From 8bef038966acc8ceaf077ee096c333afc83e470e Mon Sep 17 00:00:00 2001
From: "zhengxuan.zhang" <zhengxuan.zhang@hexagon.com>
Date: Sun, 8 Oct 2023 11:46:20 +0800
Subject: [PATCH] =?UTF-8?q?=E6=A1=86=E6=9E=B6=E6=90=AD=E5=BB=BA?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 HexcalMC/HexcalMC.csproj                  |   38 +-
 HexcalMC/MainForm.Designer.cs             | 2305 ---------------------
 HexcalMC/MainForm.cs                      |  948 ---------
 HexcalMC/MainForm.resx                    | 1561 --------------
 HexcalMC/Program.cs                       |    4 +-
 HexcalMC/Properties/AssemblyInfo.cs       |    4 +-
 HexcalMC/Properties/Resources.Designer.cs |   50 +-
 HexcalMC/Properties/Resources.resx        |   27 +-
 HexcalMC/Properties/Settings.Designer.cs  |    2 +-
 HexcalMC/Properties/licenses.licx         |    5 +
 10 files changed, 107 insertions(+), 4837 deletions(-)
 delete mode 100644 HexcalMC/MainForm.Designer.cs
 delete mode 100644 HexcalMC/MainForm.cs
 delete mode 100644 HexcalMC/MainForm.resx

diff --git a/HexcalMC/HexcalMC.csproj b/HexcalMC/HexcalMC.csproj
index 160e655..a8f9058 100644
--- a/HexcalMC/HexcalMC.csproj
+++ b/HexcalMC/HexcalMC.csproj
@@ -8,7 +8,7 @@
     <ProjectGuid>{19741897-37D8-43EE-94A2-637975035CEA}</ProjectGuid>
     <OutputType>WinExe</OutputType>
     <AppDesignerFolder>Properties</AppDesignerFolder>
-    <RootNamespace>ACS_DotNET_Library_Advanced_Demo</RootNamespace>
+    <RootNamespace>HexcalMC</RootNamespace>
     <AssemblyName>ACS_Motion</AssemblyName>
     <TargetFrameworkVersion>v2.0</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
@@ -65,20 +65,31 @@
     <Reference Include="System.Windows.Forms" />
     <Reference Include="System.Xml" />
     <Reference Include="Telerik.WinControls, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e" />
+    <Reference Include="Telerik.WinControls.GridView, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e" />
+    <Reference Include="Telerik.WinControls.Scheduler, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e, processorArchitecture=MSIL" />
     <Reference Include="Telerik.WinControls.UI, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e, processorArchitecture=MSIL" />
     <Reference Include="TelerikCommon, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e" />
   </ItemGroup>
   <ItemGroup>
-    <Compile Include="MainForm.cs">
+    <Compile Include="MainFrom.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="MainForm.Designer.cs">
-      <DependentUpon>MainForm.cs</DependentUpon>
+    <Compile Include="MainFrom.Designer.cs">
+      <DependentUpon>MainFrom.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Motion\Motion.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Motion\Motion.Designer.cs">
+      <DependentUpon>Motion.cs</DependentUpon>
     </Compile>
     <Compile Include="Program.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
-    <EmbeddedResource Include="MainForm.resx">
-      <DependentUpon>MainForm.cs</DependentUpon>
+    <EmbeddedResource Include="MainFrom.resx">
+      <DependentUpon>MainFrom.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Motion\Motion.resx">
+      <DependentUpon>Motion.cs</DependentUpon>
       <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="Properties\licenses.licx" />
@@ -114,6 +125,21 @@
   <ItemGroup>
     <None Include="Images\HexagonNew.ico" />
   </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\about.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\help.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\motion.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\xx.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\Hexagon.ico" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
        Other similar extension points exist, see Microsoft.Common.targets.
diff --git a/HexcalMC/MainForm.Designer.cs b/HexcalMC/MainForm.Designer.cs
deleted file mode 100644
index a52204d..0000000
--- a/HexcalMC/MainForm.Designer.cs
+++ /dev/null
@@ -1,2305 +0,0 @@
-namespace ACS_DotNET_Library_Advanced_Demo
-{
-	partial class MainForm
-	{
-		/// <summary>
-		/// 필수 디자이너 변수입니다.
-		/// </summary>
-		private System.ComponentModel.IContainer components = null;
-
-		/// <summary>
-		/// 사용 중인 모든 리소스를 정리합니다.
-		/// </summary>
-		/// <param name="disposing">관리되는 리소스를 삭제해야 하면 true이고, 그렇지 않으면 false입니다.</param>
-		protected override void Dispose(bool disposing)
-		{
-			if (disposing && (components != null))
-			{
-				components.Dispose();
-			}
-			base.Dispose(disposing);
-		}
-
-		#region Windows Form 디자이너에서 생성한 코드
-
-		/// <summary>
-		/// 디자이너 지원에 필요한 메서드입니다.
-		/// 이 메서드의 내용을 코드 편집기로 수정하지 마십시오.
-		/// </summary>
-		private void InitializeComponent()
-		{
-			this.components = new System.ComponentModel.Container();
-			System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainForm));
-			this.groupBox1 = new System.Windows.Forms.GroupBox();
-			this.txtPort = new System.Windows.Forms.TextBox();
-			this.txtIP = new System.Windows.Forms.TextBox();
-			this.btnClose = new System.Windows.Forms.Button();
-			this.btnOpen = new System.Windows.Forms.Button();
-			this.label2 = new System.Windows.Forms.Label();
-			this.label1 = new System.Windows.Forms.Label();
-			this.rdoTCP = new System.Windows.Forms.RadioButton();
-			this.rdoSimu = new System.Windows.Forms.RadioButton();
-			this.tmrMonitor = new System.Windows.Forms.Timer(this.components);
-			this.grpMotionTest = new System.Windows.Forms.GroupBox();
-			this.btnHallAll = new System.Windows.Forms.Button();
-			this.btnHalt = new System.Windows.Forms.Button();
-			this.grpMst = new System.Windows.Forms.GroupBox();
-			this.label16 = new System.Windows.Forms.Label();
-			this.label15 = new System.Windows.Forms.Label();
-			this.label14 = new System.Windows.Forms.Label();
-			this.lblEnable = new System.Windows.Forms.Label();
-			this.lblInPos = new System.Windows.Forms.Label();
-			this.lblAcc = new System.Windows.Forms.Label();
-			this.lblMoving = new System.Windows.Forms.Label();
-			this.label13 = new System.Windows.Forms.Label();
-			this.grpPositions = new System.Windows.Forms.GroupBox();
-			this.btnSetZero = new System.Windows.Forms.Button();
-			this.txtFVEL = new System.Windows.Forms.TextBox();
-			this.txtPE = new System.Windows.Forms.TextBox();
-			this.txtFPOS = new System.Windows.Forms.TextBox();
-			this.label43 = new System.Windows.Forms.Label();
-			this.txtRPOS = new System.Windows.Forms.TextBox();
-			this.label12 = new System.Windows.Forms.Label();
-			this.label11 = new System.Windows.Forms.Label();
-			this.label10 = new System.Windows.Forms.Label();
-			this.btnDisableAll = new System.Windows.Forms.Button();
-			this.btnDisable = new System.Windows.Forms.Button();
-			this.cboAxisNo = new System.Windows.Forms.ComboBox();
-			this.btnEnable = new System.Windows.Forms.Button();
-			this.grpJog = new System.Windows.Forms.GroupBox();
-			this.btnJogPos = new System.Windows.Forms.Button();
-			this.btnJogNeg = new System.Windows.Forms.Button();
-			this.txtJogVel = new System.Windows.Forms.TextBox();
-			this.chkUseVel = new System.Windows.Forms.CheckBox();
-			this.grpProfile = new System.Windows.Forms.GroupBox();
-			this.txtJerk = new System.Windows.Forms.TextBox();
-			this.txtKdec = new System.Windows.Forms.TextBox();
-			this.txtDec = new System.Windows.Forms.TextBox();
-			this.txtAcc = new System.Windows.Forms.TextBox();
-			this.txtVel = new System.Windows.Forms.TextBox();
-			this.label7 = new System.Windows.Forms.Label();
-			this.label6 = new System.Windows.Forms.Label();
-			this.label5 = new System.Windows.Forms.Label();
-			this.label4 = new System.Windows.Forms.Label();
-			this.label3 = new System.Windows.Forms.Label();
-			this.grpPTP = new System.Windows.Forms.GroupBox();
-			this.btnPTP_R_Pos = new System.Windows.Forms.Button();
-			this.btnPTP_R_Neg = new System.Windows.Forms.Button();
-			this.btnPTP = new System.Windows.Forms.Button();
-			this.txtPTP_Pos = new System.Windows.Forms.TextBox();
-			this.label8 = new System.Windows.Forms.Label();
-			this.label9 = new System.Windows.Forms.Label();
-			this.grpSafety = new System.Windows.Forms.GroupBox();
-			this.lblEMG = new System.Windows.Forms.Label();
-			this.lblRL7 = new System.Windows.Forms.Label();
-			this.lblRL3 = new System.Windows.Forms.Label();
-			this.lblLL7 = new System.Windows.Forms.Label();
-			this.lblLL3 = new System.Windows.Forms.Label();
-			this.lblRL6 = new System.Windows.Forms.Label();
-			this.lblRL2 = new System.Windows.Forms.Label();
-			this.lblLL6 = new System.Windows.Forms.Label();
-			this.lblRL5 = new System.Windows.Forms.Label();
-			this.lblLL2 = new System.Windows.Forms.Label();
-			this.lblLL5 = new System.Windows.Forms.Label();
-			this.lblRL1 = new System.Windows.Forms.Label();
-			this.lblRL4 = new System.Windows.Forms.Label();
-			this.lblLL1 = new System.Windows.Forms.Label();
-			this.lblLL4 = new System.Windows.Forms.Label();
-			this.lblRL0 = new System.Windows.Forms.Label();
-			this.lblLL0 = new System.Windows.Forms.Label();
-			this.label18 = new System.Windows.Forms.Label();
-			this.label36 = new System.Windows.Forms.Label();
-			this.label27 = new System.Windows.Forms.Label();
-			this.label35 = new System.Windows.Forms.Label();
-			this.label26 = new System.Windows.Forms.Label();
-			this.label34 = new System.Windows.Forms.Label();
-			this.label25 = new System.Windows.Forms.Label();
-			this.label33 = new System.Windows.Forms.Label();
-			this.label24 = new System.Windows.Forms.Label();
-			this.label20 = new System.Windows.Forms.Label();
-			this.label19 = new System.Windows.Forms.Label();
-			this.label17 = new System.Windows.Forms.Label();
-			this.groupBox2 = new System.Windows.Forms.GroupBox();
-			this.lblPRG_Status = new System.Windows.Forms.Label();
-			this.lblPRG_Status_LED = new System.Windows.Forms.Label();
-			this.btnStopBuffer = new System.Windows.Forms.Button();
-			this.btnRunBuffer = new System.Windows.Forms.Button();
-			this.txtLabelName = new System.Windows.Forms.TextBox();
-			this.cboBufferNo = new System.Windows.Forms.ComboBox();
-			this.label22 = new System.Windows.Forms.Label();
-			this.label32 = new System.Windows.Forms.Label();
-			this.label21 = new System.Windows.Forms.Label();
-			this.label28 = new System.Windows.Forms.Label();
-			this.grpIO = new System.Windows.Forms.GroupBox();
-			this.btnSW7 = new System.Windows.Forms.Button();
-			this.btnSW6 = new System.Windows.Forms.Button();
-			this.btnSW5 = new System.Windows.Forms.Button();
-			this.btnSW4 = new System.Windows.Forms.Button();
-			this.btnSW3 = new System.Windows.Forms.Button();
-			this.btnSW2 = new System.Windows.Forms.Button();
-			this.btnSW0 = new System.Windows.Forms.Button();
-			this.btnSW1 = new System.Windows.Forms.Button();
-			this.label29 = new System.Windows.Forms.Label();
-			this.label23 = new System.Windows.Forms.Label();
-			this.label42 = new System.Windows.Forms.Label();
-			this.lblOUT7 = new System.Windows.Forms.Label();
-			this.lblIN7 = new System.Windows.Forms.Label();
-			this.label41 = new System.Windows.Forms.Label();
-			this.lblOUT3 = new System.Windows.Forms.Label();
-			this.lblIN3 = new System.Windows.Forms.Label();
-			this.label40 = new System.Windows.Forms.Label();
-			this.label39 = new System.Windows.Forms.Label();
-			this.label38 = new System.Windows.Forms.Label();
-			this.lblOUT6 = new System.Windows.Forms.Label();
-			this.lblIN6 = new System.Windows.Forms.Label();
-			this.label37 = new System.Windows.Forms.Label();
-			this.lblOUT2 = new System.Windows.Forms.Label();
-			this.lblIN2 = new System.Windows.Forms.Label();
-			this.lblOUT5 = new System.Windows.Forms.Label();
-			this.lblIN5 = new System.Windows.Forms.Label();
-			this.label31 = new System.Windows.Forms.Label();
-			this.label30 = new System.Windows.Forms.Label();
-			this.lblOUT1 = new System.Windows.Forms.Label();
-			this.lblIN1 = new System.Windows.Forms.Label();
-			this.lblOUT0 = new System.Windows.Forms.Label();
-			this.lblOUT4 = new System.Windows.Forms.Label();
-			this.lblIN0 = new System.Windows.Forms.Label();
-			this.lblIN4 = new System.Windows.Forms.Label();
-			this.groupBox3 = new System.Windows.Forms.GroupBox();
-			this.lstLog = new System.Windows.Forms.ListBox();
-			this.btnEventProgramEnd = new System.Windows.Forms.Button();
-			this.btnEventMotionEnd = new System.Windows.Forms.Button();
-			this.rtxtTerminal = new System.Windows.Forms.RichTextBox();
-			this.groupBox4 = new System.Windows.Forms.GroupBox();
-			this.btnSend = new System.Windows.Forms.Button();
-			this.txtCommand = new System.Windows.Forms.TextBox();
-			this.groupBox5 = new System.Windows.Forms.GroupBox();
-			this.groupBox9 = new System.Windows.Forms.GroupBox();
-			this.label56 = new System.Windows.Forms.Label();
-			this.label55 = new System.Windows.Forms.Label();
-			this.label54 = new System.Windows.Forms.Label();
-			this.label53 = new System.Windows.Forms.Label();
-			this.label52 = new System.Windows.Forms.Label();
-			this.label51 = new System.Windows.Forms.Label();
-			this.label50 = new System.Windows.Forms.Label();
-			this.label49 = new System.Windows.Forms.Label();
-			this.label47 = new System.Windows.Forms.Label();
-			this.groupBox8 = new System.Windows.Forms.GroupBox();
-			this.button8 = new System.Windows.Forms.Button();
-			this.checkBox1 = new System.Windows.Forms.CheckBox();
-			this.textBox3 = new System.Windows.Forms.TextBox();
-			this.textBox2 = new System.Windows.Forms.TextBox();
-			this.textBox1 = new System.Windows.Forms.TextBox();
-			this.label46 = new System.Windows.Forms.Label();
-			this.label45 = new System.Windows.Forms.Label();
-			this.label44 = new System.Windows.Forms.Label();
-			this.groupBox7 = new System.Windows.Forms.GroupBox();
-			this.button7 = new System.Windows.Forms.Button();
-			this.button6 = new System.Windows.Forms.Button();
-			this.button5 = new System.Windows.Forms.Button();
-			this.button4 = new System.Windows.Forms.Button();
-			this.groupBox6 = new System.Windows.Forms.GroupBox();
-			this.button3 = new System.Windows.Forms.Button();
-			this.button2 = new System.Windows.Forms.Button();
-			this.button1 = new System.Windows.Forms.Button();
-			this.groupBox10 = new System.Windows.Forms.GroupBox();
-			this.label48 = new System.Windows.Forms.Label();
-			this.textBox4 = new System.Windows.Forms.TextBox();
-			this.button10 = new System.Windows.Forms.Button();
-			this.button9 = new System.Windows.Forms.Button();
-			this.checkBox4 = new System.Windows.Forms.CheckBox();
-			this.checkBox3 = new System.Windows.Forms.CheckBox();
-			this.checkBox2 = new System.Windows.Forms.CheckBox();
-			this.groupBox1.SuspendLayout();
-			this.grpMotionTest.SuspendLayout();
-			this.grpMst.SuspendLayout();
-			this.grpPositions.SuspendLayout();
-			this.grpJog.SuspendLayout();
-			this.grpProfile.SuspendLayout();
-			this.grpPTP.SuspendLayout();
-			this.grpSafety.SuspendLayout();
-			this.groupBox2.SuspendLayout();
-			this.grpIO.SuspendLayout();
-			this.groupBox3.SuspendLayout();
-			this.groupBox4.SuspendLayout();
-			this.groupBox5.SuspendLayout();
-			this.groupBox9.SuspendLayout();
-			this.groupBox8.SuspendLayout();
-			this.groupBox7.SuspendLayout();
-			this.groupBox6.SuspendLayout();
-			this.groupBox10.SuspendLayout();
-			this.SuspendLayout();
-			// 
-			// groupBox1
-			// 
-			this.groupBox1.Controls.Add(this.txtPort);
-			this.groupBox1.Controls.Add(this.txtIP);
-			this.groupBox1.Controls.Add(this.btnClose);
-			this.groupBox1.Controls.Add(this.btnOpen);
-			this.groupBox1.Controls.Add(this.label2);
-			this.groupBox1.Controls.Add(this.label1);
-			this.groupBox1.Controls.Add(this.rdoTCP);
-			this.groupBox1.Controls.Add(this.rdoSimu);
-			this.groupBox1.Location = new System.Drawing.Point(12, 12);
-			this.groupBox1.Name = "groupBox1";
-			this.groupBox1.Size = new System.Drawing.Size(273, 94);
-			this.groupBox1.TabIndex = 0;
-			this.groupBox1.TabStop = false;
-			this.groupBox1.Text = "通讯设置";
-			// 
-			// txtPort
-			// 
-			this.txtPort.Location = new System.Drawing.Point(171, 40);
-			this.txtPort.Name = "txtPort";
-			this.txtPort.Size = new System.Drawing.Size(91, 21);
-			this.txtPort.TabIndex = 15;
-			this.txtPort.Text = "701";
-			// 
-			// txtIP
-			// 
-			this.txtIP.Location = new System.Drawing.Point(171, 17);
-			this.txtIP.Name = "txtIP";
-			this.txtIP.Size = new System.Drawing.Size(91, 21);
-			this.txtIP.TabIndex = 16;
-			this.txtIP.Text = "10.0.0.100";
-			// 
-			// btnClose
-			// 
-			this.btnClose.Location = new System.Drawing.Point(181, 65);
-			this.btnClose.Name = "btnClose";
-			this.btnClose.Size = new System.Drawing.Size(81, 23);
-			this.btnClose.TabIndex = 14;
-			this.btnClose.Text = "断开";
-			this.btnClose.UseVisualStyleBackColor = true;
-			this.btnClose.Click += new System.EventHandler(this.btnClose_Click);
-			// 
-			// btnOpen
-			// 
-			this.btnOpen.Location = new System.Drawing.Point(94, 65);
-			this.btnOpen.Name = "btnOpen";
-			this.btnOpen.Size = new System.Drawing.Size(81, 23);
-			this.btnOpen.TabIndex = 13;
-			this.btnOpen.Text = "连接";
-			this.btnOpen.UseVisualStyleBackColor = true;
-			this.btnOpen.Click += new System.EventHandler(this.btnOpen_Click);
-			// 
-			// label2
-			// 
-			this.label2.AutoSize = true;
-			this.label2.Location = new System.Drawing.Point(102, 44);
-			this.label2.Name = "label2";
-			this.label2.Size = new System.Drawing.Size(29, 12);
-			this.label2.TabIndex = 11;
-			this.label2.Text = "端口";
-			// 
-			// label1
-			// 
-			this.label1.AutoSize = true;
-			this.label1.Location = new System.Drawing.Point(102, 21);
-			this.label1.Name = "label1";
-			this.label1.Size = new System.Drawing.Size(71, 12);
-			this.label1.TabIndex = 12;
-			this.label1.Text = "目标设备 IP";
-			// 
-			// rdoTCP
-			// 
-			this.rdoTCP.AutoSize = true;
-			this.rdoTCP.Location = new System.Drawing.Point(6, 19);
-			this.rdoTCP.Name = "rdoTCP";
-			this.rdoTCP.Size = new System.Drawing.Size(41, 16);
-			this.rdoTCP.TabIndex = 10;
-			this.rdoTCP.TabStop = true;
-			this.rdoTCP.Text = "TCP";
-			this.rdoTCP.UseVisualStyleBackColor = true;
-			this.rdoTCP.CheckedChanged += new System.EventHandler(this.rdoTCP_CheckedChanged);
-			// 
-			// rdoSimu
-			// 
-			this.rdoSimu.AutoSize = true;
-			this.rdoSimu.Location = new System.Drawing.Point(6, 42);
-			this.rdoSimu.Name = "rdoSimu";
-			this.rdoSimu.Size = new System.Drawing.Size(59, 16);
-			this.rdoSimu.TabIndex = 9;
-			this.rdoSimu.TabStop = true;
-			this.rdoSimu.Text = "模拟器";
-			this.rdoSimu.UseVisualStyleBackColor = true;
-			this.rdoSimu.CheckedChanged += new System.EventHandler(this.rdoSimu_CheckedChanged);
-			// 
-			// tmrMonitor
-			// 
-			this.tmrMonitor.Interval = 50;
-			this.tmrMonitor.Tick += new System.EventHandler(this.tmrMonitor_Tick);
-			// 
-			// grpMotionTest
-			// 
-			this.grpMotionTest.Controls.Add(this.btnHallAll);
-			this.grpMotionTest.Controls.Add(this.btnHalt);
-			this.grpMotionTest.Controls.Add(this.grpMst);
-			this.grpMotionTest.Controls.Add(this.grpPositions);
-			this.grpMotionTest.Controls.Add(this.btnDisableAll);
-			this.grpMotionTest.Controls.Add(this.btnDisable);
-			this.grpMotionTest.Controls.Add(this.cboAxisNo);
-			this.grpMotionTest.Controls.Add(this.btnEnable);
-			this.grpMotionTest.Controls.Add(this.grpJog);
-			this.grpMotionTest.Controls.Add(this.grpProfile);
-			this.grpMotionTest.Controls.Add(this.grpPTP);
-			this.grpMotionTest.Controls.Add(this.label9);
-			this.grpMotionTest.Location = new System.Drawing.Point(12, 112);
-			this.grpMotionTest.Name = "grpMotionTest";
-			this.grpMotionTest.Size = new System.Drawing.Size(570, 375);
-			this.grpMotionTest.TabIndex = 1;
-			this.grpMotionTest.TabStop = false;
-			this.grpMotionTest.Text = "运动测试";
-			// 
-			// btnHallAll
-			// 
-			this.btnHallAll.Location = new System.Drawing.Point(439, 257);
-			this.btnHallAll.Name = "btnHallAll";
-			this.btnHallAll.Size = new System.Drawing.Size(120, 47);
-			this.btnHallAll.TabIndex = 10;
-			this.btnHallAll.Text = "停止全部";
-			this.btnHallAll.UseVisualStyleBackColor = true;
-			this.btnHallAll.Click += new System.EventHandler(this.btnHallAll_Click);
-			// 
-			// btnHalt
-			// 
-			this.btnHalt.Location = new System.Drawing.Point(439, 206);
-			this.btnHalt.Name = "btnHalt";
-			this.btnHalt.Size = new System.Drawing.Size(120, 47);
-			this.btnHalt.TabIndex = 10;
-			this.btnHalt.Text = "停止";
-			this.btnHalt.UseVisualStyleBackColor = true;
-			this.btnHalt.Click += new System.EventHandler(this.btnHalt_Click);
-			// 
-			// grpMst
-			// 
-			this.grpMst.Controls.Add(this.label16);
-			this.grpMst.Controls.Add(this.label15);
-			this.grpMst.Controls.Add(this.label14);
-			this.grpMst.Controls.Add(this.lblEnable);
-			this.grpMst.Controls.Add(this.lblInPos);
-			this.grpMst.Controls.Add(this.lblAcc);
-			this.grpMst.Controls.Add(this.lblMoving);
-			this.grpMst.Controls.Add(this.label13);
-			this.grpMst.Location = new System.Drawing.Point(279, 198);
-			this.grpMst.Name = "grpMst";
-			this.grpMst.Size = new System.Drawing.Size(154, 107);
-			this.grpMst.TabIndex = 9;
-			this.grpMst.TabStop = false;
-			this.grpMst.Text = "电机状态 (MST)";
-			// 
-			// label16
-			// 
-			this.label16.AutoSize = true;
-			this.label16.Location = new System.Drawing.Point(9, 82);
-			this.label16.Name = "label16";
-			this.label16.Size = new System.Drawing.Size(29, 12);
-			this.label16.TabIndex = 5;
-			this.label16.Text = "使能";
-			// 
-			// label15
-			// 
-			this.label15.AutoSize = true;
-			this.label15.Location = new System.Drawing.Point(9, 61);
-			this.label15.Name = "label15";
-			this.label15.Size = new System.Drawing.Size(29, 12);
-			this.label15.TabIndex = 5;
-			this.label15.Text = "就位";
-			// 
-			// label14
-			// 
-			this.label14.AutoSize = true;
-			this.label14.Location = new System.Drawing.Point(9, 40);
-			this.label14.Name = "label14";
-			this.label14.Size = new System.Drawing.Size(41, 12);
-			this.label14.TabIndex = 5;
-			this.label14.Text = "加速中";
-			// 
-			// lblEnable
-			// 
-			this.lblEnable.Image = ((System.Drawing.Image)(resources.GetObject("lblEnable.Image")));
-			this.lblEnable.Location = new System.Drawing.Point(120, 80);
-			this.lblEnable.Name = "lblEnable";
-			this.lblEnable.Size = new System.Drawing.Size(19, 17);
-			this.lblEnable.TabIndex = 5;
-			// 
-			// lblInPos
-			// 
-			this.lblInPos.Image = ((System.Drawing.Image)(resources.GetObject("lblInPos.Image")));
-			this.lblInPos.Location = new System.Drawing.Point(120, 59);
-			this.lblInPos.Name = "lblInPos";
-			this.lblInPos.Size = new System.Drawing.Size(19, 17);
-			this.lblInPos.TabIndex = 5;
-			// 
-			// lblAcc
-			// 
-			this.lblAcc.Image = ((System.Drawing.Image)(resources.GetObject("lblAcc.Image")));
-			this.lblAcc.Location = new System.Drawing.Point(120, 38);
-			this.lblAcc.Name = "lblAcc";
-			this.lblAcc.Size = new System.Drawing.Size(19, 17);
-			this.lblAcc.TabIndex = 5;
-			// 
-			// lblMoving
-			// 
-			this.lblMoving.Image = ((System.Drawing.Image)(resources.GetObject("lblMoving.Image")));
-			this.lblMoving.Location = new System.Drawing.Point(120, 17);
-			this.lblMoving.Name = "lblMoving";
-			this.lblMoving.Size = new System.Drawing.Size(19, 17);
-			this.lblMoving.TabIndex = 5;
-			// 
-			// label13
-			// 
-			this.label13.AutoSize = true;
-			this.label13.Location = new System.Drawing.Point(9, 19);
-			this.label13.Name = "label13";
-			this.label13.Size = new System.Drawing.Size(41, 12);
-			this.label13.TabIndex = 5;
-			this.label13.Text = "运动中";
-			// 
-			// grpPositions
-			// 
-			this.grpPositions.Controls.Add(this.btnSetZero);
-			this.grpPositions.Controls.Add(this.txtFVEL);
-			this.grpPositions.Controls.Add(this.txtPE);
-			this.grpPositions.Controls.Add(this.txtFPOS);
-			this.grpPositions.Controls.Add(this.label43);
-			this.grpPositions.Controls.Add(this.txtRPOS);
-			this.grpPositions.Controls.Add(this.label12);
-			this.grpPositions.Controls.Add(this.label11);
-			this.grpPositions.Controls.Add(this.label10);
-			this.grpPositions.Location = new System.Drawing.Point(279, 51);
-			this.grpPositions.Name = "grpPositions";
-			this.grpPositions.Size = new System.Drawing.Size(280, 141);
-			this.grpPositions.TabIndex = 8;
-			this.grpPositions.TabStop = false;
-			this.grpPositions.Text = "位置";
-			// 
-			// btnSetZero
-			// 
-			this.btnSetZero.Location = new System.Drawing.Point(88, 111);
-			this.btnSetZero.Name = "btnSetZero";
-			this.btnSetZero.Size = new System.Drawing.Size(186, 23);
-			this.btnSetZero.TabIndex = 7;
-			this.btnSetZero.Text = "设置零位";
-			this.btnSetZero.UseVisualStyleBackColor = true;
-			this.btnSetZero.Click += new System.EventHandler(this.btnSetZero_Click);
-			// 
-			// txtFVEL
-			// 
-			this.txtFVEL.Location = new System.Drawing.Point(165, 64);
-			this.txtFVEL.Name = "txtFVEL";
-			this.txtFVEL.ReadOnly = true;
-			this.txtFVEL.Size = new System.Drawing.Size(107, 21);
-			this.txtFVEL.TabIndex = 6;
-			this.txtFVEL.Text = "0.000";
-			this.txtFVEL.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			// 
-			// txtPE
-			// 
-			this.txtPE.Location = new System.Drawing.Point(165, 86);
-			this.txtPE.Name = "txtPE";
-			this.txtPE.ReadOnly = true;
-			this.txtPE.Size = new System.Drawing.Size(107, 21);
-			this.txtPE.TabIndex = 6;
-			this.txtPE.Text = "0.000";
-			this.txtPE.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			// 
-			// txtFPOS
-			// 
-			this.txtFPOS.Location = new System.Drawing.Point(165, 42);
-			this.txtFPOS.Name = "txtFPOS";
-			this.txtFPOS.ReadOnly = true;
-			this.txtFPOS.Size = new System.Drawing.Size(107, 21);
-			this.txtFPOS.TabIndex = 6;
-			this.txtFPOS.Text = "0.000";
-			this.txtFPOS.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			// 
-			// label43
-			// 
-			this.label43.AutoSize = true;
-			this.label43.Location = new System.Drawing.Point(6, 68);
-			this.label43.Name = "label43";
-			this.label43.Size = new System.Drawing.Size(95, 12);
-			this.label43.TabIndex = 5;
-			this.label43.Text = "实际速度 (FVEL)";
-			// 
-			// txtRPOS
-			// 
-			this.txtRPOS.Location = new System.Drawing.Point(165, 19);
-			this.txtRPOS.Name = "txtRPOS";
-			this.txtRPOS.ReadOnly = true;
-			this.txtRPOS.Size = new System.Drawing.Size(107, 21);
-			this.txtRPOS.TabIndex = 6;
-			this.txtRPOS.Text = "0.000";
-			this.txtRPOS.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			// 
-			// label12
-			// 
-			this.label12.AutoSize = true;
-			this.label12.Location = new System.Drawing.Point(6, 90);
-			this.label12.Name = "label12";
-			this.label12.Size = new System.Drawing.Size(83, 12);
-			this.label12.TabIndex = 5;
-			this.label12.Text = "位置误差 (PE)";
-			// 
-			// label11
-			// 
-			this.label11.AutoSize = true;
-			this.label11.Location = new System.Drawing.Point(6, 46);
-			this.label11.Name = "label11";
-			this.label11.Size = new System.Drawing.Size(95, 12);
-			this.label11.TabIndex = 5;
-			this.label11.Text = "反馈位置 (FPOS)";
-			// 
-			// label10
-			// 
-			this.label10.AutoSize = true;
-			this.label10.Location = new System.Drawing.Point(6, 23);
-			this.label10.Name = "label10";
-			this.label10.Size = new System.Drawing.Size(95, 12);
-			this.label10.TabIndex = 5;
-			this.label10.Text = "参考位置 (RPOS)";
-			// 
-			// btnDisableAll
-			// 
-			this.btnDisableAll.Location = new System.Drawing.Point(484, 19);
-			this.btnDisableAll.Name = "btnDisableAll";
-			this.btnDisableAll.Size = new System.Drawing.Size(75, 23);
-			this.btnDisableAll.TabIndex = 7;
-			this.btnDisableAll.Text = "取消全部";
-			this.btnDisableAll.UseVisualStyleBackColor = true;
-			this.btnDisableAll.Click += new System.EventHandler(this.btnDisableAll_Click);
-			// 
-			// btnDisable
-			// 
-			this.btnDisable.Location = new System.Drawing.Point(403, 19);
-			this.btnDisable.Name = "btnDisable";
-			this.btnDisable.Size = new System.Drawing.Size(75, 23);
-			this.btnDisable.TabIndex = 7;
-			this.btnDisable.Text = "单轴取消";
-			this.btnDisable.UseVisualStyleBackColor = true;
-			this.btnDisable.Click += new System.EventHandler(this.btnDisable_Click);
-			// 
-			// cboAxisNo
-			// 
-			this.cboAxisNo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
-			this.cboAxisNo.FormattingEnabled = true;
-			this.cboAxisNo.Location = new System.Drawing.Point(115, 20);
-			this.cboAxisNo.Name = "cboAxisNo";
-			this.cboAxisNo.Size = new System.Drawing.Size(60, 20);
-			this.cboAxisNo.TabIndex = 0;
-			this.cboAxisNo.SelectedIndexChanged += new System.EventHandler(this.cboAxisNo_SelectedIndexChanged);
-			// 
-			// btnEnable
-			// 
-			this.btnEnable.Location = new System.Drawing.Point(322, 18);
-			this.btnEnable.Name = "btnEnable";
-			this.btnEnable.Size = new System.Drawing.Size(75, 23);
-			this.btnEnable.TabIndex = 7;
-			this.btnEnable.Text = "单轴使能";
-			this.btnEnable.UseVisualStyleBackColor = true;
-			this.btnEnable.Click += new System.EventHandler(this.btnEnable_Click);
-			// 
-			// grpJog
-			// 
-			this.grpJog.Controls.Add(this.btnJogPos);
-			this.grpJog.Controls.Add(this.btnJogNeg);
-			this.grpJog.Controls.Add(this.txtJogVel);
-			this.grpJog.Controls.Add(this.chkUseVel);
-			this.grpJog.Location = new System.Drawing.Point(8, 311);
-			this.grpJog.Name = "grpJog";
-			this.grpJog.Size = new System.Drawing.Size(425, 53);
-			this.grpJog.TabIndex = 0;
-			this.grpJog.TabStop = false;
-			this.grpJog.Text = "Jog";
-			// 
-			// btnJogPos
-			// 
-			this.btnJogPos.Location = new System.Drawing.Point(316, 17);
-			this.btnJogPos.Name = "btnJogPos";
-			this.btnJogPos.Size = new System.Drawing.Size(94, 23);
-			this.btnJogPos.TabIndex = 8;
-			this.btnJogPos.Text = "正向 >>";
-			this.btnJogPos.UseVisualStyleBackColor = true;
-			this.btnJogPos.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnJogPos_MouseDown);
-			this.btnJogPos.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnJog_MouseUp);
-			// 
-			// btnJogNeg
-			// 
-			this.btnJogNeg.Location = new System.Drawing.Point(214, 17);
-			this.btnJogNeg.Name = "btnJogNeg";
-			this.btnJogNeg.Size = new System.Drawing.Size(94, 23);
-			this.btnJogNeg.TabIndex = 8;
-			this.btnJogNeg.Text = "<< 负向";
-			this.btnJogNeg.UseVisualStyleBackColor = true;
-			this.btnJogNeg.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnJogNeg_MouseDown);
-			this.btnJogNeg.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnJog_MouseUp);
-			// 
-			// txtJogVel
-			// 
-			this.txtJogVel.Location = new System.Drawing.Point(114, 19);
-			this.txtJogVel.Name = "txtJogVel";
-			this.txtJogVel.Size = new System.Drawing.Size(94, 21);
-			this.txtJogVel.TabIndex = 1;
-			this.txtJogVel.Text = "0";
-			this.txtJogVel.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			// 
-			// chkUseVel
-			// 
-			this.chkUseVel.AutoSize = true;
-			this.chkUseVel.Location = new System.Drawing.Point(13, 21);
-			this.chkUseVel.Name = "chkUseVel";
-			this.chkUseVel.Size = new System.Drawing.Size(72, 16);
-			this.chkUseVel.TabIndex = 0;
-			this.chkUseVel.Text = "使用速度";
-			this.chkUseVel.UseVisualStyleBackColor = true;
-			// 
-			// grpProfile
-			// 
-			this.grpProfile.Controls.Add(this.txtJerk);
-			this.grpProfile.Controls.Add(this.txtKdec);
-			this.grpProfile.Controls.Add(this.txtDec);
-			this.grpProfile.Controls.Add(this.txtAcc);
-			this.grpProfile.Controls.Add(this.txtVel);
-			this.grpProfile.Controls.Add(this.label7);
-			this.grpProfile.Controls.Add(this.label6);
-			this.grpProfile.Controls.Add(this.label5);
-			this.grpProfile.Controls.Add(this.label4);
-			this.grpProfile.Controls.Add(this.label3);
-			this.grpProfile.Location = new System.Drawing.Point(8, 51);
-			this.grpProfile.Name = "grpProfile";
-			this.grpProfile.Size = new System.Drawing.Size(265, 141);
-			this.grpProfile.TabIndex = 0;
-			this.grpProfile.TabStop = false;
-			this.grpProfile.Text = "运动配置";
-			// 
-			// txtJerk
-			// 
-			this.txtJerk.Location = new System.Drawing.Point(153, 111);
-			this.txtJerk.Name = "txtJerk";
-			this.txtJerk.Size = new System.Drawing.Size(101, 21);
-			this.txtJerk.TabIndex = 4;
-			this.txtJerk.Text = "0";
-			this.txtJerk.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			this.txtJerk.Enter += new System.EventHandler(this.TextBoxes_Enter);
-			this.txtJerk.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.TextBoxes_KeyPress);
-			this.txtJerk.Leave += new System.EventHandler(this.TextBoxes_Leave);
-			// 
-			// txtKdec
-			// 
-			this.txtKdec.Location = new System.Drawing.Point(153, 88);
-			this.txtKdec.Name = "txtKdec";
-			this.txtKdec.Size = new System.Drawing.Size(101, 21);
-			this.txtKdec.TabIndex = 3;
-			this.txtKdec.Text = "0";
-			this.txtKdec.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			this.txtKdec.Enter += new System.EventHandler(this.TextBoxes_Enter);
-			this.txtKdec.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.TextBoxes_KeyPress);
-			this.txtKdec.Leave += new System.EventHandler(this.TextBoxes_Leave);
-			// 
-			// txtDec
-			// 
-			this.txtDec.Location = new System.Drawing.Point(153, 65);
-			this.txtDec.Name = "txtDec";
-			this.txtDec.Size = new System.Drawing.Size(101, 21);
-			this.txtDec.TabIndex = 2;
-			this.txtDec.Text = "0";
-			this.txtDec.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			this.txtDec.Enter += new System.EventHandler(this.TextBoxes_Enter);
-			this.txtDec.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.TextBoxes_KeyPress);
-			this.txtDec.Leave += new System.EventHandler(this.TextBoxes_Leave);
-			// 
-			// txtAcc
-			// 
-			this.txtAcc.Location = new System.Drawing.Point(153, 42);
-			this.txtAcc.Name = "txtAcc";
-			this.txtAcc.Size = new System.Drawing.Size(101, 21);
-			this.txtAcc.TabIndex = 1;
-			this.txtAcc.Text = "0";
-			this.txtAcc.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			this.txtAcc.Enter += new System.EventHandler(this.TextBoxes_Enter);
-			this.txtAcc.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.TextBoxes_KeyPress);
-			this.txtAcc.Leave += new System.EventHandler(this.TextBoxes_Leave);
-			// 
-			// txtVel
-			// 
-			this.txtVel.Location = new System.Drawing.Point(153, 19);
-			this.txtVel.Name = "txtVel";
-			this.txtVel.Size = new System.Drawing.Size(101, 21);
-			this.txtVel.TabIndex = 0;
-			this.txtVel.Text = "0";
-			this.txtVel.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			this.txtVel.Enter += new System.EventHandler(this.TextBoxes_Enter);
-			this.txtVel.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.TextBoxes_KeyPress);
-			this.txtVel.Leave += new System.EventHandler(this.TextBoxes_Leave);
-			// 
-			// label7
-			// 
-			this.label7.AutoSize = true;
-			this.label7.Location = new System.Drawing.Point(6, 115);
-			this.label7.Name = "label7";
-			this.label7.Size = new System.Drawing.Size(71, 12);
-			this.label7.TabIndex = 5;
-			this.label7.Text = "抖动 (JERK)";
-			// 
-			// label6
-			// 
-			this.label6.AutoSize = true;
-			this.label6.Location = new System.Drawing.Point(6, 92);
-			this.label6.Name = "label6";
-			this.label6.Size = new System.Drawing.Size(95, 12);
-			this.label6.TabIndex = 5;
-			this.label6.Text = "杀死减速 (KDEC)";
-			// 
-			// label5
-			// 
-			this.label5.AutoSize = true;
-			this.label5.Location = new System.Drawing.Point(6, 69);
-			this.label5.Name = "label5";
-			this.label5.Size = new System.Drawing.Size(65, 12);
-			this.label5.TabIndex = 5;
-			this.label5.Text = "减速 (DEC)";
-			// 
-			// label4
-			// 
-			this.label4.AutoSize = true;
-			this.label4.Location = new System.Drawing.Point(6, 46);
-			this.label4.Name = "label4";
-			this.label4.Size = new System.Drawing.Size(77, 12);
-			this.label4.TabIndex = 5;
-			this.label4.Text = "加速度 (ACC)";
-			// 
-			// label3
-			// 
-			this.label3.AutoSize = true;
-			this.label3.Location = new System.Drawing.Point(6, 23);
-			this.label3.Name = "label3";
-			this.label3.Size = new System.Drawing.Size(65, 12);
-			this.label3.TabIndex = 5;
-			this.label3.Text = "速度 (VEL)";
-			// 
-			// grpPTP
-			// 
-			this.grpPTP.Controls.Add(this.btnPTP_R_Pos);
-			this.grpPTP.Controls.Add(this.btnPTP_R_Neg);
-			this.grpPTP.Controls.Add(this.btnPTP);
-			this.grpPTP.Controls.Add(this.txtPTP_Pos);
-			this.grpPTP.Controls.Add(this.label8);
-			this.grpPTP.Location = new System.Drawing.Point(8, 198);
-			this.grpPTP.Name = "grpPTP";
-			this.grpPTP.Size = new System.Drawing.Size(265, 107);
-			this.grpPTP.TabIndex = 0;
-			this.grpPTP.TabStop = false;
-			this.grpPTP.Text = "点到点 (PTP)";
-			// 
-			// btnPTP_R_Pos
-			// 
-			this.btnPTP_R_Pos.Location = new System.Drawing.Point(135, 76);
-			this.btnPTP_R_Pos.Name = "btnPTP_R_Pos";
-			this.btnPTP_R_Pos.Size = new System.Drawing.Size(119, 23);
-			this.btnPTP_R_Pos.TabIndex = 7;
-			this.btnPTP_R_Pos.Text = "相对位置 (+)";
-			this.btnPTP_R_Pos.UseVisualStyleBackColor = true;
-			this.btnPTP_R_Pos.Click += new System.EventHandler(this.btnPTP_R_Pos_Click);
-			// 
-			// btnPTP_R_Neg
-			// 
-			this.btnPTP_R_Neg.Location = new System.Drawing.Point(8, 76);
-			this.btnPTP_R_Neg.Name = "btnPTP_R_Neg";
-			this.btnPTP_R_Neg.Size = new System.Drawing.Size(119, 23);
-			this.btnPTP_R_Neg.TabIndex = 7;
-			this.btnPTP_R_Neg.Text = "相对位置 (-)";
-			this.btnPTP_R_Neg.UseVisualStyleBackColor = true;
-			this.btnPTP_R_Neg.Click += new System.EventHandler(this.btnPTP_R_Neg_Click);
-			// 
-			// btnPTP
-			// 
-			this.btnPTP.Location = new System.Drawing.Point(8, 47);
-			this.btnPTP.Name = "btnPTP";
-			this.btnPTP.Size = new System.Drawing.Size(246, 23);
-			this.btnPTP.TabIndex = 7;
-			this.btnPTP.Text = "移动到绝对位置";
-			this.btnPTP.UseVisualStyleBackColor = true;
-			this.btnPTP.Click += new System.EventHandler(this.btnPTP_Click);
-			// 
-			// txtPTP_Pos
-			// 
-			this.txtPTP_Pos.Location = new System.Drawing.Point(153, 21);
-			this.txtPTP_Pos.Name = "txtPTP_Pos";
-			this.txtPTP_Pos.Size = new System.Drawing.Size(101, 21);
-			this.txtPTP_Pos.TabIndex = 6;
-			this.txtPTP_Pos.Text = "0";
-			this.txtPTP_Pos.TextAlign = System.Windows.Forms.HorizontalAlignment.Right;
-			// 
-			// label8
-			// 
-			this.label8.AutoSize = true;
-			this.label8.Location = new System.Drawing.Point(8, 24);
-			this.label8.Name = "label8";
-			this.label8.Size = new System.Drawing.Size(65, 12);
-			this.label8.TabIndex = 5;
-			this.label8.Text = "位置 &&距离";
-			// 
-			// label9
-			// 
-			this.label9.AutoSize = true;
-			this.label9.Location = new System.Drawing.Point(13, 24);
-			this.label9.Name = "label9";
-			this.label9.Size = new System.Drawing.Size(29, 12);
-			this.label9.TabIndex = 5;
-			this.label9.Text = "轴号";
-			// 
-			// grpSafety
-			// 
-			this.grpSafety.Controls.Add(this.lblEMG);
-			this.grpSafety.Controls.Add(this.lblRL7);
-			this.grpSafety.Controls.Add(this.lblRL3);
-			this.grpSafety.Controls.Add(this.lblLL7);
-			this.grpSafety.Controls.Add(this.lblLL3);
-			this.grpSafety.Controls.Add(this.lblRL6);
-			this.grpSafety.Controls.Add(this.lblRL2);
-			this.grpSafety.Controls.Add(this.lblLL6);
-			this.grpSafety.Controls.Add(this.lblRL5);
-			this.grpSafety.Controls.Add(this.lblLL2);
-			this.grpSafety.Controls.Add(this.lblLL5);
-			this.grpSafety.Controls.Add(this.lblRL1);
-			this.grpSafety.Controls.Add(this.lblRL4);
-			this.grpSafety.Controls.Add(this.lblLL1);
-			this.grpSafety.Controls.Add(this.lblLL4);
-			this.grpSafety.Controls.Add(this.lblRL0);
-			this.grpSafety.Controls.Add(this.lblLL0);
-			this.grpSafety.Controls.Add(this.label18);
-			this.grpSafety.Controls.Add(this.label36);
-			this.grpSafety.Controls.Add(this.label27);
-			this.grpSafety.Controls.Add(this.label35);
-			this.grpSafety.Controls.Add(this.label26);
-			this.grpSafety.Controls.Add(this.label34);
-			this.grpSafety.Controls.Add(this.label25);
-			this.grpSafety.Controls.Add(this.label33);
-			this.grpSafety.Controls.Add(this.label24);
-			this.grpSafety.Controls.Add(this.label20);
-			this.grpSafety.Controls.Add(this.label19);
-			this.grpSafety.Controls.Add(this.label17);
-			this.grpSafety.Location = new System.Drawing.Point(291, 12);
-			this.grpSafety.Name = "grpSafety";
-			this.grpSafety.Size = new System.Drawing.Size(292, 94);
-			this.grpSafety.TabIndex = 2;
-			this.grpSafety.TabStop = false;
-			this.grpSafety.Text = "安全限位";
-			// 
-			// lblEMG
-			// 
-			this.lblEMG.Image = ((System.Drawing.Image)(resources.GetObject("lblEMG.Image")));
-			this.lblEMG.Location = new System.Drawing.Point(260, 46);
-			this.lblEMG.Name = "lblEMG";
-			this.lblEMG.Size = new System.Drawing.Size(19, 17);
-			this.lblEMG.TabIndex = 5;
-			// 
-			// lblRL7
-			// 
-			this.lblRL7.Image = ((System.Drawing.Image)(resources.GetObject("lblRL7.Image")));
-			this.lblRL7.Location = new System.Drawing.Point(230, 67);
-			this.lblRL7.Name = "lblRL7";
-			this.lblRL7.Size = new System.Drawing.Size(19, 17);
-			this.lblRL7.TabIndex = 5;
-			this.lblRL7.Tag = "17";
-			// 
-			// lblRL3
-			// 
-			this.lblRL3.Image = ((System.Drawing.Image)(resources.GetObject("lblRL3.Image")));
-			this.lblRL3.Location = new System.Drawing.Point(142, 67);
-			this.lblRL3.Name = "lblRL3";
-			this.lblRL3.Size = new System.Drawing.Size(19, 17);
-			this.lblRL3.TabIndex = 5;
-			this.lblRL3.Tag = "13";
-			// 
-			// lblLL7
-			// 
-			this.lblLL7.Image = ((System.Drawing.Image)(resources.GetObject("lblLL7.Image")));
-			this.lblLL7.Location = new System.Drawing.Point(230, 46);
-			this.lblLL7.Name = "lblLL7";
-			this.lblLL7.Size = new System.Drawing.Size(19, 17);
-			this.lblLL7.TabIndex = 5;
-			this.lblLL7.Tag = "7";
-			// 
-			// lblLL3
-			// 
-			this.lblLL3.Image = ((System.Drawing.Image)(resources.GetObject("lblLL3.Image")));
-			this.lblLL3.Location = new System.Drawing.Point(142, 46);
-			this.lblLL3.Name = "lblLL3";
-			this.lblLL3.Size = new System.Drawing.Size(19, 17);
-			this.lblLL3.TabIndex = 5;
-			this.lblLL3.Tag = "3";
-			// 
-			// lblRL6
-			// 
-			this.lblRL6.Image = ((System.Drawing.Image)(resources.GetObject("lblRL6.Image")));
-			this.lblRL6.Location = new System.Drawing.Point(208, 67);
-			this.lblRL6.Name = "lblRL6";
-			this.lblRL6.Size = new System.Drawing.Size(19, 17);
-			this.lblRL6.TabIndex = 5;
-			this.lblRL6.Tag = "16";
-			// 
-			// lblRL2
-			// 
-			this.lblRL2.Image = ((System.Drawing.Image)(resources.GetObject("lblRL2.Image")));
-			this.lblRL2.Location = new System.Drawing.Point(120, 67);
-			this.lblRL2.Name = "lblRL2";
-			this.lblRL2.Size = new System.Drawing.Size(19, 17);
-			this.lblRL2.TabIndex = 5;
-			this.lblRL2.Tag = "12";
-			// 
-			// lblLL6
-			// 
-			this.lblLL6.Image = ((System.Drawing.Image)(resources.GetObject("lblLL6.Image")));
-			this.lblLL6.Location = new System.Drawing.Point(208, 46);
-			this.lblLL6.Name = "lblLL6";
-			this.lblLL6.Size = new System.Drawing.Size(19, 17);
-			this.lblLL6.TabIndex = 5;
-			this.lblLL6.Tag = "6";
-			// 
-			// lblRL5
-			// 
-			this.lblRL5.Image = ((System.Drawing.Image)(resources.GetObject("lblRL5.Image")));
-			this.lblRL5.Location = new System.Drawing.Point(186, 67);
-			this.lblRL5.Name = "lblRL5";
-			this.lblRL5.Size = new System.Drawing.Size(19, 17);
-			this.lblRL5.TabIndex = 5;
-			this.lblRL5.Tag = "15";
-			// 
-			// lblLL2
-			// 
-			this.lblLL2.Image = ((System.Drawing.Image)(resources.GetObject("lblLL2.Image")));
-			this.lblLL2.Location = new System.Drawing.Point(120, 46);
-			this.lblLL2.Name = "lblLL2";
-			this.lblLL2.Size = new System.Drawing.Size(19, 17);
-			this.lblLL2.TabIndex = 5;
-			this.lblLL2.Tag = "2";
-			// 
-			// lblLL5
-			// 
-			this.lblLL5.Image = ((System.Drawing.Image)(resources.GetObject("lblLL5.Image")));
-			this.lblLL5.Location = new System.Drawing.Point(186, 46);
-			this.lblLL5.Name = "lblLL5";
-			this.lblLL5.Size = new System.Drawing.Size(19, 17);
-			this.lblLL5.TabIndex = 5;
-			this.lblLL5.Tag = "5";
-			// 
-			// lblRL1
-			// 
-			this.lblRL1.Image = ((System.Drawing.Image)(resources.GetObject("lblRL1.Image")));
-			this.lblRL1.Location = new System.Drawing.Point(98, 67);
-			this.lblRL1.Name = "lblRL1";
-			this.lblRL1.Size = new System.Drawing.Size(19, 17);
-			this.lblRL1.TabIndex = 5;
-			this.lblRL1.Tag = "11";
-			// 
-			// lblRL4
-			// 
-			this.lblRL4.Image = ((System.Drawing.Image)(resources.GetObject("lblRL4.Image")));
-			this.lblRL4.Location = new System.Drawing.Point(164, 67);
-			this.lblRL4.Name = "lblRL4";
-			this.lblRL4.Size = new System.Drawing.Size(19, 17);
-			this.lblRL4.TabIndex = 5;
-			this.lblRL4.Tag = "14";
-			// 
-			// lblLL1
-			// 
-			this.lblLL1.Image = ((System.Drawing.Image)(resources.GetObject("lblLL1.Image")));
-			this.lblLL1.Location = new System.Drawing.Point(98, 46);
-			this.lblLL1.Name = "lblLL1";
-			this.lblLL1.Size = new System.Drawing.Size(19, 17);
-			this.lblLL1.TabIndex = 5;
-			this.lblLL1.Tag = "1";
-			// 
-			// lblLL4
-			// 
-			this.lblLL4.Image = ((System.Drawing.Image)(resources.GetObject("lblLL4.Image")));
-			this.lblLL4.Location = new System.Drawing.Point(164, 46);
-			this.lblLL4.Name = "lblLL4";
-			this.lblLL4.Size = new System.Drawing.Size(19, 17);
-			this.lblLL4.TabIndex = 5;
-			this.lblLL4.Tag = "4";
-			// 
-			// lblRL0
-			// 
-			this.lblRL0.Image = ((System.Drawing.Image)(resources.GetObject("lblRL0.Image")));
-			this.lblRL0.Location = new System.Drawing.Point(76, 67);
-			this.lblRL0.Name = "lblRL0";
-			this.lblRL0.Size = new System.Drawing.Size(19, 17);
-			this.lblRL0.TabIndex = 5;
-			this.lblRL0.Tag = "10";
-			// 
-			// lblLL0
-			// 
-			this.lblLL0.Image = ((System.Drawing.Image)(resources.GetObject("lblLL0.Image")));
-			this.lblLL0.Location = new System.Drawing.Point(76, 46);
-			this.lblLL0.Name = "lblLL0";
-			this.lblLL0.Size = new System.Drawing.Size(19, 17);
-			this.lblLL0.TabIndex = 5;
-			this.lblLL0.Tag = "0";
-			// 
-			// label18
-			// 
-			this.label18.AutoSize = true;
-			this.label18.Location = new System.Drawing.Point(7, 72);
-			this.label18.Name = "label18";
-			this.label18.Size = new System.Drawing.Size(41, 12);
-			this.label18.TabIndex = 5;
-			this.label18.Text = "右限位";
-			// 
-			// label36
-			// 
-			this.label36.AutoSize = true;
-			this.label36.Location = new System.Drawing.Point(234, 24);
-			this.label36.Name = "label36";
-			this.label36.Size = new System.Drawing.Size(11, 12);
-			this.label36.TabIndex = 5;
-			this.label36.Text = "7";
-			// 
-			// label27
-			// 
-			this.label27.Location = new System.Drawing.Point(248, 15);
-			this.label27.Name = "label27";
-			this.label27.Size = new System.Drawing.Size(43, 26);
-			this.label27.TabIndex = 5;
-			this.label27.Text = "急停";
-			this.label27.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-			// 
-			// label35
-			// 
-			this.label35.AutoSize = true;
-			this.label35.Location = new System.Drawing.Point(212, 24);
-			this.label35.Name = "label35";
-			this.label35.Size = new System.Drawing.Size(11, 12);
-			this.label35.TabIndex = 5;
-			this.label35.Text = "6";
-			// 
-			// label26
-			// 
-			this.label26.AutoSize = true;
-			this.label26.Location = new System.Drawing.Point(146, 24);
-			this.label26.Name = "label26";
-			this.label26.Size = new System.Drawing.Size(11, 12);
-			this.label26.TabIndex = 5;
-			this.label26.Text = "3";
-			// 
-			// label34
-			// 
-			this.label34.AutoSize = true;
-			this.label34.Location = new System.Drawing.Point(190, 24);
-			this.label34.Name = "label34";
-			this.label34.Size = new System.Drawing.Size(11, 12);
-			this.label34.TabIndex = 5;
-			this.label34.Text = "5";
-			// 
-			// label25
-			// 
-			this.label25.AutoSize = true;
-			this.label25.Location = new System.Drawing.Point(124, 24);
-			this.label25.Name = "label25";
-			this.label25.Size = new System.Drawing.Size(11, 12);
-			this.label25.TabIndex = 5;
-			this.label25.Text = "2";
-			// 
-			// label33
-			// 
-			this.label33.AutoSize = true;
-			this.label33.Location = new System.Drawing.Point(168, 24);
-			this.label33.Name = "label33";
-			this.label33.Size = new System.Drawing.Size(11, 12);
-			this.label33.TabIndex = 5;
-			this.label33.Text = "4";
-			// 
-			// label24
-			// 
-			this.label24.AutoSize = true;
-			this.label24.Location = new System.Drawing.Point(102, 24);
-			this.label24.Name = "label24";
-			this.label24.Size = new System.Drawing.Size(11, 12);
-			this.label24.TabIndex = 5;
-			this.label24.Text = "1";
-			// 
-			// label20
-			// 
-			this.label20.AutoSize = true;
-			this.label20.Location = new System.Drawing.Point(80, 24);
-			this.label20.Name = "label20";
-			this.label20.Size = new System.Drawing.Size(11, 12);
-			this.label20.TabIndex = 5;
-			this.label20.Text = "0";
-			// 
-			// label19
-			// 
-			this.label19.AutoSize = true;
-			this.label19.Location = new System.Drawing.Point(6, 24);
-			this.label19.Name = "label19";
-			this.label19.Size = new System.Drawing.Size(29, 12);
-			this.label19.TabIndex = 5;
-			this.label19.Text = "轴号";
-			// 
-			// label17
-			// 
-			this.label17.AutoSize = true;
-			this.label17.Location = new System.Drawing.Point(7, 48);
-			this.label17.Name = "label17";
-			this.label17.Size = new System.Drawing.Size(41, 12);
-			this.label17.TabIndex = 5;
-			this.label17.Text = "左限位";
-			// 
-			// groupBox2
-			// 
-			this.groupBox2.Controls.Add(this.lblPRG_Status);
-			this.groupBox2.Controls.Add(this.lblPRG_Status_LED);
-			this.groupBox2.Controls.Add(this.btnStopBuffer);
-			this.groupBox2.Controls.Add(this.btnRunBuffer);
-			this.groupBox2.Controls.Add(this.txtLabelName);
-			this.groupBox2.Controls.Add(this.cboBufferNo);
-			this.groupBox2.Controls.Add(this.label22);
-			this.groupBox2.Controls.Add(this.label32);
-			this.groupBox2.Controls.Add(this.label21);
-			this.groupBox2.Location = new System.Drawing.Point(589, 6);
-			this.groupBox2.Name = "groupBox2";
-			this.groupBox2.Size = new System.Drawing.Size(314, 100);
-			this.groupBox2.TabIndex = 3;
-			this.groupBox2.TabStop = false;
-			this.groupBox2.Text = "Buffer 程序";
-			// 
-			// lblPRG_Status
-			// 
-			this.lblPRG_Status.AutoSize = true;
-			this.lblPRG_Status.Location = new System.Drawing.Point(100, 53);
-			this.lblPRG_Status.Name = "lblPRG_Status";
-			this.lblPRG_Status.Size = new System.Drawing.Size(29, 12);
-			this.lblPRG_Status.TabIndex = 11;
-			this.lblPRG_Status.Text = "停止";
-			// 
-			// lblPRG_Status_LED
-			// 
-			this.lblPRG_Status_LED.Image = ((System.Drawing.Image)(resources.GetObject("lblPRG_Status_LED.Image")));
-			this.lblPRG_Status_LED.Location = new System.Drawing.Point(75, 51);
-			this.lblPRG_Status_LED.Name = "lblPRG_Status_LED";
-			this.lblPRG_Status_LED.Size = new System.Drawing.Size(19, 17);
-			this.lblPRG_Status_LED.TabIndex = 10;
-			this.lblPRG_Status_LED.Tag = "17";
-			// 
-			// btnStopBuffer
-			// 
-			this.btnStopBuffer.Location = new System.Drawing.Point(240, 67);
-			this.btnStopBuffer.Name = "btnStopBuffer";
-			this.btnStopBuffer.Size = new System.Drawing.Size(66, 23);
-			this.btnStopBuffer.TabIndex = 8;
-			this.btnStopBuffer.Text = "停止";
-			this.btnStopBuffer.UseVisualStyleBackColor = true;
-			this.btnStopBuffer.Click += new System.EventHandler(this.btnStopBuffer_Click);
-			// 
-			// btnRunBuffer
-			// 
-			this.btnRunBuffer.Location = new System.Drawing.Point(166, 67);
-			this.btnRunBuffer.Name = "btnRunBuffer";
-			this.btnRunBuffer.Size = new System.Drawing.Size(66, 23);
-			this.btnRunBuffer.TabIndex = 8;
-			this.btnRunBuffer.Text = "启动";
-			this.btnRunBuffer.UseVisualStyleBackColor = true;
-			this.btnRunBuffer.Click += new System.EventHandler(this.btnRunBuffer_Click);
-			// 
-			// txtLabelName
-			// 
-			this.txtLabelName.Location = new System.Drawing.Point(206, 20);
-			this.txtLabelName.Name = "txtLabelName";
-			this.txtLabelName.Size = new System.Drawing.Size(100, 21);
-			this.txtLabelName.TabIndex = 7;
-			// 
-			// cboBufferNo
-			// 
-			this.cboBufferNo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
-			this.cboBufferNo.FormattingEnabled = true;
-			this.cboBufferNo.Location = new System.Drawing.Point(77, 22);
-			this.cboBufferNo.Name = "cboBufferNo";
-			this.cboBufferNo.Size = new System.Drawing.Size(72, 20);
-			this.cboBufferNo.TabIndex = 6;
-			// 
-			// label22
-			// 
-			this.label22.AutoSize = true;
-			this.label22.Location = new System.Drawing.Point(164, 25);
-			this.label22.Name = "label22";
-			this.label22.Size = new System.Drawing.Size(35, 12);
-			this.label22.TabIndex = 5;
-			this.label22.Text = "Label";
-			// 
-			// label32
-			// 
-			this.label32.AutoSize = true;
-			this.label32.Location = new System.Drawing.Point(10, 53);
-			this.label32.Name = "label32";
-			this.label32.Size = new System.Drawing.Size(29, 12);
-			this.label32.TabIndex = 5;
-			this.label32.Text = "状态";
-			// 
-			// label21
-			// 
-			this.label21.AutoSize = true;
-			this.label21.Location = new System.Drawing.Point(10, 26);
-			this.label21.Name = "label21";
-			this.label21.Size = new System.Drawing.Size(65, 12);
-			this.label21.TabIndex = 5;
-			this.label21.Text = "Buffer No.";
-			// 
-			// label28
-			// 
-			this.label28.AutoSize = true;
-			this.label28.Location = new System.Drawing.Point(5, 28);
-			this.label28.Name = "label28";
-			this.label28.Size = new System.Drawing.Size(47, 12);
-			this.label28.TabIndex = 5;
-			this.label28.Text = "Bit No.";
-			// 
-			// grpIO
-			// 
-			this.grpIO.Controls.Add(this.btnSW7);
-			this.grpIO.Controls.Add(this.btnSW6);
-			this.grpIO.Controls.Add(this.btnSW5);
-			this.grpIO.Controls.Add(this.btnSW4);
-			this.grpIO.Controls.Add(this.btnSW3);
-			this.grpIO.Controls.Add(this.btnSW2);
-			this.grpIO.Controls.Add(this.btnSW0);
-			this.grpIO.Controls.Add(this.btnSW1);
-			this.grpIO.Controls.Add(this.label29);
-			this.grpIO.Controls.Add(this.label23);
-			this.grpIO.Controls.Add(this.label42);
-			this.grpIO.Controls.Add(this.lblOUT7);
-			this.grpIO.Controls.Add(this.lblIN7);
-			this.grpIO.Controls.Add(this.label41);
-			this.grpIO.Controls.Add(this.lblOUT3);
-			this.grpIO.Controls.Add(this.lblIN3);
-			this.grpIO.Controls.Add(this.label40);
-			this.grpIO.Controls.Add(this.label39);
-			this.grpIO.Controls.Add(this.label38);
-			this.grpIO.Controls.Add(this.lblOUT6);
-			this.grpIO.Controls.Add(this.lblIN6);
-			this.grpIO.Controls.Add(this.label37);
-			this.grpIO.Controls.Add(this.lblOUT2);
-			this.grpIO.Controls.Add(this.lblIN2);
-			this.grpIO.Controls.Add(this.lblOUT5);
-			this.grpIO.Controls.Add(this.lblIN5);
-			this.grpIO.Controls.Add(this.label31);
-			this.grpIO.Controls.Add(this.label30);
-			this.grpIO.Controls.Add(this.label28);
-			this.grpIO.Controls.Add(this.lblOUT1);
-			this.grpIO.Controls.Add(this.lblIN1);
-			this.grpIO.Controls.Add(this.lblOUT0);
-			this.grpIO.Controls.Add(this.lblOUT4);
-			this.grpIO.Controls.Add(this.lblIN0);
-			this.grpIO.Controls.Add(this.lblIN4);
-			this.grpIO.Location = new System.Drawing.Point(589, 112);
-			this.grpIO.Name = "grpIO";
-			this.grpIO.Size = new System.Drawing.Size(314, 132);
-			this.grpIO.TabIndex = 4;
-			this.grpIO.TabStop = false;
-			this.grpIO.Text = "通用 I/O";
-			// 
-			// btnSW7
-			// 
-			this.btnSW7.Font = new System.Drawing.Font("Microsoft Sans Serif", 7F);
-			this.btnSW7.Location = new System.Drawing.Point(274, 97);
-			this.btnSW7.Name = "btnSW7";
-			this.btnSW7.Size = new System.Drawing.Size(33, 25);
-			this.btnSW7.TabIndex = 7;
-			this.btnSW7.Text = "OFF";
-			this.btnSW7.UseVisualStyleBackColor = true;
-			this.btnSW7.Click += new System.EventHandler(this.btnSW_Click);
-			// 
-			// btnSW6
-			// 
-			this.btnSW6.Font = new System.Drawing.Font("Microsoft Sans Serif", 7F);
-			this.btnSW6.Location = new System.Drawing.Point(242, 97);
-			this.btnSW6.Name = "btnSW6";
-			this.btnSW6.Size = new System.Drawing.Size(33, 25);
-			this.btnSW6.TabIndex = 6;
-			this.btnSW6.Text = "OFF";
-			this.btnSW6.UseVisualStyleBackColor = true;
-			this.btnSW6.Click += new System.EventHandler(this.btnSW_Click);
-			// 
-			// btnSW5
-			// 
-			this.btnSW5.Font = new System.Drawing.Font("Microsoft Sans Serif", 7F);
-			this.btnSW5.Location = new System.Drawing.Point(210, 97);
-			this.btnSW5.Name = "btnSW5";
-			this.btnSW5.Size = new System.Drawing.Size(33, 25);
-			this.btnSW5.TabIndex = 5;
-			this.btnSW5.Text = "OFF";
-			this.btnSW5.UseVisualStyleBackColor = true;
-			this.btnSW5.Click += new System.EventHandler(this.btnSW_Click);
-			// 
-			// btnSW4
-			// 
-			this.btnSW4.Font = new System.Drawing.Font("Microsoft Sans Serif", 7F);
-			this.btnSW4.Location = new System.Drawing.Point(178, 97);
-			this.btnSW4.Name = "btnSW4";
-			this.btnSW4.Size = new System.Drawing.Size(33, 25);
-			this.btnSW4.TabIndex = 4;
-			this.btnSW4.Text = "OFF";
-			this.btnSW4.UseVisualStyleBackColor = true;
-			this.btnSW4.Click += new System.EventHandler(this.btnSW_Click);
-			// 
-			// btnSW3
-			// 
-			this.btnSW3.Font = new System.Drawing.Font("Microsoft Sans Serif", 7F);
-			this.btnSW3.Location = new System.Drawing.Point(146, 97);
-			this.btnSW3.Name = "btnSW3";
-			this.btnSW3.Size = new System.Drawing.Size(33, 25);
-			this.btnSW3.TabIndex = 3;
-			this.btnSW3.Text = "OFF";
-			this.btnSW3.UseVisualStyleBackColor = true;
-			this.btnSW3.Click += new System.EventHandler(this.btnSW_Click);
-			// 
-			// btnSW2
-			// 
-			this.btnSW2.Font = new System.Drawing.Font("Microsoft Sans Serif", 7F);
-			this.btnSW2.Location = new System.Drawing.Point(114, 97);
-			this.btnSW2.Name = "btnSW2";
-			this.btnSW2.Size = new System.Drawing.Size(33, 25);
-			this.btnSW2.TabIndex = 2;
-			this.btnSW2.Text = "OFF";
-			this.btnSW2.UseVisualStyleBackColor = true;
-			this.btnSW2.Click += new System.EventHandler(this.btnSW_Click);
-			// 
-			// btnSW0
-			// 
-			this.btnSW0.Font = new System.Drawing.Font("Microsoft Sans Serif", 7F);
-			this.btnSW0.Location = new System.Drawing.Point(50, 97);
-			this.btnSW0.Name = "btnSW0";
-			this.btnSW0.Size = new System.Drawing.Size(33, 25);
-			this.btnSW0.TabIndex = 0;
-			this.btnSW0.Text = "OFF";
-			this.btnSW0.UseVisualStyleBackColor = true;
-			this.btnSW0.Click += new System.EventHandler(this.btnSW_Click);
-			// 
-			// btnSW1
-			// 
-			this.btnSW1.Font = new System.Drawing.Font("Microsoft Sans Serif", 7F);
-			this.btnSW1.Location = new System.Drawing.Point(82, 97);
-			this.btnSW1.Name = "btnSW1";
-			this.btnSW1.Size = new System.Drawing.Size(33, 25);
-			this.btnSW1.TabIndex = 1;
-			this.btnSW1.Text = "OFF";
-			this.btnSW1.UseVisualStyleBackColor = true;
-			this.btnSW1.Click += new System.EventHandler(this.btnSW_Click);
-			// 
-			// label29
-			// 
-			this.label29.AutoSize = true;
-			this.label29.Location = new System.Drawing.Point(5, 74);
-			this.label29.Name = "label29";
-			this.label29.Size = new System.Drawing.Size(29, 12);
-			this.label29.TabIndex = 5;
-			this.label29.Text = "输出";
-			// 
-			// label23
-			// 
-			this.label23.AutoSize = true;
-			this.label23.Location = new System.Drawing.Point(5, 51);
-			this.label23.Name = "label23";
-			this.label23.Size = new System.Drawing.Size(29, 12);
-			this.label23.TabIndex = 5;
-			this.label23.Text = "输入";
-			// 
-			// label42
-			// 
-			this.label42.AutoSize = true;
-			this.label42.Location = new System.Drawing.Point(285, 28);
-			this.label42.Name = "label42";
-			this.label42.Size = new System.Drawing.Size(11, 12);
-			this.label42.TabIndex = 5;
-			this.label42.Text = "7";
-			// 
-			// lblOUT7
-			// 
-			this.lblOUT7.Image = ((System.Drawing.Image)(resources.GetObject("lblOUT7.Image")));
-			this.lblOUT7.Location = new System.Drawing.Point(281, 72);
-			this.lblOUT7.Name = "lblOUT7";
-			this.lblOUT7.Size = new System.Drawing.Size(19, 17);
-			this.lblOUT7.TabIndex = 5;
-			this.lblOUT7.Tag = "7";
-			// 
-			// lblIN7
-			// 
-			this.lblIN7.Image = ((System.Drawing.Image)(resources.GetObject("lblIN7.Image")));
-			this.lblIN7.Location = new System.Drawing.Point(281, 49);
-			this.lblIN7.Name = "lblIN7";
-			this.lblIN7.Size = new System.Drawing.Size(19, 17);
-			this.lblIN7.TabIndex = 5;
-			this.lblIN7.Tag = "7";
-			// 
-			// label41
-			// 
-			this.label41.AutoSize = true;
-			this.label41.Location = new System.Drawing.Point(253, 28);
-			this.label41.Name = "label41";
-			this.label41.Size = new System.Drawing.Size(11, 12);
-			this.label41.TabIndex = 5;
-			this.label41.Text = "6";
-			// 
-			// lblOUT3
-			// 
-			this.lblOUT3.Image = ((System.Drawing.Image)(resources.GetObject("lblOUT3.Image")));
-			this.lblOUT3.Location = new System.Drawing.Point(153, 72);
-			this.lblOUT3.Name = "lblOUT3";
-			this.lblOUT3.Size = new System.Drawing.Size(19, 17);
-			this.lblOUT3.TabIndex = 5;
-			this.lblOUT3.Tag = "3";
-			// 
-			// lblIN3
-			// 
-			this.lblIN3.Image = ((System.Drawing.Image)(resources.GetObject("lblIN3.Image")));
-			this.lblIN3.Location = new System.Drawing.Point(153, 49);
-			this.lblIN3.Name = "lblIN3";
-			this.lblIN3.Size = new System.Drawing.Size(19, 17);
-			this.lblIN3.TabIndex = 5;
-			this.lblIN3.Tag = "3";
-			// 
-			// label40
-			// 
-			this.label40.AutoSize = true;
-			this.label40.Location = new System.Drawing.Point(221, 28);
-			this.label40.Name = "label40";
-			this.label40.Size = new System.Drawing.Size(11, 12);
-			this.label40.TabIndex = 5;
-			this.label40.Text = "5";
-			// 
-			// label39
-			// 
-			this.label39.AutoSize = true;
-			this.label39.Location = new System.Drawing.Point(189, 28);
-			this.label39.Name = "label39";
-			this.label39.Size = new System.Drawing.Size(11, 12);
-			this.label39.TabIndex = 5;
-			this.label39.Text = "4";
-			// 
-			// label38
-			// 
-			this.label38.AutoSize = true;
-			this.label38.Location = new System.Drawing.Point(157, 28);
-			this.label38.Name = "label38";
-			this.label38.Size = new System.Drawing.Size(11, 12);
-			this.label38.TabIndex = 5;
-			this.label38.Text = "3";
-			// 
-			// lblOUT6
-			// 
-			this.lblOUT6.Image = ((System.Drawing.Image)(resources.GetObject("lblOUT6.Image")));
-			this.lblOUT6.Location = new System.Drawing.Point(249, 72);
-			this.lblOUT6.Name = "lblOUT6";
-			this.lblOUT6.Size = new System.Drawing.Size(19, 17);
-			this.lblOUT6.TabIndex = 5;
-			this.lblOUT6.Tag = "6";
-			// 
-			// lblIN6
-			// 
-			this.lblIN6.Image = ((System.Drawing.Image)(resources.GetObject("lblIN6.Image")));
-			this.lblIN6.Location = new System.Drawing.Point(249, 49);
-			this.lblIN6.Name = "lblIN6";
-			this.lblIN6.Size = new System.Drawing.Size(19, 17);
-			this.lblIN6.TabIndex = 5;
-			this.lblIN6.Tag = "6";
-			// 
-			// label37
-			// 
-			this.label37.AutoSize = true;
-			this.label37.Location = new System.Drawing.Point(125, 28);
-			this.label37.Name = "label37";
-			this.label37.Size = new System.Drawing.Size(11, 12);
-			this.label37.TabIndex = 5;
-			this.label37.Text = "2";
-			// 
-			// lblOUT2
-			// 
-			this.lblOUT2.Image = ((System.Drawing.Image)(resources.GetObject("lblOUT2.Image")));
-			this.lblOUT2.Location = new System.Drawing.Point(121, 72);
-			this.lblOUT2.Name = "lblOUT2";
-			this.lblOUT2.Size = new System.Drawing.Size(19, 17);
-			this.lblOUT2.TabIndex = 5;
-			this.lblOUT2.Tag = "2";
-			// 
-			// lblIN2
-			// 
-			this.lblIN2.Image = ((System.Drawing.Image)(resources.GetObject("lblIN2.Image")));
-			this.lblIN2.Location = new System.Drawing.Point(121, 49);
-			this.lblIN2.Name = "lblIN2";
-			this.lblIN2.Size = new System.Drawing.Size(19, 17);
-			this.lblIN2.TabIndex = 5;
-			this.lblIN2.Tag = "2";
-			// 
-			// lblOUT5
-			// 
-			this.lblOUT5.Image = ((System.Drawing.Image)(resources.GetObject("lblOUT5.Image")));
-			this.lblOUT5.Location = new System.Drawing.Point(217, 72);
-			this.lblOUT5.Name = "lblOUT5";
-			this.lblOUT5.Size = new System.Drawing.Size(19, 17);
-			this.lblOUT5.TabIndex = 5;
-			this.lblOUT5.Tag = "5";
-			// 
-			// lblIN5
-			// 
-			this.lblIN5.Image = ((System.Drawing.Image)(resources.GetObject("lblIN5.Image")));
-			this.lblIN5.Location = new System.Drawing.Point(217, 49);
-			this.lblIN5.Name = "lblIN5";
-			this.lblIN5.Size = new System.Drawing.Size(19, 17);
-			this.lblIN5.TabIndex = 5;
-			this.lblIN5.Tag = "5";
-			// 
-			// label31
-			// 
-			this.label31.AutoSize = true;
-			this.label31.Location = new System.Drawing.Point(93, 28);
-			this.label31.Name = "label31";
-			this.label31.Size = new System.Drawing.Size(11, 12);
-			this.label31.TabIndex = 5;
-			this.label31.Text = "1";
-			// 
-			// label30
-			// 
-			this.label30.AutoSize = true;
-			this.label30.Location = new System.Drawing.Point(61, 28);
-			this.label30.Name = "label30";
-			this.label30.Size = new System.Drawing.Size(11, 12);
-			this.label30.TabIndex = 5;
-			this.label30.Text = "0";
-			// 
-			// lblOUT1
-			// 
-			this.lblOUT1.Image = ((System.Drawing.Image)(resources.GetObject("lblOUT1.Image")));
-			this.lblOUT1.Location = new System.Drawing.Point(89, 72);
-			this.lblOUT1.Name = "lblOUT1";
-			this.lblOUT1.Size = new System.Drawing.Size(19, 17);
-			this.lblOUT1.TabIndex = 5;
-			this.lblOUT1.Tag = "1";
-			// 
-			// lblIN1
-			// 
-			this.lblIN1.Image = ((System.Drawing.Image)(resources.GetObject("lblIN1.Image")));
-			this.lblIN1.Location = new System.Drawing.Point(89, 49);
-			this.lblIN1.Name = "lblIN1";
-			this.lblIN1.Size = new System.Drawing.Size(19, 17);
-			this.lblIN1.TabIndex = 5;
-			this.lblIN1.Tag = "1";
-			// 
-			// lblOUT0
-			// 
-			this.lblOUT0.Image = ((System.Drawing.Image)(resources.GetObject("lblOUT0.Image")));
-			this.lblOUT0.Location = new System.Drawing.Point(57, 72);
-			this.lblOUT0.Name = "lblOUT0";
-			this.lblOUT0.Size = new System.Drawing.Size(19, 17);
-			this.lblOUT0.TabIndex = 5;
-			this.lblOUT0.Tag = "0";
-			// 
-			// lblOUT4
-			// 
-			this.lblOUT4.Image = ((System.Drawing.Image)(resources.GetObject("lblOUT4.Image")));
-			this.lblOUT4.Location = new System.Drawing.Point(185, 72);
-			this.lblOUT4.Name = "lblOUT4";
-			this.lblOUT4.Size = new System.Drawing.Size(19, 17);
-			this.lblOUT4.TabIndex = 5;
-			this.lblOUT4.Tag = "4";
-			// 
-			// lblIN0
-			// 
-			this.lblIN0.Image = ((System.Drawing.Image)(resources.GetObject("lblIN0.Image")));
-			this.lblIN0.Location = new System.Drawing.Point(57, 49);
-			this.lblIN0.Name = "lblIN0";
-			this.lblIN0.Size = new System.Drawing.Size(19, 17);
-			this.lblIN0.TabIndex = 5;
-			this.lblIN0.Tag = "0";
-			// 
-			// lblIN4
-			// 
-			this.lblIN4.Image = ((System.Drawing.Image)(resources.GetObject("lblIN4.Image")));
-			this.lblIN4.Location = new System.Drawing.Point(185, 49);
-			this.lblIN4.Name = "lblIN4";
-			this.lblIN4.Size = new System.Drawing.Size(19, 17);
-			this.lblIN4.TabIndex = 5;
-			this.lblIN4.Tag = "4";
-			// 
-			// groupBox3
-			// 
-			this.groupBox3.Controls.Add(this.lstLog);
-			this.groupBox3.Controls.Add(this.btnEventProgramEnd);
-			this.groupBox3.Controls.Add(this.btnEventMotionEnd);
-			this.groupBox3.Location = new System.Drawing.Point(589, 250);
-			this.groupBox3.Name = "groupBox3";
-			this.groupBox3.Size = new System.Drawing.Size(314, 235);
-			this.groupBox3.TabIndex = 5;
-			this.groupBox3.TabStop = false;
-			this.groupBox3.Text = "事件回调";
-			// 
-			// lstLog
-			// 
-			this.lstLog.FormattingEnabled = true;
-			this.lstLog.ItemHeight = 12;
-			this.lstLog.Location = new System.Drawing.Point(7, 50);
-			this.lstLog.Name = "lstLog";
-			this.lstLog.Size = new System.Drawing.Size(299, 172);
-			this.lstLog.TabIndex = 1;
-			// 
-			// btnEventProgramEnd
-			// 
-			this.btnEventProgramEnd.Location = new System.Drawing.Point(159, 17);
-			this.btnEventProgramEnd.Name = "btnEventProgramEnd";
-			this.btnEventProgramEnd.Size = new System.Drawing.Size(148, 23);
-			this.btnEventProgramEnd.TabIndex = 0;
-			this.btnEventProgramEnd.Text = "程序结束";
-			this.btnEventProgramEnd.UseVisualStyleBackColor = true;
-			this.btnEventProgramEnd.Click += new System.EventHandler(this.btnEventProgramEnd_Click);
-			// 
-			// btnEventMotionEnd
-			// 
-			this.btnEventMotionEnd.Location = new System.Drawing.Point(7, 17);
-			this.btnEventMotionEnd.Name = "btnEventMotionEnd";
-			this.btnEventMotionEnd.Size = new System.Drawing.Size(148, 23);
-			this.btnEventMotionEnd.TabIndex = 0;
-			this.btnEventMotionEnd.Text = "运动结束";
-			this.btnEventMotionEnd.UseVisualStyleBackColor = true;
-			this.btnEventMotionEnd.Click += new System.EventHandler(this.btnEventMotionEnd_Click);
-			// 
-			// rtxtTerminal
-			// 
-			this.rtxtTerminal.Location = new System.Drawing.Point(9, 47);
-			this.rtxtTerminal.Name = "rtxtTerminal";
-			this.rtxtTerminal.Size = new System.Drawing.Size(875, 162);
-			this.rtxtTerminal.TabIndex = 6;
-			this.rtxtTerminal.Text = "";
-			// 
-			// groupBox4
-			// 
-			this.groupBox4.Controls.Add(this.btnSend);
-			this.groupBox4.Controls.Add(this.txtCommand);
-			this.groupBox4.Controls.Add(this.rtxtTerminal);
-			this.groupBox4.Location = new System.Drawing.Point(11, 493);
-			this.groupBox4.Name = "groupBox4";
-			this.groupBox4.Size = new System.Drawing.Size(892, 220);
-			this.groupBox4.TabIndex = 7;
-			this.groupBox4.TabStop = false;
-			this.groupBox4.Text = "命令行通讯";
-			// 
-			// btnSend
-			// 
-			this.btnSend.Location = new System.Drawing.Point(784, 20);
-			this.btnSend.Name = "btnSend";
-			this.btnSend.Size = new System.Drawing.Size(100, 23);
-			this.btnSend.TabIndex = 8;
-			this.btnSend.Text = "发送";
-			this.btnSend.UseVisualStyleBackColor = true;
-			this.btnSend.Click += new System.EventHandler(this.btnSend_Click);
-			// 
-			// txtCommand
-			// 
-			this.txtCommand.Location = new System.Drawing.Point(9, 20);
-			this.txtCommand.Name = "txtCommand";
-			this.txtCommand.Size = new System.Drawing.Size(769, 21);
-			this.txtCommand.TabIndex = 7;
-			this.txtCommand.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.txtCommand_KeyPress);
-			// 
-			// groupBox5
-			// 
-			this.groupBox5.Controls.Add(this.groupBox9);
-			this.groupBox5.Controls.Add(this.groupBox8);
-			this.groupBox5.Controls.Add(this.groupBox7);
-			this.groupBox5.Controls.Add(this.groupBox6);
-			this.groupBox5.Location = new System.Drawing.Point(919, 12);
-			this.groupBox5.Name = "groupBox5";
-			this.groupBox5.Size = new System.Drawing.Size(298, 592);
-			this.groupBox5.TabIndex = 8;
-			this.groupBox5.TabStop = false;
-			this.groupBox5.Text = "XYZ轴运动";
-			// 
-			// groupBox9
-			// 
-			this.groupBox9.Controls.Add(this.label56);
-			this.groupBox9.Controls.Add(this.label55);
-			this.groupBox9.Controls.Add(this.label54);
-			this.groupBox9.Controls.Add(this.label53);
-			this.groupBox9.Controls.Add(this.label52);
-			this.groupBox9.Controls.Add(this.label51);
-			this.groupBox9.Controls.Add(this.label50);
-			this.groupBox9.Controls.Add(this.label49);
-			this.groupBox9.Controls.Add(this.label47);
-			this.groupBox9.Location = new System.Drawing.Point(6, 447);
-			this.groupBox9.Name = "groupBox9";
-			this.groupBox9.Size = new System.Drawing.Size(279, 139);
-			this.groupBox9.TabIndex = 3;
-			this.groupBox9.TabStop = false;
-			this.groupBox9.Text = "当前实际位置/规划位置(mm)";
-			// 
-			// label56
-			// 
-			this.label56.AutoSize = true;
-			this.label56.Location = new System.Drawing.Point(197, 95);
-			this.label56.Name = "label56";
-			this.label56.Size = new System.Drawing.Size(11, 12);
-			this.label56.TabIndex = 8;
-			this.label56.Text = "0";
-			// 
-			// label55
-			// 
-			this.label55.AutoSize = true;
-			this.label55.Location = new System.Drawing.Point(197, 65);
-			this.label55.Name = "label55";
-			this.label55.Size = new System.Drawing.Size(11, 12);
-			this.label55.TabIndex = 7;
-			this.label55.Text = "0";
-			// 
-			// label54
-			// 
-			this.label54.AutoSize = true;
-			this.label54.Location = new System.Drawing.Point(197, 34);
-			this.label54.Name = "label54";
-			this.label54.Size = new System.Drawing.Size(11, 12);
-			this.label54.TabIndex = 6;
-			this.label54.Text = "0";
-			// 
-			// label53
-			// 
-			this.label53.AutoSize = true;
-			this.label53.Location = new System.Drawing.Point(127, 95);
-			this.label53.Name = "label53";
-			this.label53.Size = new System.Drawing.Size(11, 12);
-			this.label53.TabIndex = 5;
-			this.label53.Text = "0";
-			// 
-			// label52
-			// 
-			this.label52.AutoSize = true;
-			this.label52.Location = new System.Drawing.Point(127, 65);
-			this.label52.Name = "label52";
-			this.label52.Size = new System.Drawing.Size(11, 12);
-			this.label52.TabIndex = 4;
-			this.label52.Text = "0";
-			// 
-			// label51
-			// 
-			this.label51.AutoSize = true;
-			this.label51.Location = new System.Drawing.Point(127, 34);
-			this.label51.Name = "label51";
-			this.label51.Size = new System.Drawing.Size(11, 12);
-			this.label51.TabIndex = 3;
-			this.label51.Text = "0";
-			// 
-			// label50
-			// 
-			this.label50.AutoSize = true;
-			this.label50.Location = new System.Drawing.Point(50, 95);
-			this.label50.Name = "label50";
-			this.label50.Size = new System.Drawing.Size(17, 12);
-			this.label50.TabIndex = 2;
-			this.label50.Text = "Z:";
-			// 
-			// label49
-			// 
-			this.label49.AutoSize = true;
-			this.label49.Location = new System.Drawing.Point(50, 65);
-			this.label49.Name = "label49";
-			this.label49.Size = new System.Drawing.Size(17, 12);
-			this.label49.TabIndex = 1;
-			this.label49.Text = "Y:";
-			// 
-			// label47
-			// 
-			this.label47.AutoSize = true;
-			this.label47.Location = new System.Drawing.Point(50, 34);
-			this.label47.Name = "label47";
-			this.label47.Size = new System.Drawing.Size(17, 12);
-			this.label47.TabIndex = 0;
-			this.label47.Text = "X:";
-			// 
-			// groupBox8
-			// 
-			this.groupBox8.Controls.Add(this.button8);
-			this.groupBox8.Controls.Add(this.checkBox1);
-			this.groupBox8.Controls.Add(this.textBox3);
-			this.groupBox8.Controls.Add(this.textBox2);
-			this.groupBox8.Controls.Add(this.textBox1);
-			this.groupBox8.Controls.Add(this.label46);
-			this.groupBox8.Controls.Add(this.label45);
-			this.groupBox8.Controls.Add(this.label44);
-			this.groupBox8.Location = new System.Drawing.Point(6, 268);
-			this.groupBox8.Name = "groupBox8";
-			this.groupBox8.Size = new System.Drawing.Size(283, 163);
-			this.groupBox8.TabIndex = 2;
-			this.groupBox8.TabStop = false;
-			this.groupBox8.Text = "定位";
-			// 
-			// button8
-			// 
-			this.button8.Location = new System.Drawing.Point(129, 122);
-			this.button8.Name = "button8";
-			this.button8.Size = new System.Drawing.Size(120, 37);
-			this.button8.TabIndex = 7;
-			this.button8.Text = "移动到目标位置";
-			this.button8.UseVisualStyleBackColor = true;
-			// 
-			// checkBox1
-			// 
-			this.checkBox1.AutoSize = true;
-			this.checkBox1.Location = new System.Drawing.Point(39, 133);
-			this.checkBox1.Name = "checkBox1";
-			this.checkBox1.Size = new System.Drawing.Size(48, 16);
-			this.checkBox1.TabIndex = 6;
-			this.checkBox1.Text = "等待";
-			this.checkBox1.UseVisualStyleBackColor = true;
-			// 
-			// textBox3
-			// 
-			this.textBox3.Location = new System.Drawing.Point(149, 54);
-			this.textBox3.Name = "textBox3";
-			this.textBox3.Size = new System.Drawing.Size(100, 21);
-			this.textBox3.TabIndex = 5;
-			// 
-			// textBox2
-			// 
-			this.textBox2.Location = new System.Drawing.Point(149, 87);
-			this.textBox2.Name = "textBox2";
-			this.textBox2.Size = new System.Drawing.Size(100, 21);
-			this.textBox2.TabIndex = 4;
-			// 
-			// textBox1
-			// 
-			this.textBox1.Location = new System.Drawing.Point(149, 21);
-			this.textBox1.Name = "textBox1";
-			this.textBox1.Size = new System.Drawing.Size(100, 21);
-			this.textBox1.TabIndex = 3;
-			// 
-			// label46
-			// 
-			this.label46.AutoSize = true;
-			this.label46.Location = new System.Drawing.Point(39, 90);
-			this.label46.Name = "label46";
-			this.label46.Size = new System.Drawing.Size(59, 12);
-			this.label46.TabIndex = 2;
-			this.label46.Text = "Z位置(mm)";
-			// 
-			// label45
-			// 
-			this.label45.AutoSize = true;
-			this.label45.Location = new System.Drawing.Point(39, 57);
-			this.label45.Name = "label45";
-			this.label45.Size = new System.Drawing.Size(59, 12);
-			this.label45.TabIndex = 1;
-			this.label45.Text = "Y位置(mm)";
-			// 
-			// label44
-			// 
-			this.label44.AutoSize = true;
-			this.label44.Location = new System.Drawing.Point(39, 24);
-			this.label44.Name = "label44";
-			this.label44.Size = new System.Drawing.Size(59, 12);
-			this.label44.TabIndex = 0;
-			this.label44.Text = "X位置(mm)";
-			// 
-			// groupBox7
-			// 
-			this.groupBox7.Controls.Add(this.button7);
-			this.groupBox7.Controls.Add(this.button6);
-			this.groupBox7.Controls.Add(this.button5);
-			this.groupBox7.Controls.Add(this.button4);
-			this.groupBox7.Location = new System.Drawing.Point(6, 100);
-			this.groupBox7.Name = "groupBox7";
-			this.groupBox7.Size = new System.Drawing.Size(283, 160);
-			this.groupBox7.TabIndex = 1;
-			this.groupBox7.TabStop = false;
-			this.groupBox7.Text = "Jog";
-			// 
-			// button7
-			// 
-			this.button7.Location = new System.Drawing.Point(104, 107);
-			this.button7.Name = "button7";
-			this.button7.Size = new System.Drawing.Size(75, 35);
-			this.button7.TabIndex = 3;
-			this.button7.Text = "Y后退";
-			this.button7.UseVisualStyleBackColor = true;
-			// 
-			// button6
-			// 
-			this.button6.Location = new System.Drawing.Point(198, 61);
-			this.button6.Name = "button6";
-			this.button6.Size = new System.Drawing.Size(75, 35);
-			this.button6.TabIndex = 2;
-			this.button6.Text = "X右移";
-			this.button6.UseVisualStyleBackColor = true;
-			// 
-			// button5
-			// 
-			this.button5.Location = new System.Drawing.Point(10, 61);
-			this.button5.Name = "button5";
-			this.button5.Size = new System.Drawing.Size(75, 35);
-			this.button5.TabIndex = 1;
-			this.button5.Text = "X左移";
-			this.button5.UseVisualStyleBackColor = true;
-			// 
-			// button4
-			// 
-			this.button4.Location = new System.Drawing.Point(104, 12);
-			this.button4.Name = "button4";
-			this.button4.Size = new System.Drawing.Size(75, 35);
-			this.button4.TabIndex = 0;
-			this.button4.Text = "Y前进";
-			this.button4.UseVisualStyleBackColor = true;
-			// 
-			// groupBox6
-			// 
-			this.groupBox6.Controls.Add(this.button3);
-			this.groupBox6.Controls.Add(this.button2);
-			this.groupBox6.Controls.Add(this.button1);
-			this.groupBox6.Location = new System.Drawing.Point(6, 24);
-			this.groupBox6.Name = "groupBox6";
-			this.groupBox6.Size = new System.Drawing.Size(283, 70);
-			this.groupBox6.TabIndex = 0;
-			this.groupBox6.TabStop = false;
-			this.groupBox6.Text = "动作";
-			// 
-			// button3
-			// 
-			this.button3.Location = new System.Drawing.Point(198, 24);
-			this.button3.Name = "button3";
-			this.button3.Size = new System.Drawing.Size(75, 30);
-			this.button3.TabIndex = 2;
-			this.button3.Text = "回原点";
-			this.button3.UseVisualStyleBackColor = true;
-			// 
-			// button2
-			// 
-			this.button2.Location = new System.Drawing.Point(104, 24);
-			this.button2.Name = "button2";
-			this.button2.Size = new System.Drawing.Size(75, 30);
-			this.button2.TabIndex = 1;
-			this.button2.Text = "停止";
-			this.button2.UseVisualStyleBackColor = true;
-			// 
-			// button1
-			// 
-			this.button1.Location = new System.Drawing.Point(10, 24);
-			this.button1.Name = "button1";
-			this.button1.Size = new System.Drawing.Size(75, 30);
-			this.button1.TabIndex = 0;
-			this.button1.Text = "开始";
-			this.button1.UseVisualStyleBackColor = true;
-			// 
-			// groupBox10
-			// 
-			this.groupBox10.Controls.Add(this.label48);
-			this.groupBox10.Controls.Add(this.textBox4);
-			this.groupBox10.Controls.Add(this.button10);
-			this.groupBox10.Controls.Add(this.button9);
-			this.groupBox10.Controls.Add(this.checkBox4);
-			this.groupBox10.Controls.Add(this.checkBox3);
-			this.groupBox10.Controls.Add(this.checkBox2);
-			this.groupBox10.Location = new System.Drawing.Point(919, 610);
-			this.groupBox10.Name = "groupBox10";
-			this.groupBox10.Size = new System.Drawing.Size(295, 103);
-			this.groupBox10.TabIndex = 9;
-			this.groupBox10.TabStop = false;
-			this.groupBox10.Text = "XYZ循环";
-			// 
-			// label48
-			// 
-			this.label48.AutoSize = true;
-			this.label48.Location = new System.Drawing.Point(220, 65);
-			this.label48.Name = "label48";
-			this.label48.Size = new System.Drawing.Size(17, 12);
-			this.label48.TabIndex = 7;
-			this.label48.Text = "次";
-			// 
-			// textBox4
-			// 
-			this.textBox4.Location = new System.Drawing.Point(179, 61);
-			this.textBox4.Name = "textBox4";
-			this.textBox4.Size = new System.Drawing.Size(35, 21);
-			this.textBox4.TabIndex = 5;
-			// 
-			// button10
-			// 
-			this.button10.Location = new System.Drawing.Point(94, 60);
-			this.button10.Name = "button10";
-			this.button10.Size = new System.Drawing.Size(60, 23);
-			this.button10.TabIndex = 4;
-			this.button10.Text = "停止";
-			this.button10.UseVisualStyleBackColor = true;
-			// 
-			// button9
-			// 
-			this.button9.Location = new System.Drawing.Point(13, 60);
-			this.button9.Name = "button9";
-			this.button9.Size = new System.Drawing.Size(60, 23);
-			this.button9.TabIndex = 3;
-			this.button9.Text = "运行";
-			this.button9.UseVisualStyleBackColor = true;
-			// 
-			// checkBox4
-			// 
-			this.checkBox4.AutoSize = true;
-			this.checkBox4.Location = new System.Drawing.Point(184, 21);
-			this.checkBox4.Name = "checkBox4";
-			this.checkBox4.Size = new System.Drawing.Size(30, 16);
-			this.checkBox4.TabIndex = 2;
-			this.checkBox4.Text = "Z";
-			this.checkBox4.UseVisualStyleBackColor = true;
-			// 
-			// checkBox3
-			// 
-			this.checkBox3.AutoSize = true;
-			this.checkBox3.Location = new System.Drawing.Point(100, 21);
-			this.checkBox3.Name = "checkBox3";
-			this.checkBox3.Size = new System.Drawing.Size(30, 16);
-			this.checkBox3.TabIndex = 1;
-			this.checkBox3.Text = "Y";
-			this.checkBox3.UseVisualStyleBackColor = true;
-			// 
-			// checkBox2
-			// 
-			this.checkBox2.AutoSize = true;
-			this.checkBox2.Location = new System.Drawing.Point(16, 21);
-			this.checkBox2.Name = "checkBox2";
-			this.checkBox2.Size = new System.Drawing.Size(30, 16);
-			this.checkBox2.TabIndex = 0;
-			this.checkBox2.Text = "X";
-			this.checkBox2.UseVisualStyleBackColor = true;
-			// 
-			// MainForm
-			// 
-			this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
-			this.ClientSize = new System.Drawing.Size(1226, 725);
-			this.Controls.Add(this.groupBox10);
-			this.Controls.Add(this.groupBox5);
-			this.Controls.Add(this.groupBox4);
-			this.Controls.Add(this.groupBox3);
-			this.Controls.Add(this.grpIO);
-			this.Controls.Add(this.groupBox2);
-			this.Controls.Add(this.grpSafety);
-			this.Controls.Add(this.grpMotionTest);
-			this.Controls.Add(this.groupBox1);
-			this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
-			this.Name = "MainForm";
-			this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
-			this.Text = "HexcalMC运动补偿";
-			this.Load += new System.EventHandler(this.Form1_Load);
-			this.groupBox1.ResumeLayout(false);
-			this.groupBox1.PerformLayout();
-			this.grpMotionTest.ResumeLayout(false);
-			this.grpMotionTest.PerformLayout();
-			this.grpMst.ResumeLayout(false);
-			this.grpMst.PerformLayout();
-			this.grpPositions.ResumeLayout(false);
-			this.grpPositions.PerformLayout();
-			this.grpJog.ResumeLayout(false);
-			this.grpJog.PerformLayout();
-			this.grpProfile.ResumeLayout(false);
-			this.grpProfile.PerformLayout();
-			this.grpPTP.ResumeLayout(false);
-			this.grpPTP.PerformLayout();
-			this.grpSafety.ResumeLayout(false);
-			this.grpSafety.PerformLayout();
-			this.groupBox2.ResumeLayout(false);
-			this.groupBox2.PerformLayout();
-			this.grpIO.ResumeLayout(false);
-			this.grpIO.PerformLayout();
-			this.groupBox3.ResumeLayout(false);
-			this.groupBox4.ResumeLayout(false);
-			this.groupBox4.PerformLayout();
-			this.groupBox5.ResumeLayout(false);
-			this.groupBox9.ResumeLayout(false);
-			this.groupBox9.PerformLayout();
-			this.groupBox8.ResumeLayout(false);
-			this.groupBox8.PerformLayout();
-			this.groupBox7.ResumeLayout(false);
-			this.groupBox6.ResumeLayout(false);
-			this.groupBox10.ResumeLayout(false);
-			this.groupBox10.PerformLayout();
-			this.ResumeLayout(false);
-
-		}
-
-		#endregion
-
-		private System.Windows.Forms.GroupBox groupBox1;
-		private System.Windows.Forms.Timer tmrMonitor;
-		private System.Windows.Forms.GroupBox grpMotionTest;
-		private System.Windows.Forms.ComboBox cboAxisNo;
-		private System.Windows.Forms.GroupBox grpJog;
-		private System.Windows.Forms.Button btnJogPos;
-		private System.Windows.Forms.Button btnJogNeg;
-		private System.Windows.Forms.TextBox txtJogVel;
-		private System.Windows.Forms.CheckBox chkUseVel;
-		private System.Windows.Forms.GroupBox grpProfile;
-		private System.Windows.Forms.Button btnDisable;
-		private System.Windows.Forms.Button btnEnable;
-		private System.Windows.Forms.TextBox txtJerk;
-		private System.Windows.Forms.TextBox txtKdec;
-		private System.Windows.Forms.TextBox txtDec;
-		private System.Windows.Forms.TextBox txtAcc;
-		private System.Windows.Forms.TextBox txtVel;
-		private System.Windows.Forms.Label label7;
-		private System.Windows.Forms.Label label6;
-		private System.Windows.Forms.Label label5;
-		private System.Windows.Forms.Label label4;
-		private System.Windows.Forms.Label label3;
-		private System.Windows.Forms.GroupBox grpPTP;
-		private System.Windows.Forms.Button btnPTP_R_Neg;
-		private System.Windows.Forms.Button btnPTP;
-		private System.Windows.Forms.TextBox txtPTP_Pos;
-		private System.Windows.Forms.Label label8;
-		private System.Windows.Forms.Label label9;
-		private System.Windows.Forms.TextBox txtPort;
-		private System.Windows.Forms.TextBox txtIP;
-		private System.Windows.Forms.Button btnClose;
-		private System.Windows.Forms.Button btnOpen;
-		private System.Windows.Forms.Label label2;
-		private System.Windows.Forms.Label label1;
-		private System.Windows.Forms.RadioButton rdoTCP;
-		private System.Windows.Forms.RadioButton rdoSimu;
-		private System.Windows.Forms.Button btnHalt;
-		private System.Windows.Forms.GroupBox grpMst;
-		private System.Windows.Forms.Label label16;
-		private System.Windows.Forms.Label label15;
-		private System.Windows.Forms.Label label14;
-		private System.Windows.Forms.Label label13;
-		private System.Windows.Forms.GroupBox grpPositions;
-		private System.Windows.Forms.Button btnSetZero;
-		private System.Windows.Forms.TextBox txtPE;
-		private System.Windows.Forms.TextBox txtFPOS;
-		private System.Windows.Forms.TextBox txtRPOS;
-		private System.Windows.Forms.Label label12;
-		private System.Windows.Forms.Label label11;
-		private System.Windows.Forms.Label label10;
-		private System.Windows.Forms.Button btnDisableAll;
-		private System.Windows.Forms.Button btnPTP_R_Pos;
-		private System.Windows.Forms.Button btnHallAll;
-		private System.Windows.Forms.Label lblMoving;
-		private System.Windows.Forms.Label lblEnable;
-		private System.Windows.Forms.Label lblInPos;
-		private System.Windows.Forms.Label lblAcc;
-		private System.Windows.Forms.GroupBox grpSafety;
-		private System.Windows.Forms.Label lblEMG;
-		private System.Windows.Forms.Label lblRL7;
-		private System.Windows.Forms.Label lblRL3;
-		private System.Windows.Forms.Label lblLL7;
-		private System.Windows.Forms.Label lblLL3;
-		private System.Windows.Forms.Label lblRL6;
-		private System.Windows.Forms.Label lblRL2;
-		private System.Windows.Forms.Label lblLL6;
-		private System.Windows.Forms.Label lblRL5;
-		private System.Windows.Forms.Label lblLL2;
-		private System.Windows.Forms.Label lblLL5;
-		private System.Windows.Forms.Label lblRL1;
-		private System.Windows.Forms.Label lblRL4;
-		private System.Windows.Forms.Label lblLL1;
-		private System.Windows.Forms.Label lblLL4;
-		private System.Windows.Forms.Label lblRL0;
-		private System.Windows.Forms.Label lblLL0;
-		private System.Windows.Forms.Label label18;
-		private System.Windows.Forms.Label label36;
-		private System.Windows.Forms.Label label27;
-		private System.Windows.Forms.Label label35;
-		private System.Windows.Forms.Label label26;
-		private System.Windows.Forms.Label label34;
-		private System.Windows.Forms.Label label25;
-		private System.Windows.Forms.Label label33;
-		private System.Windows.Forms.Label label24;
-		private System.Windows.Forms.Label label20;
-		private System.Windows.Forms.Label label19;
-		private System.Windows.Forms.Label label17;
-		private System.Windows.Forms.GroupBox groupBox2;
-		private System.Windows.Forms.ComboBox cboBufferNo;
-		private System.Windows.Forms.Label label21;
-		private System.Windows.Forms.Button btnStopBuffer;
-		private System.Windows.Forms.Button btnRunBuffer;
-		private System.Windows.Forms.TextBox txtLabelName;
-		private System.Windows.Forms.Label label22;
-		private System.Windows.Forms.Label label28;
-		private System.Windows.Forms.Label lblPRG_Status;
-		private System.Windows.Forms.Label lblPRG_Status_LED;
-		private System.Windows.Forms.GroupBox grpIO;
-		private System.Windows.Forms.Button btnSW7;
-		private System.Windows.Forms.Button btnSW6;
-		private System.Windows.Forms.Button btnSW5;
-		private System.Windows.Forms.Button btnSW4;
-		private System.Windows.Forms.Button btnSW3;
-		private System.Windows.Forms.Button btnSW2;
-		private System.Windows.Forms.Button btnSW0;
-		private System.Windows.Forms.Button btnSW1;
-		private System.Windows.Forms.Label label29;
-		private System.Windows.Forms.Label label23;
-		private System.Windows.Forms.Label label42;
-		private System.Windows.Forms.Label lblOUT7;
-		private System.Windows.Forms.Label lblIN7;
-		private System.Windows.Forms.Label label41;
-		private System.Windows.Forms.Label lblOUT3;
-		private System.Windows.Forms.Label lblIN3;
-		private System.Windows.Forms.Label label40;
-		private System.Windows.Forms.Label label39;
-		private System.Windows.Forms.Label label38;
-		private System.Windows.Forms.Label lblOUT6;
-		private System.Windows.Forms.Label lblIN6;
-		private System.Windows.Forms.Label label37;
-		private System.Windows.Forms.Label lblOUT2;
-		private System.Windows.Forms.Label lblIN2;
-		private System.Windows.Forms.Label lblOUT5;
-		private System.Windows.Forms.Label lblIN5;
-		private System.Windows.Forms.Label label31;
-		private System.Windows.Forms.Label label30;
-		private System.Windows.Forms.Label lblOUT1;
-		private System.Windows.Forms.Label lblIN1;
-		private System.Windows.Forms.Label lblOUT0;
-		private System.Windows.Forms.Label lblOUT4;
-		private System.Windows.Forms.Label lblIN0;
-		private System.Windows.Forms.Label lblIN4;
-        private System.Windows.Forms.Label label32;
-        private System.Windows.Forms.TextBox txtFVEL;
-        private System.Windows.Forms.Label label43;
-        private System.Windows.Forms.GroupBox groupBox3;
-        private System.Windows.Forms.Button btnEventProgramEnd;
-        private System.Windows.Forms.Button btnEventMotionEnd;
-        private System.Windows.Forms.ListBox lstLog;
-        private System.Windows.Forms.RichTextBox rtxtTerminal;
-        private System.Windows.Forms.GroupBox groupBox4;
-        private System.Windows.Forms.Button btnSend;
-        private System.Windows.Forms.TextBox txtCommand;
-		private System.Windows.Forms.GroupBox groupBox5;
-		private System.Windows.Forms.GroupBox groupBox9;
-		private System.Windows.Forms.GroupBox groupBox8;
-		private System.Windows.Forms.Button button8;
-		private System.Windows.Forms.CheckBox checkBox1;
-		private System.Windows.Forms.TextBox textBox3;
-		private System.Windows.Forms.TextBox textBox2;
-		private System.Windows.Forms.TextBox textBox1;
-		private System.Windows.Forms.Label label46;
-		private System.Windows.Forms.Label label45;
-		private System.Windows.Forms.Label label44;
-		private System.Windows.Forms.GroupBox groupBox7;
-		private System.Windows.Forms.Button button7;
-		private System.Windows.Forms.Button button6;
-		private System.Windows.Forms.Button button5;
-		private System.Windows.Forms.Button button4;
-		private System.Windows.Forms.GroupBox groupBox6;
-		private System.Windows.Forms.Button button3;
-		private System.Windows.Forms.Button button2;
-		private System.Windows.Forms.Button button1;
-		private System.Windows.Forms.GroupBox groupBox10;
-		private System.Windows.Forms.Label label48;
-		private System.Windows.Forms.TextBox textBox4;
-		private System.Windows.Forms.Button button10;
-		private System.Windows.Forms.Button button9;
-		private System.Windows.Forms.CheckBox checkBox4;
-		private System.Windows.Forms.CheckBox checkBox3;
-		private System.Windows.Forms.CheckBox checkBox2;
-		private System.Windows.Forms.Label label56;
-		private System.Windows.Forms.Label label55;
-		private System.Windows.Forms.Label label54;
-		private System.Windows.Forms.Label label53;
-		private System.Windows.Forms.Label label52;
-		private System.Windows.Forms.Label label51;
-		private System.Windows.Forms.Label label50;
-		private System.Windows.Forms.Label label49;
-		private System.Windows.Forms.Label label47;
-	}
-}
-
diff --git a/HexcalMC/MainForm.cs b/HexcalMC/MainForm.cs
deleted file mode 100644
index d524df4..0000000
--- a/HexcalMC/MainForm.cs
+++ /dev/null
@@ -1,948 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
-using System.Drawing;
-using System.Text;
-using System.Windows.Forms;
-using System.Threading;
-using System.IO;
-using ACS.SPiiPlusNET; // ACS .NET Library
-using System.Runtime.InteropServices;
-
-namespace ACS_DotNET_Library_Advanced_Demo
-{
-	public partial class MainForm : Form
-	{
-		private Api _ACS;
-
-		private const int MAX_AXIS_COUNT = 32;
-		private const int MAX_BUFFER_CNT = 64;
-
-		private const int MAX_UI_LIMIT_CNT = 8;
-		private const int MAX_UI_IO_CNT = 8;
-
-		private int m_nTotalAxis = 0;
-		private int m_nTotalBuffer = 0;
-		private Axis[] m_arrAxisList = null;
-
-		private bool m_bConnected = false;
-
-		// For update values
-		private MotorStates m_nMotorState; //运动状态
-		private ProgramStates m_nProgramState; //程序状态
-		private object m_objReadVar = null;
-		private Array m_arrReadVector = null;
-		private double m_lfRPos, m_lfFPos, m_lfPE, m_lfFVEL; //参考位置，反馈位置 位置误差 反馈速度 double类型
-		private int m_nValues, m_nOutputState;
-
-
-		private Label[] m_lblLeftLimit; //左限位
-		private Label[] m_lblRightLimit; //右限位
-		private Label[] m_lblInput;
-		private Label[] m_lblOutput;
-		private Button[] m_btnOutput;
-
-		public MainForm()
-		{
-			InitializeComponent();
-
-			_ACS = new Api(); //初始化 ACS运动控制类
-
-			// Register Event 注册时间
-			_ACS.PHYSICALMOTIONEND += _ACS_PHYSICALMOTIONEND;
-			_ACS.PROGRAMEND += _ACS_PROGRAMEND;
-		}
-
-		#region Initialize
-
-		private void Form1_Load(object sender, EventArgs e)
-		{
-			rdoTCP.Checked = true;
-			btnOpen.Enabled = true;
-			btnClose.Enabled = false;
-
-			m_lblLeftLimit = new Label[MAX_UI_LIMIT_CNT]; //左限位
-			m_lblLeftLimit[0] = lblLL0;
-			m_lblLeftLimit[1] = lblLL1;
-			m_lblLeftLimit[2] = lblLL2;
-			m_lblLeftLimit[3] = lblLL3;
-			m_lblLeftLimit[4] = lblLL4;
-			m_lblLeftLimit[5] = lblLL5;
-			m_lblLeftLimit[6] = lblLL6;
-			m_lblLeftLimit[7] = lblLL7;
-
-			m_lblRightLimit = new Label[MAX_UI_LIMIT_CNT]; //有限位
-			m_lblRightLimit[0] = lblRL0;
-			m_lblRightLimit[1] = lblRL1;
-			m_lblRightLimit[2] = lblRL2;
-			m_lblRightLimit[3] = lblRL3;
-			m_lblRightLimit[4] = lblRL4;
-			m_lblRightLimit[5] = lblRL5;
-			m_lblRightLimit[6] = lblRL6;
-			m_lblRightLimit[7] = lblRL7;
-
-			m_lblInput = new Label[MAX_UI_IO_CNT];
-			m_lblInput[0] = lblIN0;
-			m_lblInput[1] = lblIN1;
-			m_lblInput[2] = lblIN2;
-			m_lblInput[3] = lblIN3;
-			m_lblInput[4] = lblIN4;
-			m_lblInput[5] = lblIN5;
-			m_lblInput[6] = lblIN6;
-			m_lblInput[7] = lblIN7;
-
-			m_lblOutput = new Label[MAX_UI_IO_CNT];
-			m_lblOutput[0] = lblOUT0;
-			m_lblOutput[1] = lblOUT1;
-			m_lblOutput[2] = lblOUT2;
-			m_lblOutput[3] = lblOUT3;
-			m_lblOutput[4] = lblOUT4;
-			m_lblOutput[5] = lblOUT5;
-			m_lblOutput[6] = lblOUT6;
-			m_lblOutput[7] = lblOUT7;
-
-			m_btnOutput = new Button[MAX_UI_IO_CNT];
-			m_btnOutput[0] = btnSW0;
-			m_btnOutput[1] = btnSW1;
-			m_btnOutput[2] = btnSW2;
-			m_btnOutput[3] = btnSW3;
-			m_btnOutput[4] = btnSW4;
-			m_btnOutput[5] = btnSW5;
-			m_btnOutput[6] = btnSW6;
-			m_btnOutput[7] = btnSW7;
-
-			//m_nFault = new int[MAX_AXIS_COUNT];
-			//Array.Clear(m_nFault, 0, MAX_AXIS_COUNT);
-			m_nOutputState = 0;
-
-			// Clear connection list from SPiiPlus UserMode-Driver (UMD)
-			//TernminateUMD_Connection();
-		}
-
-		private void rdoTCP_CheckedChanged(object sender, EventArgs e)
-		{
-			txtIP.Enabled = true;
-			txtPort.Enabled = true;
-		}
-
-		private void rdoSimu_CheckedChanged(object sender, EventArgs e)
-		{
-			txtIP.Enabled = false;
-			txtPort.Enabled = false;
-		}
-
-		#endregion
-
-		#region Communication - Open / Close
-
-		private void btnOpen_Click(object sender, EventArgs e)
-		{
-			string strTemp;
-			int i;
-			//double lfTemp = 0.0f;
-
-			try
-			{
-				if (rdoTCP.Checked)
-				{
-					// TCP/IP (Ethernet) 
-					_ACS.OpenCommEthernetTCP(
-						txtIP.Text, // IP Address (Default : 10.0.0.100)
-						Convert.ToInt32(txtPort.Text.Trim())); // TCP/IP Port nubmer (default : 701)
-				}
-				else if (rdoSimu.Checked)
-				{
-					// Simmulation mode
-					_ACS.OpenCommSimulator();
-				}
-
-				m_bConnected = true;
-
-				// Get Total number of axes
-				// Using Transaction function : return string text from controller, we need to convert to integer value
-				strTemp = _ACS.Transaction("?SYSINFO(13)");
-				m_nTotalAxis = Convert.ToInt32(strTemp.Trim());
-
-				// Using Sysinfo function
-				//_ACS.GetSysInfo(_ACS.ACSC_SYS_NAXES_KEY, out lfTemp);
-
-				// When we are using multi axes command (ex) ToPointM, HaltM, ...), we need to allocate the array size more 1.
-				// Because of the last delimeter (-1)
-				m_arrAxisList = new Axis[m_nTotalAxis + 1];
-				for (i = 0; i < m_nTotalAxis; i++)
-				{
-					cboAxisNo.Items.Add(i.ToString());
-					m_arrAxisList[i] = (Axis)i;
-				}
-
-				// Insert '-1' at the last
-				m_arrAxisList[m_nTotalAxis] = Axis.ACSC_NONE;
-				cboAxisNo.SelectedIndex = 0;
-
-				// Update current motion paramter to UI.
-				UpdateProfile();
-
-				strTemp = _ACS.Transaction("?SYSINFO(10)");
-				m_nTotalBuffer = Convert.ToInt32(strTemp.Trim());
-				for (i = 0; i < m_nTotalBuffer; i++)
-				{
-					cboBufferNo.Items.Add(i.ToString());
-				}
-
-				cboBufferNo.SelectedIndex = 0;
-
-				btnOpen.Enabled = false;
-				btnClose.Enabled = true;
-
-				// Set updating timer
-				tmrMonitor.Interval = 50;
-				tmrMonitor.Start();
-			}
-
-			catch (COMException comex)
-			{
-				MessageBox.Show("Connection fail", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				System.Diagnostics.Debug.WriteLine("Connection fail" + comex.Message);
-
-				m_bConnected = false;
-				return;
-			}
-
-			catch (Exception ex)
-			{
-				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				System.Diagnostics.Debug.WriteLine(ex.Message);
-			}
-		}
-
-		private void btnClose_Click(object sender, EventArgs e)
-		{
-			if (m_bConnected) _ACS.CloseComm();
-
-			tmrMonitor.Stop();
-
-			btnOpen.Enabled = true;
-			btnClose.Enabled = false;
-		}
-
-
-		/// <summary>
-		/// Terminate connections from SPiiPlus User Mode Driver
-		/// 终止来自 SPiiPlus 用户模式驱动程序的连接
-		///  - Maximum connections up to 10 in UMD
-		/// </summary>
-		private void TernminateUMD_Connection()
-		{
-			try
-			{
-				string terminateExceptionConnName = "ACS.Framework.exe";
-
-				ACSC_CONNECTION_DESC[] connectionList = _ACS.GetConnectionsList();
-				for (int index = 0; index < connectionList.Length; index++)
-				{
-					if (terminateExceptionConnName.CompareTo((string)connectionList[index].Application) != 0)
-						_ACS.TerminateConnection(connectionList[index]);
-				}
-			}
-			catch (Exception ex)
-			{
-				System.Diagnostics.Debug.WriteLine(ex.ToString());
-			}
-		}
-
-		#endregion
-
-		#region Update UI data from Controller
-
-		/// <summary>
-		/// Update Motion Profile from Controller
-		/// </summary>
-		private void UpdateProfile()
-		{
-			if (m_bConnected)
-			{
-				txtVel.Text = _ACS.GetVelocity((Axis)cboAxisNo.SelectedIndex).ToString();
-				txtAcc.Text = _ACS.GetAcceleration((Axis)cboAxisNo.SelectedIndex).ToString();
-				txtDec.Text = _ACS.GetDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
-				txtKdec.Text = _ACS.GetKillDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
-				txtJerk.Text = _ACS.GetJerk((Axis)cboAxisNo.SelectedIndex).ToString();
-			}
-		}
-
-		private void cboAxisNo_SelectedIndexChanged(object sender, EventArgs e)
-		{
-			UpdateProfile();
-		}
-
-		private void tmrMonitor_Tick(object sender, EventArgs e)
-		{
-			// Get selected axis number
-			int iAxisNo = cboAxisNo.SelectedIndex;
-			// Get selected buffer number
-			int iBufferNo = cboBufferNo.SelectedIndex;
-
-			if (m_bConnected)
-			{
-				try
-				{
-					// Instruction 1. Using library functions - acsc_GetFPosition, acsc_GetRPosition, ....
-					// Instruction 2. Read ACS variable - Already defined almost things (FPOS, RPOS, ...)
-					//                Motion parameters and state is array (Max length is total number of axes)
-					//
-					// * Library function can read only 1 axis information, so if you want to read several axes, you have to call the function many times.
-					//   (This may cause communication delay.)
-					//   Recommand (if you want to read many axes) : read/write variable using ReadVariable, ReadVariableScalar, ReadVariableVector, ReadVariableMatrix
-
-					//   
-					// Get Motor State 
-					// ACSPL+ Variable : MST (integer)
-					m_nMotorState = _ACS.GetMotorState((Axis)iAxisNo);
-
-					// Returned value is integer, you need to use bitmaks 
-					if ((m_nMotorState & MotorStates.ACSC_MST_MOVE) != 0) lblMoving.Image = Properties.Resources.On;
-					else lblMoving.Image = Properties.Resources.Off; // 运动中
-					if ((m_nMotorState & MotorStates.ACSC_MST_INPOS) != 0) lblInPos.Image = Properties.Resources.On;
-					else lblInPos.Image = Properties.Resources.Off; // 就位
-					if ((m_nMotorState & MotorStates.ACSC_MST_ACC) != 0) lblAcc.Image = Properties.Resources.On;
-					else lblAcc.Image = Properties.Resources.Off; // 加速
-					if ((m_nMotorState & MotorStates.ACSC_MST_ENABLE) != 0) lblEnable.Image = Properties.Resources.On;
-					else lblEnable.Image = Properties.Resources.Off; // 使能
-
-					// Reference position
-					// ACSPL+ Variable : RPOS (real)
-					m_lfRPos = _ACS.GetRPosition((Axis)iAxisNo); // 参考位置
-
-					// Feedback position (Encoder value)
-					// ACSPL+ Variable : FPO (real)
-					m_lfFPos = _ACS.GetFPosition((Axis)iAxisNo); //反馈位置 
-
-					// PE (Position Error)
-					// There is no function in library. We need to use ReadVariable function
-					m_lfPE = (double)_ACS.ReadVariable("PE", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //位置误差
-
-					// Feedback Velocity
-					m_lfFVEL = (double)_ACS.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //实际速度
-
-					txtRPOS.Text = String.Format("{0:0.0000}", m_lfRPos);
-					txtFPOS.Text = String.Format("{0:0.0000}", m_lfFPos);
-					txtPE.Text = String.Format("{0:0.0000}", m_lfPE);
-					txtFVEL.Text = String.Format("{0:0.0000}", m_lfFVEL);
-
-					// Program State 运动状态
-					// State : Compiled, Running, Suspended, Autoroutine is running (ON syntax)
-					// 
-					// ACSPL+ Variable : PST (integer)
-					m_nProgramState = _ACS.GetProgramState((ProgramBuffer)iBufferNo);
-					if ((m_nProgramState & ProgramStates.ACSC_PST_RUN) != 0)
-					{
-						lblPRG_Status_LED.Image = Properties.Resources.On;
-						lblPRG_Status.Text = "Running";
-					}
-					else
-					{
-						lblPRG_Status_LED.Image = Properties.Resources.Off;
-						lblPRG_Status.Text = "Stop";
-					}
-
-					// Read left/right hardware limits state
-					// ACSPL+ Variable : FAULT (integer)
-					m_objReadVar =
-						_ACS.ReadVariableAsVector("FAULT", ProgramBuffer.ACSC_NONE, 0, m_nTotalAxis - 1, -1, -1);
-					if (m_objReadVar != null)
-					{
-						m_arrReadVector = m_objReadVar as Array;
-						if (m_arrReadVector != null)
-						{
-							for (int i = 0; i < m_nTotalAxis; i++)
-							{
-								UpdateLimitState(i, (int)m_arrReadVector.GetValue(i));
-							}
-						}
-					}
-
-					// Read digital input/output (Port means all of bits)
-					// If you want to read only 1 bit (not an integer), use "GetInput" function
-					m_nValues = _ACS.GetInputPort(0); // _ACS.ReadVariableAsVector("IN", -1, 0, 0, -1, -1);
-					UpdateIOState(m_nValues, true);
-
-					m_nOutputState = _ACS.GetOutputPort(0); // _ACS.ReadVariableAsVector("OUT", -1, 0, 0, -1, -1);
-					UpdateIOState(m_nOutputState, false);
-				}
-				catch (Exception ex)
-				{
-					MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
-					System.Diagnostics.Debug.WriteLine(ex.Message);
-				}
-			}
-		}
-
-		// Update limit state
-		private void UpdateLimitState(int axisNo, int fault)
-		{
-			if (axisNo < MAX_UI_LIMIT_CNT)
-			{
-				if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_LL) != 0)
-					m_lblLeftLimit[axisNo].Image = Properties.Resources.Error;
-				else m_lblLeftLimit[axisNo].Image = Properties.Resources.Off;
-				if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_RL) != 0)
-					m_lblRightLimit[axisNo].Image = Properties.Resources.Error;
-				else m_lblRightLimit[axisNo].Image = Properties.Resources.Off;
-			}
-		}
-
-		// Update general I/O stae
-		private void UpdateIOState(int value, bool isInput)
-		{
-			int bitUpCnt = 0x01;
-
-			for (int i = 0; i < MAX_UI_IO_CNT; i++)
-			{
-				if (isInput)
-				{
-					// Input state
-					if ((value & bitUpCnt) != 0) m_lblInput[i].Image = Properties.Resources.On;
-					else m_lblInput[i].Image = Properties.Resources.Off;
-				}
-				else
-				{
-					// Output state
-					if ((value & bitUpCnt) != 0)
-					{
-						m_btnOutput[i].Text = "OFF";
-						m_lblOutput[i].Image = Properties.Resources.On;
-					}
-					else
-					{
-						m_btnOutput[i].Text = "ON";
-						m_lblOutput[i].Image = Properties.Resources.Off;
-					}
-				}
-
-				// 0x01 => 0x02 => 0x04 => 0x08 ... increase bit number
-				bitUpCnt = (0x01) << (i + 1);
-			}
-		}
-
-		#endregion
-
-		#region Motor Enable / Disable
-
-		private void btnEnable_Click(object sender, EventArgs e)
-		{
-			// Enable selected axis
-			_ACS.Enable((Axis)cboAxisNo.SelectedIndex);
-
-			// If you want to enable several axes, 
-			// 
-			// Ex) Eanble three axes (0, 1, 6)
-			//
-			// int[] AxisList = new int[] { 0, 1, 6, -1 };      !!!! Important !! Must insert '-1' at the last
-			// _ACS.EnableM(AxisList);
-		}
-
-		private void btnDisable_Click(object sender, EventArgs e)
-		{
-			// Disable selected axis
-			_ACS.Disable((Axis)cboAxisNo.SelectedIndex);
-			// Disable multi axes : DisableM(int[] axisList)
-		}
-
-		private void btnDisableAll_Click(object sender, EventArgs e)
-		{
-			// Disable all of axes
-			_ACS.DisableAll();
-		}
-
-		#endregion
-
-		private void btnSetZero_Click(object sender, EventArgs e)
-		{
-			// Change current poisition as you want
-			// SetFPosition(Axis number, new position)
-			_ACS.SetFPosition((Axis)cboAxisNo.SelectedIndex, 0);
-		}
-
-		#region Move to absolute position
-
-		private void btnPTP_Click(object sender, EventArgs e)
-		{
-			double lfTargetPos = 0.0f;
-			try
-			{
-				if (txtPTP_Pos.Text.Length > 0)
-				{
-					lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
-					_ACS.ToPoint(
-						0, // '0' - Absolute position
-						(Axis)cboAxisNo.SelectedIndex, // Axis number
-						lfTargetPos // Target position
-					);
-				}
-			}
-			catch (Exception ex)
-			{
-				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				System.Diagnostics.Debug.WriteLine(ex.Message);
-			}
-		}
-
-		#endregion
-
-		#region Move to relative position (from current position)
-
-		private void btnPTP_R_Neg_Click(object sender, EventArgs e)
-		{
-			double lfTargetPos = 0.0f;
-			try
-			{
-				if (txtPTP_Pos.Text.Length > 0)
-				{
-					lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
-					if (lfTargetPos > 0)
-						lfTargetPos = lfTargetPos * (-1); // Target position (from current position, step move)
-
-					_ACS.ToPoint(
-						MotionFlags.ACSC_AMF_RELATIVE, // Flat
-						(Axis)cboAxisNo.SelectedIndex, // Axis number
-						lfTargetPos // Move distance
-					);
-				}
-			}
-			catch (Exception ex)
-			{
-				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				System.Diagnostics.Debug.WriteLine(ex.Message);
-			}
-		}
-
-		private void btnPTP_R_Pos_Click(object sender, EventArgs e)
-		{
-			double lfTargetPos = 0.0f;
-			try
-			{
-				if (txtPTP_Pos.Text.Length > 0)
-				{
-					lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
-					if (lfTargetPos < 0) lfTargetPos = lfTargetPos * (-1);
-
-					_ACS.ToPoint(MotionFlags.ACSC_AMF_RELATIVE, (Axis)cboAxisNo.SelectedIndex, lfTargetPos);
-				}
-			}
-			catch (Exception ex)
-			{
-				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				System.Diagnostics.Debug.WriteLine(ex.Message);
-			}
-		}
-
-		#endregion
-
-		#region Stop motion using deceleration (halt command)
-
-		private void btnHalt_Click(object sender, EventArgs e)
-		{
-			try
-			{
-				_ACS.Halt((Axis)cboAxisNo.SelectedIndex); //使用 halt 命令减速
-			}
-			catch (Exception ex)
-			{
-				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				System.Diagnostics.Debug.WriteLine(ex.Message);
-			}
-		}
-
-		private void btnHallAll_Click(object sender, EventArgs e)
-		{
-			try
-			{
-				// There is no halt all command, so you need to user HaltM function
-				// 
-				// ex) You want to stop 0, 2, 5 axis
-				//     int[] m_arrAxisList = new int[] { 0, 2, 5, -1 };
-				// 
-				if (m_arrAxisList != null) _ACS.HaltM(m_arrAxisList);
-			}
-			catch (Exception ex)
-			{
-				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				System.Diagnostics.Debug.WriteLine(ex.Message);
-			}
-		}
-
-		#endregion
-
-		#region JOG Command
-
-		// Move negative direction
-		private void btnJogNeg_MouseDown(object sender, MouseEventArgs e)
-		{
-			double lfVelocity = 0.0f;
-
-			try
-			{
-				if (chkUseVel.Checked)
-				{
-					lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
-					if (lfVelocity > 0) lfVelocity = lfVelocity * (-1); // Negative direction : Using - (minus) velocity
-
-					_ACS.Jog(
-						MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
-						(Axis)cboAxisNo.SelectedIndex, // Axis number
-						lfVelocity // Velocity
-					);
-				}
-				else
-				{
-					_ACS.Jog(0, (Axis)cboAxisNo.SelectedIndex, (double)GlobalDirection.ACSC_NEGATIVE_DIRECTION);
-				}
-			}
-			catch (Exception ex)
-			{
-				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				System.Diagnostics.Debug.WriteLine(ex.Message);
-			}
-		}
-
-		// 정방향 이동 동작
-		private void btnJogPos_MouseDown(object sender, MouseEventArgs e)
-		{
-			double lfVelocity = 0.0f;
-
-			try
-			{
-				if (chkUseVel.Checked)
-				{
-					lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
-					if (lfVelocity < 0) lfVelocity = lfVelocity * (-1);
-
-					_ACS.Jog(MotionFlags.ACSC_AMF_VELOCITY, (Axis)cboAxisNo.SelectedIndex, lfVelocity);
-				}
-				else
-				{
-					_ACS.Jog(0, (Axis)cboAxisNo.SelectedIndex, (double)GlobalDirection.ACSC_POSITIVE_DIRECTION);
-				}
-			}
-			catch (Exception ex)
-			{
-				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				System.Diagnostics.Debug.WriteLine(ex.Message);
-			}
-		}
-
-		// Stop JOG motion
-		private void btnJog_MouseUp(object sender, MouseEventArgs e)
-		{
-			_ACS.Halt((Axis)cboAxisNo.SelectedIndex);
-		}
-
-		#endregion
-
-		#region Run/Stop Buffer Program
-
-		private void btnRunBuffer_Click(object sender, EventArgs e)
-		{
-			string temp;
-
-			try
-			{
-				if (txtLabelName.Text.Length > 0)
-				{
-					temp = txtLabelName.Text.ToUpper();
-					// Allow _ (Under bar) or A ~ Z characters
-					if (temp[0] != 0x5F && (temp[0] < 0x41 || temp[0] > 0x5A))
-					{
-						MessageBox.Show("Wrong 'Label' name inputed.", "ERROR", MessageBoxButtons.OK,
-							MessageBoxIcon.Information);
-						return;
-					}
-
-					// Run buffer program from label position
-					_ACS.RunBuffer((ProgramBuffer)cboBufferNo.SelectedIndex, txtLabelName.Text.Trim());
-				}
-				else
-				{
-					// Run buffer program from first line
-					_ACS.RunBuffer((ProgramBuffer)cboBufferNo.SelectedIndex, null);
-				}
-			}
-			catch (Exception ex)
-			{
-				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				System.Diagnostics.Debug.WriteLine(ex.Message);
-			}
-		}
-
-		private void btnStopBuffer_Click(object sender, EventArgs e)
-		{
-			// Stop program
-			_ACS.StopBuffer((ProgramBuffer)cboBufferNo.SelectedIndex);
-		}
-
-		#endregion
-
-		#region Change motion profile
-
-		private void TextBoxes_KeyPress(object sender, KeyPressEventArgs e)
-		{
-			try
-			{
-				double lfTemp = 0.0f;
-				TextBox textBox = sender as TextBox;
-				if (textBox != null)
-				{
-					// Allow numbers (0 ~ 9), . (DOT), Backspace
-					if ((e.KeyChar >= 0x30 && e.KeyChar <= 0x39) || e.KeyChar == 0x2E || e.KeyChar == 0x08 ||
-					    e.KeyChar == (char)Keys.Return || e.KeyChar == (char)Keys.Enter)
-					{
-						if ((e.KeyChar == 0x2E) && (textBox.Text.Contains(Convert.ToString(0x2E))))
-							e.KeyChar = (char)0x00;
-						if (e.KeyChar == (char)Keys.Return || e.KeyChar == (char)Keys.Enter)
-						{
-							e.Handled = true;
-
-							lfTemp = Convert.ToDouble(textBox.Text.Trim());
-							switch (textBox.TabIndex)
-							{
-								// Immediately change value (On the fly) : SetVelocityImm() 
-								// Affect next motion	: SetVelocity()	
-
-								case 0:
-									_ACS.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
-									break;
-								case 1:
-									_ACS.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
-									break;
-								case 2:
-									_ACS.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
-									break;
-								case 3:
-									_ACS.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
-									break;
-								case 4:
-									_ACS.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
-									break;
-							}
-
-							textBox.SelectAll();
-						}
-					}
-					else e.KeyChar = (char)0x00;
-				}
-			}
-			catch (Exception ex)
-			{
-				System.Diagnostics.Debug.WriteLine("TextBoxes_KeyPress() Error\n" + ex.ToString());
-			}
-		}
-
-		private void TextBoxes_Enter(object sender, EventArgs e)
-		{
-			try
-			{
-				TextBox textBox = sender as TextBox;
-				if (textBox != null) textBox.SelectAll();
-			}
-			catch (Exception ex)
-			{
-				System.Diagnostics.Debug.WriteLine("TextBoxes_Enter() Error\n" + ex.ToString());
-			}
-		}
-
-		private void TextBoxes_Leave(object sender, EventArgs e)
-		{
-			try
-			{
-				double lfTemp = 0.0f;
-
-				TextBox textBox = sender as TextBox;
-				if (textBox == null) return;
-
-				lfTemp = Convert.ToDouble(textBox.Text.Trim());
-				switch (textBox.TabIndex)
-				{
-					case 0:
-						_ACS.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
-						break;
-					case 1:
-						_ACS.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
-						break;
-					case 2:
-						_ACS.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
-						break;
-					case 3:
-						_ACS.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
-						break;
-					case 4:
-						_ACS.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp);
-						break;
-				}
-
-				textBox.SelectAll();
-			}
-			catch (Exception ex)
-			{
-				System.Diagnostics.Debug.WriteLine("TextBoxes_Leave() Error\n" + ex.ToString());
-			}
-		}
-
-		#endregion
-
-		#region On and Off General Output
-
-		private void btnSW_Click(object sender, EventArgs e)
-		{
-			int nBitNo = 0x01;
-
-			try
-			{
-				Button btn = sender as Button;
-				if (btn == null) return;
-
-				nBitNo = btn.TabIndex;
-				nBitNo = (0x01) << nBitNo; //左移几位
-
-				if ((m_nOutputState & nBitNo) != 0)
-				{
-					// Set only 1 bit
-					_ACS.SetOutput(
-						0, // Port number
-						btn.TabIndex, // Bit number
-						0 // 0 = OFF, 1 = ON
-					);
-
-					// If your I/O device is EtherCAT type, you cannot use this function
-					// You can use WriteVariable function and Command function   
-					// 
-					// Ex) If EtherCAT mapped variable is 'EC_DOUT'
-					//     Want to ON bit '3'
-					//     _ACS.Command("EC_DOUT.3=1");
-				}
-				else
-				{
-					_ACS.SetOutput(0, btn.TabIndex, 1);
-				}
-			}
-			catch (Exception ex)
-			{
-				System.Diagnostics.Debug.WriteLine("btnSW_Click() Error\n" + ex.ToString());
-			}
-		}
-
-		#endregion
-
-		#region Event
-
-		private void btnEventMotionEnd_Click(object sender, EventArgs e)
-		{
-			//_ACS.PHYSICALMOTIONEND +=_ACS_PHYSICALMOTIONEND;
-			_ACS.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
-			lstLog.Items.Add("PHYSICAL_MOTION_END event enabled");
-		}
-
-		void _ACS_PHYSICALMOTIONEND(AxisMasks axis)
-		{
-			int bit = 0x01;
-			int axisNo = 0;
-			// Param value is bit number 
-			// Bit Number = Axis Number
-			for (int i = 0; i < 64; i++)
-			{
-				if ((int)axis == bit)
-				{
-					axisNo = i;
-					break;
-				}
-
-				bit = bit << 1;
-			}
-
-			// Add log to ListBox
-			this.Invoke((MethodInvoker)delegate
-			{
-				lstLog.Items.Add(String.Format(" - Axis {0}, Stoppped", axisNo));
-				lstLog.SelectedIndex = lstLog.Items.Count - 1;
-			});
-		}
-
-		private void btnEventProgramEnd_Click(object sender, EventArgs e)
-		{
-			//_ACS.PROGRAMEND += _ACS_PROGRAMEND;
-			_ACS.EnableEvent(Interrupts.ACSC_INTR_PROGRAM_END);
-			lstLog.Items.Add("PROGRAM_END event enabled");
-		}
-
-		void _ACS_PROGRAMEND(BufferMasks buffer)
-		{
-			int bit = 0x01;
-			int bufferNo = 0;
-			// Param value is bit number 
-			// Bit Number = Axis Number
-			for (int i = 0; i < 32; i++)
-			{
-				if ((int)buffer == bit)
-				{
-					bufferNo = i;
-					break;
-				}
-
-				bit = bit << 1;
-			}
-
-			// Add log to ListBox
-			this.Invoke((MethodInvoker)delegate
-			{
-				lstLog.Items.Add(String.Format(" - Buffer {0}, Stoppped", bufferNo));
-				lstLog.SelectedIndex = lstLog.Items.Count - 1;
-			});
-		}
-
-		#endregion
-
-		#region Communication Termial - Using Transaction function
-
-		private void txtCommand_KeyPress(object sender, KeyPressEventArgs e)
-		{
-			if (e.KeyChar == (char)Keys.Enter)
-				btnSend.PerformClick();
-		}
-
-		private void btnSend_Click(object sender, EventArgs e)
-		{
-			string temp = string.Empty;
-			if (m_bConnected)
-			{
-				try
-				{
-					AppendTextToTextBox("> " + txtCommand.Text.Trim());
-					temp = _ACS.Transaction(txtCommand.Text.Trim());
-				}
-				catch (ACS.SPiiPlusNET.ACSException ex)
-				{
-					temp = String.Format("?{0}", ex.ErrorCode);
-				}
-				finally
-				{
-					if (temp.Length > 0)
-					{
-						AppendTextToTextBox(temp);
-						AppendTextToTextBox(":");
-					}
-				}
-
-				txtCommand.Focus();
-				txtCommand.SelectAll();
-			}
-		}
-
-		private void AppendTextToTextBox(string text)
-		{
-			rtxtTerminal.AppendText(text);
-			rtxtTerminal.AppendText(Environment.NewLine);
-			rtxtTerminal.ScrollToCaret();
-		}
-
-		#endregion
-	}
-}
\ No newline at end of file
diff --git a/HexcalMC/MainForm.resx b/HexcalMC/MainForm.resx
deleted file mode 100644
index 8a60b22..0000000
--- a/HexcalMC/MainForm.resx
+++ /dev/null
@@ -1,1561 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<root>
-  <!-- 
-    Microsoft ResX Schema 
-    
-    Version 2.0
-    
-    The primary goals of this format is to allow a simple XML format 
-    that is mostly human readable. The generation and parsing of the 
-    various data types are done through the TypeConverter classes 
-    associated with the data types.
-    
-    Example:
-    
-    ... ado.net/XML headers & schema ...
-    <resheader name="resmimetype">text/microsoft-resx</resheader>
-    <resheader name="version">2.0</resheader>
-    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
-    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
-    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
-    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
-    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
-        <value>[base64 mime encoded serialized .NET Framework object]</value>
-    </data>
-    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
-        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
-        <comment>This is a comment</comment>
-    </data>
-                
-    There are any number of "resheader" rows that contain simple 
-    name/value pairs.
-    
-    Each data row contains a name, and value. The row also contains a 
-    type or mimetype. Type corresponds to a .NET class that support 
-    text/value conversion through the TypeConverter architecture. 
-    Classes that don't support this are serialized and stored with the 
-    mimetype set.
-    
-    The mimetype is used for serialized objects, and tells the 
-    ResXResourceReader how to depersist the object. This is currently not 
-    extensible. For a given mimetype the value must be set accordingly:
-    
-    Note - application/x-microsoft.net.object.binary.base64 is the format 
-    that the ResXResourceWriter will generate, however the reader can 
-    read any of the formats listed below.
-    
-    mimetype: application/x-microsoft.net.object.binary.base64
-    value   : The object must be serialized with 
-            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
-            : and then encoded with base64 encoding.
-    
-    mimetype: application/x-microsoft.net.object.soap.base64
-    value   : The object must be serialized with 
-            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
-            : and then encoded with base64 encoding.
-
-    mimetype: application/x-microsoft.net.object.bytearray.base64
-    value   : The object must be serialized into a byte array 
-            : using a System.ComponentModel.TypeConverter
-            : and then encoded with base64 encoding.
-    -->
-  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
-    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
-    <xsd:element name="root" msdata:IsDataSet="true">
-      <xsd:complexType>
-        <xsd:choice maxOccurs="unbounded">
-          <xsd:element name="metadata">
-            <xsd:complexType>
-              <xsd:sequence>
-                <xsd:element name="value" type="xsd:string" minOccurs="0" />
-              </xsd:sequence>
-              <xsd:attribute name="name" use="required" type="xsd:string" />
-              <xsd:attribute name="type" type="xsd:string" />
-              <xsd:attribute name="mimetype" type="xsd:string" />
-              <xsd:attribute ref="xml:space" />
-            </xsd:complexType>
-          </xsd:element>
-          <xsd:element name="assembly">
-            <xsd:complexType>
-              <xsd:attribute name="alias" type="xsd:string" />
-              <xsd:attribute name="name" type="xsd:string" />
-            </xsd:complexType>
-          </xsd:element>
-          <xsd:element name="data">
-            <xsd:complexType>
-              <xsd:sequence>
-                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
-                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
-              </xsd:sequence>
-              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
-              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
-              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
-              <xsd:attribute ref="xml:space" />
-            </xsd:complexType>
-          </xsd:element>
-          <xsd:element name="resheader">
-            <xsd:complexType>
-              <xsd:sequence>
-                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
-              </xsd:sequence>
-              <xsd:attribute name="name" type="xsd:string" use="required" />
-            </xsd:complexType>
-          </xsd:element>
-        </xsd:choice>
-      </xsd:complexType>
-    </xsd:element>
-  </xsd:schema>
-  <resheader name="resmimetype">
-    <value>text/microsoft-resx</value>
-  </resheader>
-  <resheader name="version">
-    <value>2.0</value>
-  </resheader>
-  <resheader name="reader">
-    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </resheader>
-  <resheader name="writer">
-    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
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-  <metadata name="tmrMonitor.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>17, 17</value>
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-        MZeYvYdTAAAAAElFTkSuQmCC
-</value>
-  </data>
-</root>
\ No newline at end of file
diff --git a/HexcalMC/Program.cs b/HexcalMC/Program.cs
index b438565..238c9ed 100644
--- a/HexcalMC/Program.cs
+++ b/HexcalMC/Program.cs
@@ -2,7 +2,7 @@
 using System.Collections.Generic;
 using System.Windows.Forms;
 
-namespace ACS_DotNET_Library_Advanced_Demo
+namespace HexcalMC
 {
 	static class Program
 	{
@@ -11,7 +11,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
 		{
 			Application.EnableVisualStyles();
 			Application.SetCompatibleTextRenderingDefault(false);
-			Application.Run(new MainForm());
+			Application.Run(new MainFrom());
 		}
 	}
 }
diff --git a/HexcalMC/Properties/AssemblyInfo.cs b/HexcalMC/Properties/AssemblyInfo.cs
index 6fe64c6..a622881 100644
--- a/HexcalMC/Properties/AssemblyInfo.cs
+++ b/HexcalMC/Properties/AssemblyInfo.cs
@@ -3,11 +3,11 @@ using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 
 
-[assembly: AssemblyTitle("ACS_DotNET_Library_Advanced_Demo")]
+[assembly: AssemblyTitle("HexcalMC")]
 [assembly: AssemblyDescription("")]
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("ACS_DotNET_Library_Advanced_Demo")]
+[assembly: AssemblyProduct("HexcalMC")]
 [assembly: AssemblyCopyright("Copyright ©  2019")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
diff --git a/HexcalMC/Properties/Resources.Designer.cs b/HexcalMC/Properties/Resources.Designer.cs
index dac6174..fc8b746 100644
--- a/HexcalMC/Properties/Resources.Designer.cs
+++ b/HexcalMC/Properties/Resources.Designer.cs
@@ -8,7 +8,7 @@
 // </auto-generated>
 //------------------------------------------------------------------------------
 
-namespace ACS_DotNET_Library_Advanced_Demo.Properties {
+namespace HexcalMC.Properties {
     using System;
     
     
@@ -19,7 +19,7 @@ namespace ACS_DotNET_Library_Advanced_Demo.Properties {
     // 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
     // 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
     // (以 /str 作为命令选项)，或重新生成 VS 项目。
-    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "15.0.0.0")]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")]
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
     internal class Resources {
@@ -39,7 +39,7 @@ namespace ACS_DotNET_Library_Advanced_Demo.Properties {
         internal static global::System.Resources.ResourceManager ResourceManager {
             get {
                 if (object.ReferenceEquals(resourceMan, null)) {
-                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("ACS_DotNET_Library_Advanced_Demo.Properties.Resources", typeof(Resources).Assembly);
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("HexcalMC.Properties.Resources", typeof(Resources).Assembly);
                     resourceMan = temp;
                 }
                 return resourceMan;
@@ -47,8 +47,8 @@ namespace ACS_DotNET_Library_Advanced_Demo.Properties {
         }
         
         /// <summary>
-        ///   重写当前线程的 CurrentUICulture 属性
-        ///   重写当前线程的 CurrentUICulture 属性。
+        ///   重写当前线程的 CurrentUICulture 属性，对
+        ///   使用此强类型资源类的所有资源查找执行重写。
         /// </summary>
         [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
         internal static global::System.Globalization.CultureInfo Culture {
@@ -60,6 +60,16 @@ namespace ACS_DotNET_Library_Advanced_Demo.Properties {
             }
         }
         
+        /// <summary>
+        ///   查找 System.Drawing.Bitmap 类型的本地化资源。
+        /// </summary>
+        internal static System.Drawing.Bitmap about {
+            get {
+                object obj = ResourceManager.GetObject("about", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
         /// <summary>
         ///   查找 System.Drawing.Bitmap 类型的本地化资源。
         /// </summary>
@@ -70,6 +80,26 @@ namespace ACS_DotNET_Library_Advanced_Demo.Properties {
             }
         }
         
+        /// <summary>
+        ///   查找 System.Drawing.Bitmap 类型的本地化资源。
+        /// </summary>
+        internal static System.Drawing.Bitmap help {
+            get {
+                object obj = ResourceManager.GetObject("help", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        /// <summary>
+        ///   查找 System.Drawing.Bitmap 类型的本地化资源。
+        /// </summary>
+        internal static System.Drawing.Bitmap Hexagon {
+            get {
+                object obj = ResourceManager.GetObject("Hexagon", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
         /// <summary>
         ///   查找类似于 (图标) 的 System.Drawing.Icon 类型的本地化资源。
         /// </summary>
@@ -80,6 +110,16 @@ namespace ACS_DotNET_Library_Advanced_Demo.Properties {
             }
         }
         
+        /// <summary>
+        ///   查找 System.Drawing.Bitmap 类型的本地化资源。
+        /// </summary>
+        internal static System.Drawing.Bitmap motion {
+            get {
+                object obj = ResourceManager.GetObject("motion", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
         /// <summary>
         ///   查找 System.Drawing.Bitmap 类型的本地化资源。
         /// </summary>
diff --git a/HexcalMC/Properties/Resources.resx b/HexcalMC/Properties/Resources.resx
index 0f0f611..b3ff302 100644
--- a/HexcalMC/Properties/Resources.resx
+++ b/HexcalMC/Properties/Resources.resx
@@ -117,17 +117,30 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
-  <data name="Error" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Images\Error.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-  </data>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="HexagonNew" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Images\HexagonNew.ico;System.Drawing.Icon, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="Off" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Images\Off.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-  </data>
   <data name="On" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Images\On.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="help" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\help.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="Error" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Images\Error.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="Off" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Images\Off.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="motion" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\motion.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="about" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\about.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="Hexagon" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\Hexagon.ico;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
 </root>
\ No newline at end of file
diff --git a/HexcalMC/Properties/Settings.Designer.cs b/HexcalMC/Properties/Settings.Designer.cs
index b21dc61..a545888 100644
--- a/HexcalMC/Properties/Settings.Designer.cs
+++ b/HexcalMC/Properties/Settings.Designer.cs
@@ -8,7 +8,7 @@
 // </auto-generated>
 //------------------------------------------------------------------------------
 
-namespace ACS_DotNET_Library_Advanced_Demo.Properties
+namespace HexcalMC.Properties
 {
 
 
diff --git a/HexcalMC/Properties/licenses.licx b/HexcalMC/Properties/licenses.licx
index 0700dbb..a6eaac5 100644
--- a/HexcalMC/Properties/licenses.licx
+++ b/HexcalMC/Properties/licenses.licx
@@ -1 +1,6 @@
+Telerik.WinControls.UI.RadSplitContainer, Telerik.WinControls.UI, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e
+Telerik.WinControls.RadThemeManager, Telerik.WinControls, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e
+Telerik.WinControls.UI.RadStatusStrip, Telerik.WinControls.UI, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e
 Telerik.WinControls.UI.RadGroupBox, Telerik.WinControls.UI, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e
+Telerik.WinControls.UI.RadRibbonBar, Telerik.WinControls.UI, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e
+Telerik.WinControls.UI.RadSchedulerNavigator, Telerik.WinControls.Scheduler, Version=2018.3.1016.20, Culture=neutral, PublicKeyToken=5bb2a467cbec794e