update loader scheduler

CyberX8_RT/Config/Devices/FestoControllerCfg-Simulator.xml

@@ -117,9 +117,9 @@
 		<DO Name="Festo.DO55" Address="40009" Invert="false" Bit="7"/>
 	</FestoDeviceConfig>
 	<FestoDeviceConfig Name="Festo3" IpAddress="127.0.0.1" Port="502" SendTimeout="2000" RecvTimeout="2000" DIStartAddress="45395" Channel="1">
-		<DO Name="c_Transporter_Clamp"  Address="40003" Invert="false" Bit="0"/>
+		<DO Name="c_TRANSPORT1_DROP_BLOCK_LOCK"  Address="40003" Invert="false" Bit="0"/>
 		<DO Name="Festo.DO1" Address="40003" Invert="false" Bit="1"/>
-		<DO Name="c_Transporter2_Clamp"  Address="40003" Invert="false" Bit="2"/>
+		<DO Name="c_TRANSPORT2_DROP_BLOCK_LOCK"  Address="40003" Invert="false" Bit="2"/>
 		<DO Name="Festo.DO3" Address="40003" Invert="false" Bit="3"/>
 		<DO Name="c_Cathode_Clamp" Address="40003" Invert="false" Bit="4"/>
 		<DO Name="Festo.DO5" Address="40003" Invert="false" Bit="5"/>
@@ -131,12 +131,12 @@
 		<DO Name="c_LOADERB_BERNOULLI_BLADDER" Address="40004" Invert="false" Bit="3"/>
 		<DO Name="c_LoaderA_LS_Vacuum" Address="40004" Invert="true" Bit="4"/>
 		<DO Name="c_LoaderB_LS_Vacuum" Address="40004" Invert="true" Bit="5"/>
-		<DO Name="c_DPUF_A_CHUCK_A_RELEASE" Address="40004" Invert="true" Bit="6"/>
-		<DO Name="c_DPUF_A_CHUCK_B_RELEASE" Address="40004" Invert="true" Bit="7"/>
-		<DO Name="Festo.DO16" Address="40005" Invert="false" Bit="0"/>
-		<DO Name="Fest3.DO17" Address="40005" Invert="false" Bit="1"/>
-		<DO Name="c_LOADERA_BERNOULLI_N2" Address="40005" Invert="false" Bit="2"/>
-		<DO Name="c_LOADERB_BERNOULLI_N2" Address="40005" Invert="false" Bit="3"/>
+		<DO Name="c_DPUF_A_CHUCK_A_RELEASE" Address="40004" Invert="false" Bit="6"/>
+		<DO Name="c_DPUF_A_CHUCK_B_RELEASE" Address="40004" Invert="false" Bit="7"/>
+		<DO Name="c_LOADERA_BERNOULLI_N2" Address="40005" Invert="false" Bit="0"/>
+		<DO Name="c_LOADERB_BERNOULLI_N2" Address="40005" Invert="false" Bit="1"/>
+		<DO Name="Festo.DO18" Address="40005" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO19" Address="40005" Invert="false" Bit="3"/>
 		<DO Name="Festo.DO20" Address="40005" Invert="false" Bit="4"/>
 		<DO Name="Festo.DO21" Address="40005" Invert="false" Bit="5"/>
 		<DO Name="Festo.DO22" Address="40005" Invert="false" Bit="6"/>

CyberX8_RT/Config/Devices/GalilControllerCfg-Simulator.xml

@@ -157,15 +157,6 @@
 	<GalilDeviceConfig Module="Transporter1" IpAddress="127.0.0.1" Port="58680" SendTimeout="2000" RecvTimeout="2000" GalilType="Galil21">
 		<Dig_In>
 			<DI Name="r_TRANSPORT1_WS_HOLD_PRESENT"  Address="0" Invert="true" Bit="4"/>
-			<DI Name="DI1"  Address="1" Invert="false"/>
-			<DI Name="DI2"  Address="2" Invert="false"/>
-			<DI Name="DI3"  Address="3" Invert="false"/>
-			<DI Name="DI4"  Address="4" Invert="false"/>
-			<DI Name="DI5"  Address="5" Invert="false"/>
-			<DI Name="DI6"  Address="6" Invert="false"/>
-			<DI Name="DI7"  Address="7" Invert="false"/>
-			<DI Name="DI8"  Address="8" Invert="false"/>
-			<DI Name="DI9"  Address="9" Invert="false"/>
 		</Dig_In>
 		<GalilAxisConfig Name="Transporter1.Elevator" Index="0" Type="Galil" CNType="-1">
 			<Speed>200000</Speed>
@@ -186,7 +177,7 @@
 			<Acceleration>400000</Acceleration>
 			<Deceleration>400000</Deceleration>
 			<HomingSpeed>10000</HomingSpeed>
-			<HomingOffset>1448437</HomingOffset>
+			<HomingOffset>1242187</HomingOffset>
 			<HomingTimeOut>60000</HomingTimeOut>
 			<HomingAcceleration>400000</HomingAcceleration>
 			<HomingDeceleration>800000</HomingDeceleration>
@@ -199,15 +190,6 @@
 	<GalilDeviceConfig Module="Transporter2" IpAddress="127.0.0.1" Port="58681" SendTimeout="2000" RecvTimeout="2000" GalilType="Galil21">
 		<Dig_In>
 			<DI Name="r_TRANSPORT2_WS_HOLD_PRESENT"  Address="0" Invert="true" Bit="4"/>
-			<DI Name="DI1"  Address="1" Invert="false"/>
-			<DI Name="DI2"  Address="2" Invert="false"/>
-			<DI Name="DI3"  Address="3" Invert="false"/>
-			<DI Name="D14"  Address="4" Invert="false"/>
-			<DI Name="DI5"  Address="5" Invert="false"/>
-			<DI Name="DI6"  Address="6" Invert="false"/>
-			<DI Name="DI7"  Address="7" Invert="false"/>
-			<DI Name="DI8"  Address="8" Invert="false"/>
-			<DI Name="DI9"  Address="9" Invert="false"/>
 		</Dig_In>
 		<GalilAxisConfig Name="Transporter2.Elevator" Index="0" Type="Galil" CNType="-1">
 			<Speed>200000</Speed>

CyberX8_RT/Config/Devices/WagoControllerCfg-Simulator.xml

@@ -292,7 +292,7 @@
 				<AI Name="AI8"  Address="8" Scaling="0=3276.7,-757.5=16383.5" DataType="short"/>
 				<AI Name="r_SYSTEM_EXHAUST"  Address="9" Scaling="0=0, 2=32767" DataType="short"/>
 				<AI Name="r_PREWET_FLOW"  Address="10" Scaling="0=3276.7,40=32767" DataType="short"/>
-				<AI Name="r_DI_WATER_PRESSURE"  Address="11" Scaling="0=0,100=32767" DataType="short"/>
+				<AI Name="r_DI_WATER_PRESSURE"  Address="11" Scaling="0=0, 100=32767" DataType="short"/>
 			</AIGroup>
 			<AIGroup Name="4">
 				<AI Name="r_PUMP1_FLOW"  Address="12" Scaling="0=3276.7,40=16383.5" DataType="short"/>
@@ -340,11 +340,11 @@
 				<AI Name="AI40"  Address="40" Scaling="0=3276.7,-757.5=16383.5" DataType="short"/>
 				<AI Name="AI41"  Address="41" Scaling="0=3276.7,-757.5=16383.5" DataType="short"/>
 				<AI Name="AI42"  Address="42" Scaling="13=0,150=32767" DataType="short"/>
-				<AI Name="r_HCW_FLOW"  Address="43" Scaling="0=0,40=32767" DataType="short"/>
+				<AI Name="r_HCW_FLOW"  Address="43" Scaling="0=0, 40=32767" DataType="short"/>
 			</AIGroup>
 			<AIGroup Name="12">
-				<AI Name="r_CDA_EXTERNAL_PRESSURE"  Address="44" Scaling="0=3276.7,145=16383.5" DataType="short"/>
-				<AI Name="r_CDA_HIGH_PRESSURE"  Address="45" Scaling="0=3276.7,145=16383.5" DataType="short"/>
+				<AI Name="r_CDA_EXTERNAL_PRESSURE"  Address="44" Scaling="0=3276.7, 145=16383.5" DataType="short"/>
+				<AI Name="r_CDA_HIGH_PRESSURE"  Address="45" Scaling="0=3276.7, 145=16383.5" DataType="short"/>
 				<AI Name="r_CDA_LOW_PRESSURE"  Address="46" Scaling="0=3276.7,145=16383.5" DataType="short"/>
 				<AI Name="AI47"  Address="47" Scaling="13=0,150=32767" DataType="short"/>
 			</AIGroup>
@@ -356,7 +356,7 @@
 			</AIGroup>
 			<AIGroup Name="14">
 				<AI Name="r_N2_2A_PRESSURE"  Address="52" Scaling="0=3276.7,145=16383.5" DataType="short"/>
-				<AI Name="r_N2_BLANKET_PRESSURE"  Address="53" Scaling="0=3276.7,14.5=16383.5" DataType="short"/>
+				<AI Name="r_N2_BLANKET_PRESSURE"  Address="53" Scaling="-14.5=3276.7, 14.5=16383.5" DataType="short"/>
 				<AI Name="r_SYSTEM_VACUUM"  Address="54" Scaling="-750=3276.7, 750=16383.5" DataType="short"/>
 				<AI Name="AI55"  Address="55" Scaling="13=0,150=32767" DataType="short"/>
 			</AIGroup>
@@ -487,7 +487,6 @@
 				<AI Name="AI7"  Address="7" Scaling="13=0,150=32767" DataType="short"/>
 			</AIGroup>
 		</Ano_In>
-
 		<Ano_Out>
 		</Ano_Out>
 	</WagoDeviceConfig>
@@ -524,7 +523,7 @@
 				<AO Name="AO4"  Address="515" DataType="short"/>
 			</AOGroup>
 		</Ano_Out>
-	<Ano_In>
-	</Ano_In>
+		<Ano_In>
+		</Ano_In>
 	</WagoDeviceConfig>
 </WagoControllerConfig>

CyberX8_RT/Config/Station/StationPositionsCfg_Simulator.xml

@@ -4,82 +4,82 @@
 		<Axis Name="Loader1.TiltA">
 			<ToleranceDefault>0.1</ToleranceDefault>
 			<Stations>
-				<Station Name="Loader1.TiltA.HORI" Position="230500" ModifiedDate="2024-08-13 14:39:48.548" />
-				<Station Name="Loader1.TiltA.VERT" Position="-17500" ModifiedDate="2024-06-21 10:37:50.049" />
-				<Station Name="Loader1.TiltA.FLOAT" Position="220000" ModifiedDate="5/12/2015 12:51:37 AM" />
-				<Station Name="Loader1.TiltA.HOME" Position="220000" ModifiedDate="12/10/2020 3:40:44 PM" />
+				<Station Name="Loader1.TiltA.HORI" Position="82.83" ModifiedDate="2025-03-13 11:11:38.197" />
+				<Station Name="Loader1.TiltA.VERT" Position="-7.03" ModifiedDate="2025-02-21 10:57:45.769" />
+				<Station Name="Loader1.TiltA.FLOAT" Position="29.41" ModifiedDate="2025-03-06 17:34:02.000" />
+				<Station Name="Loader1.TiltA.HOME" Position="79.19" ModifiedDate="2025-02-20 16:52:03.136" />
 			</Stations>
 		</Axis>
 		<Axis Name="Loader1.TiltB">
 			<ToleranceDefault>0.1</ToleranceDefault>
 			<Stations>
-				<Station Name="Loader1.TiltB.HORI" Position="230500" ModifiedDate="2024-08-13 14:39:48.548" />
-				<Station Name="Loader1.TiltB.VERT" Position="-17500" ModifiedDate="2024-06-21 10:37:50.049" />
-				<Station Name="Loader1.TiltB.FLOAT" Position="220000" ModifiedDate="5/12/2015 12:51:37 AM" />
-				<Station Name="Loader1.TiltB.HOME" Position="220000" ModifiedDate="12/10/2020 3:40:44 PM" />
+				<Station Name="Loader1.TiltB.HORI" Position="82.91" ModifiedDate="2025-03-13 11:29:32.325" />
+				<Station Name="Loader1.TiltB.VERT" Position="-3.58" ModifiedDate="2025-02-27 14:16:35.218" />
+				<Station Name="Loader1.TiltB.FLOAT" Position="29.21" ModifiedDate="2025-03-17 09:30:43.946" />
+				<Station Name="Loader1.TiltB.HOME" Position="79.194" ModifiedDate="12/10/2020 3:40:44 PM" />
 			</Stations>
 		</Axis>
 		<Axis Name="Loader1.ShuttleA">
 			<ToleranceDefault>0.1</ToleranceDefault>
 			<Stations>
-				<Station Name="Loader1.ShuttleA.IN" Position="25200" ModifiedDate="2024-06-21 10:37:30.041" />
-				<Station Name="Loader1.ShuttleA.LS" Position="247500" ModifiedDate="2024-09-24 17:58:50.950" />
-				<Station Name="Loader1.ShuttleA.MID" Position="200000" ModifiedDate="7/11/2016 6:41:59 PM" />
-				<Station Name="Loader1.ShuttleA.OUT200" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
-				<Station Name="Loader1.ShuttleA.OUT150" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
-				<Station Name="Loader1.ShuttleA.OUT100" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
+				<Station Name="Loader1.ShuttleA.IN" Position="66.13" ModifiedDate="2025-03-25 09:40:45.917" />
+				<Station Name="Loader1.ShuttleA.LS" Position="63.16" ModifiedDate="2025-03-19 16:13:13.228" />
+				<Station Name="Loader1.ShuttleA.MID" Position="51.29" ModifiedDate="2025-02-25 10:41:11.970" />
+				<Station Name="Loader1.ShuttleA.OUT200" Position="-29.49" ModifiedDate="2025-03-04 17:53:55.951" />
+				<Station Name="Loader1.ShuttleA.OUT150" Position="-5.913" ModifiedDate="12/10/2020 3:32:26 PM" />
+				<Station Name="Loader1.ShuttleA.OUT100" Position="-5.913" ModifiedDate="12/10/2020 3:32:26 PM" />
 			</Stations>
 		</Axis>
 		<Axis Name="Loader1.ShuttleB">
 			<ToleranceDefault>0.1</ToleranceDefault>
 			<Stations>
-				<Station Name="Loader1.ShuttleB.IN" Position="25200" ModifiedDate="2024-06-21 10:37:30.041" />
-				<Station Name="Loader1.ShuttleB.LS" Position="247500" ModifiedDate="2024-09-24 17:58:50.950" />
-				<Station Name="Loader1.ShuttleB.MID" Position="200000" ModifiedDate="7/11/2016 6:41:59 PM" />
-				<Station Name="Loader1.ShuttleB.OUT200" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
-				<Station Name="Loader1.ShuttleB.OUT150" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
-				<Station Name="Loader1.ShuttleB.OUT100" Position="-23062" ModifiedDate="12/10/2020 3:32:26 PM" />
+				<Station Name="Loader1.ShuttleB.IN" Position="68.14" ModifiedDate="2025-02-26 10:14:47.448" />
+				<Station Name="Loader1.ShuttleB.LS" Position="65.79" ModifiedDate="2025-03-15 14:38:15.746" />
+				<Station Name="Loader1.ShuttleB.MID" Position="51.29" ModifiedDate="2025-03-04 16:18:20.735" />
+				<Station Name="Loader1.ShuttleB.OUT200" Position="-25.78" ModifiedDate="2025-03-20 17:12:25.140" />
+				<Station Name="Loader1.ShuttleB.OUT150" Position="-5.913" ModifiedDate="12/10/2020 3:32:26 PM" />
+				<Station Name="Loader1.ShuttleB.OUT100" Position="-5.913" ModifiedDate="12/10/2020 3:32:26 PM" />
 			</Stations>
 		</Axis>
 		<Axis Name="Loader1.LSA">
-			<ToleranceDefault>0.01</ToleranceDefault>
+			<ToleranceDefault>0.04</ToleranceDefault>
 			<Stations>
-				<Station Name="Loader1.LSA.Setup200" Position="100000" />
-				<Station Name="Loader1.LSA.Lock200" Position="75000" ModifiedDate="3/2/2020 6:21:09 PM" />
-				<Station Name="Loader1.LSA.Unlock200" Position="201500" ModifiedDate="2/25/2020 2:54:29 PM" />
-				<Station Name="Loader1.LSA.Setup150" Position="100000" />
-				<Station Name="Loader1.LSA.Lock150" Position="70000" ModifiedDate="3/2/2020 6:21:09 PM" />
-				<Station Name="Loader1.LSA.Unlock150" Position="230000" ModifiedDate="2/25/2020 2:54:29 PM" />
-				<Station Name="Loader1.LSA.Setup100" Position="100000" />
-				<Station Name="Loader1.LSA.Lock100" Position="65000" ModifiedDate="3/2/2020 6:21:09 PM" />
-				<Station Name="Loader1.LSA.Unlock100" Position="280000" ModifiedDate="2/25/2020 2:54:29 PM" />
+				<Station Name="Loader1.LSA.Setup200" Position="3.2" ModifiedDate="2025-02-27 16:15:15.701" />
+				<Station Name="Loader1.LSA.Lock200" Position="3" ModifiedDate="2025-03-18 13:18:55.716" />
+				<Station Name="Loader1.LSA.Unlock200" Position="5.7" ModifiedDate="2025-02-27 16:14:48.787" />
+				<Station Name="Loader1.LSA.Setup150" Position="2.273" />
+				<Station Name="Loader1.LSA.Lock150" Position="1.591" ModifiedDate="3/2/2020 6:21:09 PM" />
+				<Station Name="Loader1.LSA.Unlock150" Position="5.227" ModifiedDate="2/25/2020 2:54:29 PM" />
+				<Station Name="Loader1.LSA.Setup100" Position="2.273" />
+				<Station Name="Loader1.LSA.Lock100" Position="1.477" ModifiedDate="3/2/2020 6:21:09 PM" />
+				<Station Name="Loader1.LSA.Unlock100" Position="4.364" ModifiedDate="2/25/2020 2:54:29 PM" />
 			</Stations>
 		</Axis>
 		<Axis Name="Loader1.LSB">
-			<ToleranceDefault>100</ToleranceDefault>
+			<ToleranceDefault>0.04</ToleranceDefault>
 			<Stations>
-				<Station Name="Loader1.LSB.Setup200" Position="100000" />
-				<Station Name="Loader1.LSB.Lock200" Position="75000" ModifiedDate="3/2/2020 6:21:09 PM" />
-				<Station Name="Loader1.LSB.Unlock200" Position="201500" ModifiedDate="2/25/2020 2:54:29 PM" />
-				<Station Name="Loader1.LSB.Setup150" Position="100000" />
-				<Station Name="Loader1.LSB.Lock150" Position="70000" ModifiedDate="3/2/2020 6:21:09 PM" />
-				<Station Name="Loader1.LSB.Unlock150" Position="230000" ModifiedDate="2/25/2020 2:54:29 PM" />
-				<Station Name="Loader1.LSB.Setup100" Position="100000" />
-				<Station Name="Loader1.LSB.Lock100" Position="65000" ModifiedDate="3/2/2020 6:21:09 PM" />
-				<Station Name="Loader1.LSB.Unlock100" Position="280000" ModifiedDate="2/25/2020 2:54:29 PM" />
+				<Station Name="Loader1.LSB.Setup200" Position="3.2" ModifiedDate="2025-02-27 14:28:08.753" />
+				<Station Name="Loader1.LSB.Lock200" Position="3" ModifiedDate="2025-02-27 14:19:47.389" />
+				<Station Name="Loader1.LSB.Unlock200" Position="5.7" ModifiedDate="2025-02-27 14:17:04.894" />
+				<Station Name="Loader1.LSB.Setup150" Position="2.273" />
+				<Station Name="Loader1.LSB.Lock150" Position="1.591" ModifiedDate="3/2/2020 6:21:09 PM" />
+				<Station Name="Loader1.LSB.Unlock150" Position="5.227" ModifiedDate="2/25/2020 2:54:29 PM" />
+				<Station Name="Loader1.LSB.Setup100" Position="2.273" />
+				<Station Name="Loader1.LSB.Lock100" Position="1.477" ModifiedDate="3/2/2020 6:21:09 PM" />
+				<Station Name="Loader1.LSB.Unlock100" Position="6.364" ModifiedDate="2/25/2020 2:54:29 PM" />
 			</Stations>
 		</Axis>
 		<Axis Name="Loader1.Rotation">
-			<ToleranceDefault>0.1</ToleranceDefault>
+			<ToleranceDefault>0.2</ToleranceDefault>
 			<Stations>
-				<Station Name="Loader1.Rotation.TRNPA" Position="-1093" ModifiedDate="2024-08-27 09:45:08.838" />
-				<Station Name="Loader1.Rotation.TRNPB" Position="144312" ModifiedDate="2/26/2020 12:19:29 PM" />
-				<Station Name="Loader1.Rotation.LOADA200" Position="6656" ModifiedDate="2024-08-13 14:00:52.955" />
-				<Station Name="Loader1.Rotation.LOADB200" Position="151875" ModifiedDate="2024-08-13 14:22:11.332" />
-				<Station Name="Loader1.Rotation.LOADA150" Position="6656" ModifiedDate="2024-08-13 14:00:52.955" />
-				<Station Name="Loader1.Rotation.LOADB150" Position="151875" ModifiedDate="2024-08-13 14:22:11.332" />
-				<Station Name="Loader1.Rotation.LOADA100" Position="6656" ModifiedDate="2024-08-13 14:00:52.955" />
-				<Station Name="Loader1.Rotation.LOADB100" Position="151875" ModifiedDate="2024-08-13 14:22:11.332" />
+				<Station Name="Loader1.Rotation.TRNPA" Position="-1.55" ModifiedDate="2025-03-10 15:11:34.385" />
+				<Station Name="Loader1.Rotation.TRNPB" Position="178.16" ModifiedDate="2/26/2020 12:19:29 PM" />
+				<Station Name="Loader1.Rotation.LOADA200" Position="7.67" ModifiedDate="2025-03-13 10:27:09.217" />
+				<Station Name="Loader1.Rotation.LOADB200" Position="187.75" ModifiedDate="2025-03-17 09:48:54.414" />
+				<Station Name="Loader1.Rotation.LOADA150" Position="8.217" ModifiedDate="2024-08-13 14:00:52.955" />
+				<Station Name="Loader1.Rotation.LOADB150" Position="187.5" ModifiedDate="2024-08-13 14:22:11.332" />
+				<Station Name="Loader1.Rotation.LOADA100" Position="8.217" ModifiedDate="2024-08-13 14:00:52.955" />
+				<Station Name="Loader1.Rotation.LOADB100" Position="187.5" ModifiedDate="2024-08-13 14:22:11.332" />
 			</Stations>
 		</Axis>
 	</Module>
@@ -88,16 +88,16 @@
 			<ToleranceDefault>0.5</ToleranceDefault>
 			<Stations>
 				<Station Name="Transporter1.Gantry.Park" Position="3050" />
-				<Station Name="Transporter1.Gantry.Cell1" Position="3322" ModifiedDate="2024-10-09 15:57:22.270" />
-				<Station Name="Transporter1.Gantry.Cell2" Position="3167" ModifiedDate="2024-10-09 15:57:26.206" />
-				<Station Name="Transporter1.Gantry.Cell3" Position="3011" ModifiedDate="2024-10-09 15:57:30.174" />
-				<Station Name="Transporter1.Gantry.Cell4" Position="2856" ModifiedDate="2024-10-09 15:57:35.545" />
+				<Station Name="Transporter1.Gantry.Cell1" Position="4315.59" ModifiedDate="2025-03-17 16:43:28.707" />
+				<Station Name="Transporter1.Gantry.Cell2" Position="4094.09" ModifiedDate="2025-03-17 16:33:46.857" />
+				<Station Name="Transporter1.Gantry.Cell3" Position="3424.59" ModifiedDate="2025-03-17 16:10:10.447" />
+				<Station Name="Transporter1.Gantry.Cell4" Position="2752.59" ModifiedDate="2025-03-17 15:56:59.448" />
 				<Station Name="Transporter1.Gantry.Cell5" Position="3450" ModifiedDate="11/30/2020 2:25:59 PM" />
-				<Station Name="Transporter1.Gantry.Cell6" Position="2695" ModifiedDate="2024-10-09 15:57:40.246" />
-				<Station Name="Transporter1.Gantry.Cell7" Position="2521" ModifiedDate="2024-10-09 15:57:45.001" />
+				<Station Name="Transporter1.Gantry.Cell6" Position="3653.59" ModifiedDate="2025-03-17 16:26:52.551" />
+				<Station Name="Transporter1.Gantry.Cell7" Position="2101.35" ModifiedDate="2025-03-13 10:49:22.315" />
 				<Station Name="Transporter1.Gantry.Cell8" Position="2331" ModifiedDate="2024-10-09 15:57:50.153" />
-				<Station Name="Transporter1.Gantry.Cell9" Position="2160" ModifiedDate="2024-10-09 15:57:55.712" />
-				<Station Name="Transporter1.Gantry.Cell10" Position="2051" ModifiedDate="2024-10-09 15:58:01.081" />
+				<Station Name="Transporter1.Gantry.Cell9" Position="3012.59" ModifiedDate="2025-03-17 16:01:16.223" />
+				<Station Name="Transporter1.Gantry.Cell10" Position="2338.59" ModifiedDate="2025-03-13 11:05:54.867" />
 				<Station Name="Transporter1.Gantry.Cell11" Position="1895" ModifiedDate="2024-10-09 15:58:06.152" />
 				<Station Name="Transporter1.Gantry.Cell12" Position="1740" ModifiedDate="2024-10-09 15:58:11.007" />
 				<Station Name="Transporter1.Gantry.Cell13" Position="2218" ModifiedDate="2024-10-09 15:12:15.883" />
@@ -107,9 +107,9 @@
 				<Station Name="Transporter1.Gantry.Cell17" Position="1548" ModifiedDate="10/21/2020 4:35:03 PM" />
 				<Station Name="Transporter1.Gantry.Cell18" Position="1393" ModifiedDate="10/22/2020 11:49:05 AM" />
 				<Station Name="Transporter1.Gantry.Cell19" Position="1240" ModifiedDate="10/22/2020 1:26:44 PM" />
-				<Station Name="Transporter1.Gantry.Cell20" Position="1138" ModifiedDate="2024-10-09 15:58:22.024" />
-				<Station Name="Transporter1.Gantry.Cell21" Position="953" ModifiedDate="2024-10-09 15:58:27.943" />
-				<Station Name="Transporter1.Gantry.Cell22" Position="872" ModifiedDate="2024-10-09 15:58:33.480" />
+				<Station Name="Transporter1.Gantry.Cell20" Position="1699.27" ModifiedDate="2025-03-12 11:16:47.512" />
+				<Station Name="Transporter1.Gantry.Cell21" Position="1506" ModifiedDate="2025-03-12 11:03:41.440" />
+				<Station Name="Transporter1.Gantry.Cell22" Position="1427" ModifiedDate="2025-03-12 10:59:10.171" />
 				<Station Name="Transporter1.Gantry.Cell23" Position="725.9976" ModifiedDate="12/7/2020 4:12:25 PM" />
 				<Station Name="Transporter1.Gantry.Cell24" Position="613.0001" ModifiedDate="12/7/2020 2:08:29 PM" />
 				<Station Name="Transporter1.Gantry.Cell25" Position="578.0001" ModifiedDate="12/7/2020 2:10:06 PM" />
@@ -126,18 +126,18 @@
 		<Axis Name="Transporter1.Elevator">
 			<ToleranceDefault>0.5</ToleranceDefault>
 			<Stations>
-				<Station Name="Transporter1.Elevator.UP" Position="-7.02" ModifiedDate="2024-09-01 17:46:07.004" />
-				<Station Name="Transporter1.Elevator.LOW" Position="500" />
-				<Station Name="Transporter1.Elevator.Cell1" Position="570" ModifiedDate="2024-08-14 11:27:04.589" />
-				<Station Name="Transporter1.Elevator.Cell2" Position="570" ModifiedDate="2024-08-14 11:35:25.181" />
-				<Station Name="Transporter1.Elevator.Cell3" Position="569.5" ModifiedDate="2024-08-14 11:38:10.981" />
-				<Station Name="Transporter1.Elevator.Cell4" Position="569" ModifiedDate="2024-08-14 11:44:05.454" />
+				<Station Name="Transporter1.Elevator.UP" Position="-21.92" ModifiedDate="2025-03-12 10:57:16.420" />
+				<Station Name="Transporter1.Elevator.CellTop" Position="55" />
+				<Station Name="Transporter1.Elevator.Cell1" Position="457.11" ModifiedDate="2025-03-17 16:43:24.617" />
+				<Station Name="Transporter1.Elevator.Cell2" Position="458.1" ModifiedDate="2025-03-17 16:33:44.525" />
+				<Station Name="Transporter1.Elevator.Cell3" Position="458.12" ModifiedDate="2025-03-17 16:23:14.476" />
+				<Station Name="Transporter1.Elevator.Cell4" Position="458.91" ModifiedDate="2025-03-17 15:57:03.433" />
 				<Station Name="Transporter1.Elevator.Cell5" Position="583.9999" ModifiedDate="11/30/2020 11:31:11 AM" />
-				<Station Name="Transporter1.Elevator.Cell6" Position="568" ModifiedDate="2024-09-01 16:31:37.580" />
-				<Station Name="Transporter1.Elevator.Cell7" Position="572" ModifiedDate="2024-08-14 14:28:50.498" />
+				<Station Name="Transporter1.Elevator.Cell6" Position="458.12" ModifiedDate="2025-03-17 16:27:00.266" />
+				<Station Name="Transporter1.Elevator.Cell7" Position="458.05" ModifiedDate="2025-03-13 10:49:31.659" />
 				<Station Name="Transporter1.Elevator.Cell8" Position="572" ModifiedDate="2024-08-14 14:33:04.818" />
-				<Station Name="Transporter1.Elevator.Cell9" Position="567.31" ModifiedDate="2024-09-01 16:11:03.700" />
-				<Station Name="Transporter1.Elevator.Cell10" Position="570" ModifiedDate="2024-08-14 14:24:02.642" />
+				<Station Name="Transporter1.Elevator.Cell9" Position="457.11" ModifiedDate="2025-03-17 16:01:23.416" />
+				<Station Name="Transporter1.Elevator.Cell10" Position="458.6" ModifiedDate="2025-03-13 11:05:44.923" />
 				<Station Name="Transporter1.Elevator.Cell11" Position="569.31" ModifiedDate="2024-09-01 15:48:36.087" />
 				<Station Name="Transporter1.Elevator.Cell12" Position="570" ModifiedDate="2024-08-14 14:15:55.753" />
 				<Station Name="Transporter1.Elevator.Cell13" Position="584.5" ModifiedDate="12/2/2020 2:48:18 PM" />
@@ -147,9 +147,9 @@
 				<Station Name="Transporter1.Elevator.Cell17" Position="584.9999" ModifiedDate="11/7/2020 2:17:19 PM" />
 				<Station Name="Transporter1.Elevator.Cell18" Position="585.0001" ModifiedDate="11/30/2020 1:48:39 PM" />
 				<Station Name="Transporter1.Elevator.Cell19" Position="584.4952" ModifiedDate="12/7/2020 1:47:40 PM" />
-				<Station Name="Transporter1.Elevator.Cell20" Position="577.98" ModifiedDate="2024-09-24 14:20:00.884" />
-				<Station Name="Transporter1.Elevator.Cell21" Position="572" ModifiedDate="2024-08-27 15:38:58.163" />
-				<Station Name="Transporter1.Elevator.Cell22" Position="571.48" ModifiedDate="2024-09-01 17:43:32.948" />
+				<Station Name="Transporter1.Elevator.Cell20" Position="465.65" ModifiedDate="2025-03-12 11:16:51.651" />
+				<Station Name="Transporter1.Elevator.Cell21" Position="462.51" ModifiedDate="2025-03-12 11:03:38.134" />
+				<Station Name="Transporter1.Elevator.Cell22" Position="462.85" ModifiedDate="2025-03-12 10:55:57.833" />
 				<Station Name="Transporter1.Elevator.Cell23" Position="582.5001" ModifiedDate="12/7/2020 4:09:56 PM" />
 				<Station Name="Transporter1.Elevator.Cell24" Position="581.0001" ModifiedDate="12/7/2020 2:07:08 PM" />
 				<Station Name="Transporter1.Elevator.Cell25" Position="579.9961" ModifiedDate="12/7/2020 2:10:42 PM" />
@@ -166,31 +166,31 @@
 		<Axis Name="Transporter2.Gantry">
 			<ToleranceDefault>0.5</ToleranceDefault>
 			<Stations>
-				<Station Name="Transporter2.Gantry.Park" Position="400" ModifiedDate="2024-08-28 15:29:47.217" />
-				<Station Name="Transporter2.Gantry.Loader" Position="-325.94" ModifiedDate="2024-10-09 15:13:35.068" />
+				<Station Name="Transporter2.Gantry.Park" Position="151.95" ModifiedDate="2025-03-06 15:33:59.436" />
+				<Station Name="Transporter2.Gantry.Loader" Position="-309.05" ModifiedDate="2025-03-13 15:14:18.573" />
 				<Station Name="Transporter2.Gantry.Cell15" Position="1869" ModifiedDate="12/7/2020 3:47:49 PM" />
 				<Station Name="Transporter2.Gantry.Cell16" Position="1713" ModifiedDate="12/7/2020 3:46:39 PM" />
 				<Station Name="Transporter2.Gantry.Cell17" Position="1556" ModifiedDate="12/7/2020 3:42:25 PM" />
 				<Station Name="Transporter2.Gantry.Cell18" Position="1401" ModifiedDate="12/7/2020 3:40:48 PM" />
 				<Station Name="Transporter2.Gantry.Cell19" Position="1249" ModifiedDate="10/22/2020 1:44:48 PM" />
-				<Station Name="Transporter2.Gantry.Cell20" Position="1144" ModifiedDate="2024-09-20 13:48:33.198" />
-				<Station Name="Transporter2.Gantry.Cell21" Position="960" ModifiedDate="2024-08-27 14:40:37.796" />
-				<Station Name="Transporter2.Gantry.Cell22" Position="880" ModifiedDate="2024-09-01 17:49:56.949" />
+				<Station Name="Transporter2.Gantry.Cell20" Position="1040" ModifiedDate="2025-03-13 10:02:20.266" />
+				<Station Name="Transporter2.Gantry.Cell21" Position="842.01" ModifiedDate="2025-03-17 10:19:39.421" />
+				<Station Name="Transporter2.Gantry.Cell22" Position="761.51" ModifiedDate="2025-03-13 15:10:49.784" />
 				<Station Name="Transporter2.Gantry.Cell23" Position="738.4999" ModifiedDate="12/7/2020 4:08:08 PM" />
-				<Station Name="Transporter2.Gantry.Cell24" Position="645" ModifiedDate="2024-10-09 15:58:48.135" />
-				<Station Name="Transporter2.Gantry.Cell25" Position="611" ModifiedDate="2024-10-09 15:58:51.862" />
-				<Station Name="Transporter2.Gantry.Cell26" Position="576" ModifiedDate="2024-10-09 15:58:56.303" />
-				<Station Name="Transporter2.Gantry.Cell27" Position="541" ModifiedDate="2024-10-09 15:59:01.686" />
-				<Station Name="Transporter2.Gantry.Cell28" Position="506" ModifiedDate="2024-10-09 15:59:06.102" />
-				<Station Name="Transporter2.Gantry.Cell29" Position="471" ModifiedDate="2024-10-09 15:59:10.437" />
-				<Station Name="Transporter2.Gantry.Cell30" Position="436" ModifiedDate="2024-10-09 15:59:14.637" />
-				<Station Name="Transporter2.Gantry.Cell31" Position="401" ModifiedDate="2024-10-09 15:59:19.893" />
-				<Station Name="Transporter2.Gantry.Cell32" Position="366" ModifiedDate="2024-10-09 15:59:24.284" />
-				<Station Name="Transporter2.Gantry.Cell33" Position="331" ModifiedDate="2024-10-09 15:59:28.820" />
-				<Station Name="Transporter2.Gantry.Cell34" Position="296.5" ModifiedDate="2024-10-09 15:59:33.157" />
-				<Station Name="Transporter2.Gantry.Cell35" Position="261" ModifiedDate="2024-10-09 15:59:37.486" />
-				<Station Name="Transporter2.Gantry.Cell36" Position="226" ModifiedDate="2024-10-09 15:59:41.996" />
-				<Station Name="Transporter2.Gantry.Cell37" Position="191" ModifiedDate="2024-10-09 15:59:46.910" />
+				<Station Name="Transporter2.Gantry.Cell24" Position="631.48" ModifiedDate="2025-03-13 15:02:21.954" />
+				<Station Name="Transporter2.Gantry.Cell25" Position="596.98" ModifiedDate="2025-03-13 09:28:09.047" />
+				<Station Name="Transporter2.Gantry.Cell26" Position="561.98" ModifiedDate="2025-03-13 09:31:22.697" />
+				<Station Name="Transporter2.Gantry.Cell27" Position="525.98" ModifiedDate="2025-03-13 09:34:10.872" />
+				<Station Name="Transporter2.Gantry.Cell28" Position="491.48" ModifiedDate="2025-03-13 09:35:20.447" />
+				<Station Name="Transporter2.Gantry.Cell29" Position="456.48" ModifiedDate="2025-03-13 09:36:27.366" />
+				<Station Name="Transporter2.Gantry.Cell30" Position="421.98" ModifiedDate="2025-03-13 09:38:27.182" />
+				<Station Name="Transporter2.Gantry.Cell31" Position="387.45" ModifiedDate="2025-03-13 09:39:31.698" />
+				<Station Name="Transporter2.Gantry.Cell32" Position="352.45" ModifiedDate="2025-03-13 09:40:08.588" />
+				<Station Name="Transporter2.Gantry.Cell33" Position="316.95" ModifiedDate="2025-03-13 09:41:16.470" />
+				<Station Name="Transporter2.Gantry.Cell34" Position="281.95" ModifiedDate="2025-03-13 09:43:17.337" />
+				<Station Name="Transporter2.Gantry.Cell35" Position="246.75" ModifiedDate="2025-03-13 09:44:56.866" />
+				<Station Name="Transporter2.Gantry.Cell36" Position="212.75" ModifiedDate="2025-03-13 09:46:00.395" />
+				<Station Name="Transporter2.Gantry.Cell37" Position="176.95" ModifiedDate="2025-03-13 09:47:08.614" />
 				<Station Name="Transporter2.Gantry.Cell38" Position="156" ModifiedDate="2024-10-09 15:59:51.068" />
 				<Station Name="Transporter2.Gantry.Cell39" Position="120.5" ModifiedDate="2024-10-09 15:59:55.195" />
 			</Stations>
@@ -198,96 +198,54 @@
 		<Axis Name="Transporter2.Elevator">
 			<ToleranceDefault>0.5</ToleranceDefault>
 			<Stations>
-				<Station Name="Transporter2.Elevator.UP" Position="-7" ModifiedDate="2024-09-20 13:34:01.263" />
-				<Station Name="Transporter2.Elevator.LOW" Position="500" />
-				<Station Name="Transporter2.Elevator.Loader" Position="571" ModifiedDate="2024-09-25 16:10:52.892" />
-				<Station Name="Transporter2.Elevator.Cell15" Position="583.9997" ModifiedDate="12/7/2020 3:48:18 PM" />
-				<Station Name="Transporter2.Elevator.Cell16" Position="584.2038" ModifiedDate="12/7/2020 3:45:27 PM" />
-				<Station Name="Transporter2.Elevator.Cell17" Position="584.5001" ModifiedDate="12/7/2020 3:42:56 PM" />
-				<Station Name="Transporter2.Elevator.Cell18" Position="584.5" ModifiedDate="12/7/2020 3:41:28 PM" />
-				<Station Name="Transporter2.Elevator.Cell19" Position="583.4957" ModifiedDate="12/7/2020 3:38:51 PM" />
-				<Station Name="Transporter2.Elevator.Cell20" Position="581" ModifiedDate="2024-09-25 17:23:10.604" />
-				<Station Name="Transporter2.Elevator.Cell21" Position="574.5" ModifiedDate="2024-08-13 16:38:41.933" />
-				<Station Name="Transporter2.Elevator.Cell22" Position="572.55" ModifiedDate="2024-09-01 17:50:52.540" />
-				<Station Name="Transporter2.Elevator.Cell23" Position="581.9999" ModifiedDate="12/7/2020 4:07:17 PM" />
-				<Station Name="Transporter2.Elevator.Cell24" Position="573" ModifiedDate="2024-09-01 17:31:44.732" />
-				<Station Name="Transporter2.Elevator.Cell25" Position="572.5" ModifiedDate="2024-08-28 14:13:15.098" />
-				<Station Name="Transporter2.Elevator.Cell26" Position="572.5" ModifiedDate="2024-08-28 14:16:47.833" />
-				<Station Name="Transporter2.Elevator.Cell27" Position="572.5" ModifiedDate="2024-08-28 14:19:53.433" />
-				<Station Name="Transporter2.Elevator.Cell28" Position="572.5" ModifiedDate="2024-08-28 14:22:12.776" />
-				<Station Name="Transporter2.Elevator.Cell29" Position="571.5" ModifiedDate="2024-08-28 14:24:08.184" />
-				<Station Name="Transporter2.Elevator.Cell30" Position="571.5" ModifiedDate="2024-08-28 14:25:41.584" />
-				<Station Name="Transporter2.Elevator.Cell31" Position="571.5" ModifiedDate="2024-08-28 14:27:10.496" />
-				<Station Name="Transporter2.Elevator.Cell32" Position="571.5" ModifiedDate="2024-08-28 15:33:40.266" />
-				<Station Name="Transporter2.Elevator.Cell33" Position="571.5" ModifiedDate="2024-08-28 15:37:07.305" />
-				<Station Name="Transporter2.Elevator.Cell34" Position="571.5" ModifiedDate="2024-08-28 15:37:11.456" />
-				<Station Name="Transporter2.Elevator.Cell35" Position="571.5" ModifiedDate="2024-08-28 15:38:16.040" />
-				<Station Name="Transporter2.Elevator.Cell36" Position="571.5" ModifiedDate="2024-08-28 15:39:40.513" />
-				<Station Name="Transporter2.Elevator.Cell37" Position="571.5" ModifiedDate="2024-08-28 15:48:02.112" />
-				<Station Name="Transporter2.Elevator.Cell38" Position="571.5" ModifiedDate="2024-08-28 15:41:37.552" />
-				<Station Name="Transporter2.Elevator.Cell39" Position="571.5" ModifiedDate="2024-09-20 13:44:43.983" />
+				<Station Name="Transporter2.Elevator.UP" Position="2.86" ModifiedDate="2025-03-13 15:05:18.059" />
+				<Station Name="Transporter2.Elevator.CellTop" Position="55" />
+				<Station Name="Transporter2.Elevator.Loader" Position="478.46" ModifiedDate="2025-03-13 15:14:22.528" />
+				<Station Name="Transporter2.Elevator.Cell15" Position="476.74" ModifiedDate="12/7/2020 3:48:18 PM" />
+				<Station Name="Transporter2.Elevator.Cell16" Position="476.74" ModifiedDate="12/7/2020 3:45:27 PM" />
+				<Station Name="Transporter2.Elevator.Cell17" Position="483.78" ModifiedDate="12/7/2020 3:42:56 PM" />
+				<Station Name="Transporter2.Elevator.Cell18" Position="475.86" ModifiedDate="12/7/2020 3:41:28 PM" />
+				<Station Name="Transporter2.Elevator.Cell19" Position="475.86" ModifiedDate="12/7/2020 3:38:51 PM" />
+				<Station Name="Transporter2.Elevator.Cell20" Position="464.06" ModifiedDate="2025-03-13 10:02:18.263" />
+				<Station Name="Transporter2.Elevator.Cell21" Position="482.06" ModifiedDate="2025-03-17 10:19:41.356" />
+				<Station Name="Transporter2.Elevator.Cell22" Position="482.64" ModifiedDate="2025-03-13 15:10:52.623" />
+				<Station Name="Transporter2.Elevator.Cell23" Position="477.62" ModifiedDate="12/7/2020 4:07:17 PM" />
+				<Station Name="Transporter2.Elevator.Cell24" Position="482.52" ModifiedDate="2025-03-13 15:02:28.570" />
+				<Station Name="Transporter2.Elevator.Cell25" Position="460.57" ModifiedDate="2025-03-13 09:28:15.494" />
+				<Station Name="Transporter2.Elevator.Cell26" Position="460.56" ModifiedDate="2025-03-13 09:32:12.403" />
+				<Station Name="Transporter2.Elevator.Cell27" Position="460.56" ModifiedDate="2025-03-13 09:33:54.354" />
+				<Station Name="Transporter2.Elevator.Cell28" Position="460.56" ModifiedDate="2025-03-13 09:35:23.533" />
+				<Station Name="Transporter2.Elevator.Cell29" Position="461.06" ModifiedDate="2025-03-13 09:36:25.343" />
+				<Station Name="Transporter2.Elevator.Cell30" Position="461.06" ModifiedDate="2025-03-13 09:38:32.266" />
+				<Station Name="Transporter2.Elevator.Cell31" Position="460.92" ModifiedDate="2025-03-11 10:05:11.615" />
+				<Station Name="Transporter2.Elevator.Cell32" Position="460.92" ModifiedDate="2025-03-13 09:40:13.745" />
+				<Station Name="Transporter2.Elevator.Cell33" Position="461.42" ModifiedDate="2025-03-13 09:41:21.661" />
+				<Station Name="Transporter2.Elevator.Cell34" Position="461.82" ModifiedDate="2025-03-13 09:43:24.467" />
+				<Station Name="Transporter2.Elevator.Cell35" Position="461.82" ModifiedDate="2025-03-13 09:45:02.986" />
+				<Station Name="Transporter2.Elevator.Cell36" Position="462.02" ModifiedDate="2025-03-13 09:45:58.624" />
+				<Station Name="Transporter2.Elevator.Cell37" Position="462.56" ModifiedDate="2025-03-13 09:47:11.791" />
+				<Station Name="Transporter2.Elevator.Cell38" Position="477.62" ModifiedDate="2024-08-28 15:41:37.552" />
+				<Station Name="Transporter2.Elevator.Cell39" Position="477.62" ModifiedDate="2024-09-20 13:44:43.983" />
 			</Stations>
 		</Axis>
 	</Module>
 	<Module Name="DualPuf">
 		<Axis Name="PUF1.Flip">
-			<ToleranceDefault>0.5</ToleranceDefault>
+			<ToleranceDefault>0.1</ToleranceDefault>
 			<Stations>
-				<Station Name="PUF1.Flip.SideA" Position="174.95" ModifiedDate="2024-08-09 13:35:19.613" />
-				<Station Name="PUF1.Flip.SideB" Position="-5" ModifiedDate="2024-08-09 13:36:34.531" />
+				<Station Name="PUF1.Flip.Home" Position="0.435" ModifiedDate="2024-08-09 13:35:19.613" />
+				<Station Name="PUF1.Flip.SideA" Position="-6.79" ModifiedDate="2025-03-04 15:34:45.843" />
+				<Station Name="PUF1.Flip.SideB" Position="171.73" ModifiedDate="2025-03-04 15:54:16.292" />
 			</Stations>
 		</Axis>
 		<Axis Name="PUF1.Rotation">
-			<ToleranceDefault>0.5</ToleranceDefault>
-			<Stations>
-				<Station Name="PUF1.Rotation.Home" Position="72.9999" ModifiedDate="8/27/2018 2:53:59 PM" />
-				<Station Name="PUF1.Rotation.Park" Position="72.9999" ModifiedDate="8/27/2018 2:54:03 PM" />
-				<Station Name="PUF1.Rotation.Flip" Position="-7" ModifiedDate="4/6/2015 8:34:18 PM" />
-				<Station Name="PUF1.Rotation.Robot" Position="72.9999" ModifiedDate="7/31/2018 4:34:50 PM" />
-				<Station Name="PUF1.Rotation.LoaderPickup" Position="-6.10065" ModifiedDate="9/14/2018 2:13:39 PM" />
-				<Station Name="PUF1.Rotation.LoaderPutDown" Position="-6.30045" ModifiedDate="9/19/2018 4:32:00 PM" />
-			</Stations>
-		</Axis>
-		<Axis Name="PUF1.Vertical">
-			<ToleranceDefault>0.5</ToleranceDefault>
-			<Stations>
-				<Station Name="PUF1.Vertical.Home" Position="2.999983" ModifiedDate="9/14/2018 2:07:45 PM" />
-				<Station Name="PUF1.Vertical.Flip" Position="-148" />
-				<Station Name="PUF1.Vertical.Robot" Position="-145" ModifiedDate="2024-08-09 13:46:54.195" />
-				<Station Name="PUF1.Vertical.Park" Position="2.999992" ModifiedDate="9/14/2018 2:07:39 PM" />
-				<Station Name="PUF1.Vertical.Loader" Position="-27.19027" />
-				<Station Name="PUF1.Vertical.LoaderPickup" Position="-279" ModifiedDate="9/17/2018 2:09:42 PM" />
-				<Station Name="PUF1.Vertical.LoaderPutDown" Position="-277" ModifiedDate="9/19/2018 4:31:55 PM" />
-			</Stations>
-		</Axis>
-		<Axis Name="PUF2.Flip">
-			<ToleranceDefault>0.5</ToleranceDefault>
-			<Stations>
-				<Station Name="PUF2.Flip.SideA" Position="178" ModifiedDate="2024-08-09 13:38:11.955" />
-				<Station Name="PUF2.Flip.SideB" Position="-2.04615" ModifiedDate="9/6/2018 10:24:30 AM" />
-			</Stations>
-		</Axis>
-		<Axis Name="PUF2.Rotation">
-			<ToleranceDefault>0.5</ToleranceDefault>
-			<Stations>
-				<Station Name="PUF2.Rotation.Home" Position="-23.2889" />
-				<Station Name="PUF2.Rotation.Flip" Position="8" ModifiedDate="4/6/2015 8:52:34 PM" />
-				<Station Name="PUF2.Rotation.Robot" Position="-23.2889" />
-				<Station Name="PUF2.Rotation.Park" Position="-23.2889" />
-				<Station Name="PUF2.Rotation.LoaderPickup" Position="8.7003" ModifiedDate="9/19/2018 4:41:57 PM" />
-				<Station Name="PUF2.Rotation.LoaderPutDown" Position="8.500501" ModifiedDate="9/19/2018 4:48:41 PM" />
-			</Stations>
-		</Axis>
-		<Axis Name="PUF2.Vertical">
-			<ToleranceDefault>0.5</ToleranceDefault>
+			<ToleranceDefault>0.1</ToleranceDefault>
 			<Stations>
-				<Station Name="PUF2.Vertical.Home" Position="-15" />
-				<Station Name="PUF2.Vertical.Flip" Position="-140" ModifiedDate="9/29/2018 3:15:47 PM" />
-				<Station Name="PUF2.Vertical.Robot" Position="-148" ModifiedDate="2024-08-09 13:47:40.203" />
-				<Station Name="PUF2.Vertical.Park" Position="-15" ModifiedDate="5/7/2015 11:15:42 PM" />
-				<Station Name="PUF2.Vertical.Loader" Position="-50" />
-				<Station Name="PUF2.Vertical.LoaderPickup" Position="-276.1" ModifiedDate="9/19/2018 4:44:11 PM" />
-				<Station Name="PUF2.Vertical.LoaderPutDown" Position="-273.5" ModifiedDate="9/19/2018 5:47:50 PM" />
+				<Station Name="PUF1.Rotation.Home" Position="7" ModifiedDate="2025-03-13 11:34:19.335" />
+				<Station Name="PUF1.Rotation.Flip" Position="7" ModifiedDate="2025-03-13 11:34:07.018" />
+				<Station Name="PUF1.Rotation.Robot" Position="7" ModifiedDate="2025-03-12 16:53:47.964" />
+				<Station Name="PUF1.Rotation.LoaderPickup" Position="43.29" ModifiedDate="2025-03-01 13:39:32.694" />
+				<Station Name="PUF1.Rotation.LoaderPutDown" Position="43.39" ModifiedDate="2025-03-13 10:25:13.085" />
 			</Stations>
 		</Axis>
 	</Module>

CyberX8_RT/Schedulers/Loader/SchedulerLoader.cs

@@ -147,14 +147,18 @@ namespace CyberX8_RT.Schedulers.Loader
                     }
                     else
                     {
-                        bool result = EnterReadyForPuf();
-                        if (result)
-                        {
-                            _currentStep = SchedulerStep.ReadyForPuf;
-                            _currentWaferIndex=2;
-                        }
+                        EnterReadyForPuf();
                     }
                 }
+                else if (_loaderEntity.State == (int)LOADERSTATE.WaitForUnload)
+                {
+                    ExecuteForSecondUnload();
+                }
+                else if (_loaderEntity.State == (int)LOADERSTATE.Unloading)
+                {
+                    _currentStep = SchedulerStep.ReadyForPuf;
+                    _currentWaferIndex = 2;
+                }
             }
             else if (_currentStep == SchedulerStep.ReadyForPuf)
             {
@@ -210,10 +214,35 @@ namespace CyberX8_RT.Schedulers.Loader
         /// 第二次进入WaitForUnload
         /// </summary>
         /// <returns></returns>
-        private bool EnterReadyForPuf()
+        private void EnterReadyForPuf()
+        {
+            _loaderEntity.CheckToPostMessage<LOADERSTATE, LoaderMSG>(eEvent.WARN_LOADER, ModuleName.Loader1.ToString(),
+                    (int)LoaderMSG.ReadyForPuf);
+        }
+        /// <summary>
+        /// 执行第二次unload
+        /// </summary>
+        /// <returns></returns>
+        private void ExecuteForSecondUnload()
         {
-            return _loaderEntity.CheckToPostMessage<LOADERSTATE, LoaderMSG>(eEvent.WARN_LOADER, Module.ToString(),
-                (int)LoaderMSG.ReadyForPuf);
+            if (_loaderEntity.State == (int)LOADERSTATE.WaitForUnload)
+            {
+                if (!WaferHolderManager.Instance.HasWaferHolder("Loader"))
+                {
+                    return;
+                }
+                JetAxisBase _loadTransporterGantryAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Transporter2}.Gantry");
+                if (_loadTransporterGantryAxis != null && _loadTransporterGantryAxis.JudgeCompareTargetStation("Loader", "Right"))
+                {
+                    WaferInfo preLoaderWaferInfo = WaferHolderTaskManager.Instance.GetPreLoaderHasWafer();
+                    //触发loaderEntity UnloadAll
+                    if (preLoaderWaferInfo != null && !string.IsNullOrEmpty(preLoaderWaferInfo.LoaderSide))
+                    {
+                        bool result = _loaderEntity.CheckToPostMessage<LOADERSTATE, LoaderMSG>(eEvent.WARN_LOADER, ModuleName.Loader1.ToString(),
+                            (int)LoaderMSG.UnloadSide, preLoaderWaferInfo.LoaderSide);
+                    }
+                }
+            }
         }
 
         /// <summary>