL" byteoffset="27" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight4" type="T_BOOL" byteoffset="28" 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" />
       <UserDefElement iecname="bFeedScanFromWcsDone2" type="T_BOOL" byteoffset="1" vartype="VAR" />
@@ -574,37 +484,6 @@
       <UserDefElement iecname="bClearCT" type="T_BOOL" byteoffset="36" vartype="VAR" />
       <UserDefElement iecname="bScanDisable" type="T_BOOL" byteoffset="37" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U4_EM00_Output" size="29" nativesize="29" 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" />
-      <UserDefElement iecname="boBuzzer" type="T_BOOL" byteoffset="3" vartype="VAR" />
-      <UserDefElement iecname="boHomePosLight" type="T_BOOL" byteoffset="4" vartype="VAR" />
-      <UserDefElement iecname="boResetLight" type="T_BOOL" byteoffset="5" vartype="VAR" />
-      <UserDefElement iecname="boStartLight" type="T_BOOL" byteoffset="6" vartype="VAR" />
-      <UserDefElement iecname="boStopLight" type="T_BOOL" byteoffset="7" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorDisable" type="T_BOOL" byteoffset="8" vartype="VAR" />
-      <UserDefElement iecname="boReFeedLight" type="T_BOOL" byteoffset="9" vartype="VAR" />
-      <UserDefElement iecname="boWaterLight" type="T_BOOL" byteoffset="10" vartype="VAR" />
-      <UserDefElement iecname="boNgLight" type="T_BOOL" byteoffset="11" vartype="VAR" />
-      <UserDefElement iecname="boReFeedBuzzer" type="T_BOOL" byteoffset="12" vartype="VAR" />
-      <UserDefElement iecname="boWaterBuzzer" type="T_BOOL" byteoffset="13" vartype="VAR" />
-      <UserDefElement iecname="boNgBuzzer" type="T_BOOL" byteoffset="14" vartype="VAR" />
-      <UserDefElement iecname="boToPrevAllow" type="T_BOOL" byteoffset="15" vartype="VAR" />
-      <UserDefElement iecname="boToPrevFeedDone" type="T_BOOL" byteoffset="16" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose1" type="T_BOOL" byteoffset="17" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight1" type="T_BOOL" byteoffset="18" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight1" type="T_BOOL" byteoffset="19" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose2" type="T_BOOL" byteoffset="20" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight2" type="T_BOOL" byteoffset="21" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight2" type="T_BOOL" byteoffset="22" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose3" type="T_BOOL" byteoffset="23" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight3" type="T_BOOL" byteoffset="24" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight3" type="T_BOOL" byteoffset="25" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorClose4" type="T_BOOL" byteoffset="26" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorCloseLight4" type="T_BOOL" byteoffset="27" vartype="VAR" />
-      <UserDefElement iecname="boSafeDoorOpenLight4" type="T_BOOL" byteoffset="28" 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" />
       <UserDefElement iecname="bFeedScanFromWcsDone2" type="T_BOOL" byteoffset="1" vartype="VAR" />
@@ -679,6 +558,25 @@
       <UserDefElement iecname="xHmiAuto" type="T_BOOL" byteoffset="19" vartype="VAR" />
       <UserDefElement iecname="xHmiManual" type="T_BOOL" byteoffset="20" vartype="VAR" />
     </TypeUserDef>
+    <TypeUserDef name="T_UDT_RM_Input" size="18" nativesize="20" typeclass="Userdef" pouclass="STRUCTURE" iecname="UDT_RM_Input">
+      <UserDefElement iecname="rActPos" type="T_REAL" byteoffset="0" vartype="VAR" />
+      <UserDefElement iecname="rActVel" type="T_REAL" byteoffset="4" vartype="VAR" />
+      <UserDefElement iecname="rActTrq" type="T_REAL" byteoffset="8" vartype="VAR" />
+      <UserDefElement iecname="rActForce" type="T_REAL" byteoffset="12" vartype="VAR" />
+      <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">
+      <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" />
+      <UserDefElement iecname="rSetACC" type="T_REAL" byteoffset="12" vartype="VAR" />
+      <UserDefElement iecname="usGoHome" type="T_USINT" byteoffset="16" vartype="VAR" />
+      <UserDefElement iecname="usResetError" type="T_USINT" byteoffset="17" vartype="VAR" />
+      <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" />
+    </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" />
       <UserDefElement iecname="xAlarmRight" type="T_BOOL" byteoffset="1" vartype="VAR" />
@@ -920,7 +818,7 @@
       <UserDefElement iecname="iGripPosIndex" type="T_INT" byteoffset="88" vartype="VAR" />
       <UserDefElement iecname="iGripPosCount" type="T_INT" byteoffset="90" vartype="VAR" />
     </TypeUserDef>
-    <TypeUserDef name="T_U1_EM00_Input" size="64" nativesize="64" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Input">
+    <TypeUserDef name="T_U1_EM00_Input" size="82" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_Input">
       <UserDefElement iecname="biEMG" type="T_BOOL" byteoffset="0" vartype="VAR" />
       <UserDefElement iecname="biAirPressure" type="T_BOOL" byteoffset="1" vartype="VAR" />
       <UserDefElement iecname="biCabinetTemp" type="T_BOOL" byteoffset="2" vartype="VAR" />
@@ -964,6 +862,40 @@
       <UserDefElement iecname="biSafeDoorClose4" type="T_BOOL" byteoffset="61" vartype="VAR" />
       <UserDefElement iecname="biSafeDoorOpen4" type="T_BOOL" byteoffset="62" vartype="VAR" />
       <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">
+      <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" />
+      <UserDefElement iecname="boBuzzer" type="T_BOOL" byteoffset="3" vartype="VAR" />
+      <UserDefElement iecname="boSafeReset" type="T_BOOL" byteoffset="4" vartype="VAR" />
+      <UserDefElement iecname="boHomePosLight" type="T_BOOL" byteoffset="5" vartype="VAR" />
+      <UserDefElement iecname="boResetLight" type="T_BOOL" byteoffset="6" vartype="VAR" />
+      <UserDefElement iecname="boStartLight" type="T_BOOL" byteoffset="7" vartype="VAR" />
+      <UserDefElement iecname="boStopLight" type="T_BOOL" byteoffset="8" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorDisable" type="T_BOOL" byteoffset="9" vartype="VAR" />
+      <UserDefElement iecname="boReFeedLight" type="T_BOOL" byteoffset="10" vartype="VAR" />
+      <UserDefElement iecname="boWaterLight" type="T_BOOL" byteoffset="11" vartype="VAR" />
+      <UserDefElement iecname="boNgLight" type="T_BOOL" byteoffset="12" vartype="VAR" />
+      <UserDefElement iecname="boReFeedBuzzer" type="T_BOOL" byteoffset="13" vartype="VAR" />
+      <UserDefElement iecname="boWaterBuzzer" type="T_BOOL" byteoffset="14" vartype="VAR" />
+      <UserDefElement iecname="boNgBuzzer" type="T_BOOL" byteoffset="15" vartype="VAR" />
+      <UserDefElement iecname="boToPrevAllow" type="T_BOOL" byteoffset="16" vartype="VAR" />
+      <UserDefElement iecname="boToPrevFeedDone" type="T_BOOL" byteoffset="17" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorClose1" type="T_BOOL" byteoffset="18" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorCloseLight1" type="T_BOOL" byteoffset="19" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorOpenLight1" type="T_BOOL" byteoffset="20" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorClose2" type="T_BOOL" byteoffset="21" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorCloseLight2" type="T_BOOL" byteoffset="22" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorOpenLight2" type="T_BOOL" byteoffset="23" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorClose3" type="T_BOOL" byteoffset="24" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorCloseLight3" type="T_BOOL" byteoffset="25" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorOpenLight3" type="T_BOOL" byteoffset="26" vartype="VAR" />
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+      <UserDefElement iecname="boSafeDoorOpenLight4" type="T_BOOL" byteoffset="29" vartype="VAR" />
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-    <TypeUserDef name="T_U2_EM00_Input" size="64" nativesize="64" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_Input">
+    <TypeUserDef name="T_U2_EM00_Input" size="82" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U2_EM00_Input">
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@@ -1101,6 +1033,40 @@
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       <UserDefElement iecname="biSafeDoorFeedback4" type="T_BOOL" byteoffset="63" vartype="VAR" />
+      <UserDefElement iecname="stiRM" type="T_UDT_RM_Input" byteoffset="64" vartype="VAR" />
+    </TypeUserDef>
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+      <UserDefElement iecname="boStackLightGreen" type="T_BOOL" byteoffset="1" vartype="VAR" />
+      <UserDefElement iecname="boStackLightYellow" type="T_BOOL" byteoffset="2" vartype="VAR" />
+      <UserDefElement iecname="boBuzzer" type="T_BOOL" byteoffset="3" vartype="VAR" />
+      <UserDefElement iecname="boHomePosLight" type="T_BOOL" byteoffset="4" vartype="VAR" />
+      <UserDefElement iecname="boResetLight" type="T_BOOL" byteoffset="5" vartype="VAR" />
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+      <UserDefElement iecname="boStopLight" type="T_BOOL" byteoffset="7" vartype="VAR" />
+      <UserDefElement iecname="boSafeReset" type="T_BOOL" byteoffset="8" vartype="VAR" />
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+      <UserDefElement iecname="boWaterLight" type="T_BOOL" byteoffset="11" vartype="VAR" />
+      <UserDefElement iecname="boNgLight" type="T_BOOL" byteoffset="12" vartype="VAR" />
+      <UserDefElement iecname="boReFeedBuzzer" type="T_BOOL" byteoffset="13" vartype="VAR" />
+      <UserDefElement iecname="boWaterBuzzer" type="T_BOOL" byteoffset="14" vartype="VAR" />
+      <UserDefElement iecname="boNgBuzzer" type="T_BOOL" byteoffset="15" vartype="VAR" />
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+      <UserDefElement iecname="boToPrevFeedDone" type="T_BOOL" byteoffset="17" vartype="VAR" />
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+      <UserDefElement iecname="boSafeDoorOpenLight1" type="T_BOOL" byteoffset="20" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorClose2" type="T_BOOL" byteoffset="21" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorCloseLight2" type="T_BOOL" byteoffset="22" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorOpenLight2" type="T_BOOL" byteoffset="23" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorClose3" type="T_BOOL" byteoffset="24" vartype="VAR" />
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+      <UserDefElement iecname="boSafeDoorCloseLight4" type="T_BOOL" byteoffset="28" vartype="VAR" />
+      <UserDefElement iecname="boSafeDoorOpenLight4" type="T_BOOL" byteoffset="29" vartype="VAR" />
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-    <TypeUserDef name="T_U3_EM00_Input" size="64" nativesize="64" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_Input">
+    <TypeUserDef name="T_U3_EM00_Input" size="82" nativesize="84" typeclass="Userdef" pouclass="STRUCTURE" iecname="U3_EM00_Input">
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       <UserDefElement iecname="biSafeDoorFeedback4" type="T_BOOL" byteoffset="63" vartype="VAR" />
+      <UserDefElement iecname="stiRM" type="T_UDT_RM_Input" byteoffset="64" vartype="VAR" />
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+      <UserDefElement iecname="boStackLightGreen" type="T_BOOL" byteoffset="1" vartype="VAR" />
+      <UserDefElement iecname="boStackLightYellow" type="T_BOOL" byteoffset="2" vartype="VAR" />
+      <UserDefElement iecname="boBuzzer" type="T_BOOL" byteoffset="3" vartype="VAR" />
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+      <UserDefElement iecname="boResetLight" type="T_BOOL" byteoffset="5" vartype="VAR" />
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+      <UserDefElement iecname="boStopLight" type="T_BOOL" byteoffset="7" vartype="VAR" />
+      <UserDefElement iecname="boSafeReset" type="T_BOOL" byteoffset="8" vartype="VAR" />
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+      <UserDefElement iecname="boToPrevFeedDone" type="T_BOOL" byteoffset="17" vartype="VAR" />
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+      <UserDefElement iecname="boSafeDoorOpenLight2" type="T_BOOL" byteoffset="23" vartype="VAR" />
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+      <UserDefElement iecname="boSafeDoorOpenLight4" type="T_BOOL" byteoffset="29" vartype="VAR" />
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-    <TypeUserDef name="T_U4_EM00_Input" size="64" nativesize="64" typeclass="Userdef" pouclass="STRUCTURE" iecname="U4_EM00_Input">
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       <UserDefElement iecname="biSafeDoorFeedback4" type="T_BOOL" byteoffset="63" vartype="VAR" />
+      <UserDefElement iecname="stiRM" type="T_UDT_RM_Input" byteoffset="64" vartype="VAR" />
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-      <UserDefElement iecname="eDir" type="T_MC_DIRECTION" byteoffset="48" vartype="VAR" />
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new file mode 100644
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