ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemUI/Views/Maintenance/RobotView.xaml

<UserControl x:Class="EfemUI.Views.Maintenance.RobotView"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
             xmlns:uc="clr-namespace:Aitex.Sorter.UI.Controls;assembly=Aitex.Sorter.UI"
             xmlns:Common="clr-namespace:Aitex.Sorter.Common;assembly=Aitex.Sorter.Common"
             xmlns:ctrlCommon="clr-namespace:Aitex.Sorter.UI.Controls.Common;assembly=Aitex.Sorter.UI"
             xmlns:ctrl="clr-namespace:Aitex.Sorter.UI.Controls;assembly=Aitex.Sorter.UI"
			 xmlns:s="clr-namespace:System;assembly=mscorlib"
			 xmlns:deviceControl="clr-namespace:Aitex.Core.UI.DeviceControl;assembly=MECF.Framework.UI.Core"
             xmlns:equipment="clr-namespace:MECF.Framework.Common.Equipment;assembly=MECF.Framework.Common"
             xmlns:controls1="clr-namespace:EfemUI.Controls"
			 mc:Ignorable="d" 
             d:DesignHeight="800" d:DesignWidth="1820">
    <UserControl.Resources>
        <s:Int32 x:Key="MoveOption" >0</s:Int32>
        <uc:TargetSlotConverter x:Key="TargetSlotConverter" />
        <uc:TargetKeyValueConverter x:Key="TargetKeyValueConverter"/>
        <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
            <Setter Property="VerticalAlignment" Value="Center" />
            <Setter Property="HorizontalAlignment" Value="Center" />
        </Style>
    </UserControl.Resources>


    <Grid IsEnabled="{Binding EnablePageControl}" Margin="0,0,-52,0">
        <Grid.ColumnDefinitions>
            <ColumnDefinition Width="auto" />
            <ColumnDefinition Width="*" />
            <ColumnDefinition Width="auto" />
        </Grid.ColumnDefinitions>

        <StackPanel Grid.Column="1" Width="296" Height="299" Margin="140,320,1436,0">
            <StackPanel.Background>
                <ImageBrush ImageSource="/Resources/Images/robot7.png" Stretch="Uniform"/>
            </StackPanel.Background>
        </StackPanel>
        <Border Grid.Column="1">
            <Canvas>
                <StackPanel Orientation="Vertical" Canvas.Left="10" Canvas.Top="410" Width="195" >
                    <TextBox x:Name="LowArmDistance"  Grid.Row="1" Grid.Column="1" Margin="8"    IsEnabled="{Binding SelectedItem, Converter={StaticResource valueNotMatchConverter}, ElementName=cboGotoexTarget}"/>
                    <Label Background="AliceBlue" HorizontalContentAlignment="Center" FontSize="20" Content="LowerArm Fwd(mm)" Width="220" Canvas.Left="300" Canvas.Top="200" Height="49"/>

                </StackPanel>



                <StackPanel Background="#d6f1ff" Orientation="Horizontal" Canvas.Left="200" Canvas.Top="282" Width="295" Height="128" >
                    <Grid Width="295">
                        <Grid.Resources>
                            <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                <Setter Property="VerticalAlignment" Value="Center" />
                                <Setter Property="HorizontalAlignment" Value="Center" />
                            </Style>
                        </Grid.Resources>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="40" />
                            <RowDefinition Height="300" />
                        </Grid.RowDefinitions>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                        </Grid.ColumnDefinitions>

                        <Label Content="Move Option" Grid.Row="0" Grid.Column="0" Grid.ColumnSpan="3" Width="400"  Style="{StaticResource label}" />
                        <Grid Grid.Row="1" Grid.ColumnSpan="3" ctrlCommon:GridHelper.Column0="LightBlue" ctrlCommon:GridHelper.Column1="Transparent" Margin="0,0,-0.333,212">
                            <Grid.Resources>
                                <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                    <Setter Property="VerticalAlignment" Value="Center" />
                                    <Setter Property="HorizontalAlignment" Value="Left" />
                                    <Setter Property="Margin" Value="10,0,0,0" />
                                </Style>
                            </Grid.Resources>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="120" />
                                <ColumnDefinition Width="35*" />
                                <ColumnDefinition Width="121*"/>
                            </Grid.ColumnDefinitions>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="40" />

                                <RowDefinition Height="40" />


                            </Grid.RowDefinitions>
                            <Label Grid.Row="0" Content="Move Base" Height="33" Margin="0,4" Width="120" />
                            <ComboBox Grid.Row="0" Grid.Column="1" x:Name="cboMoveBaseType" 
                                      ItemsSource="{Binding JelMoveBaseType}" SelectedValuePath="Value" Margin="5,5,6,5" Grid.ColumnSpan="2" />
                            <Label Grid.Row="1" Content="Speed Type" Height="33" Margin="0,4" Width="120" />
                            <ComboBox Grid.Row="1" Grid.Column="1" x:Name="cboMoveSpeedType" 
                                      ItemsSource="{Binding JelMoveSpeedType}" SelectedValuePath="Value" Margin="5,5,6,5" Grid.ColumnSpan="2" />





                        </Grid>
                    </Grid>

                </StackPanel>

                <StackPanel Orientation="Vertical" Canvas.Left="70" Canvas.Top="282" >
                    <Button Command="{Binding Command}" 
                            ctrlCommon:CommandHelper.CommandName="RobotMove" 
                            ctrlCommon:CommandHelper.Target="Robot"
                            ctrlCommon:CommandHelper.Parameter1="1"
                            ctrlCommon:CommandHelper.Parameter2="0" 
                            ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=LowArmDistance}" 
                            ctrlCommon:CommandHelper.Parameter4="{Binding Text, ElementName=cboMoveBaseType}" 
                           ctrlCommon:CommandHelper.Parameter5="{Binding Text, ElementName=cboMoveSpeedType}" 
                            
                            
                            Margin="0,0,0,0" Width="60" Height="60" VerticalAlignment="Center" >
                        <WrapPanel>
                            <Image Width="56" Height="56" Source="/Resources/Images/Previous_32x32.png"></Image>
                        </WrapPanel>
                    </Button>
                    <Button Command="{Binding Command}" 
                            ctrlCommon:CommandHelper.CommandName="RobotMove" 
                            ctrlCommon:CommandHelper.Target="Robot"
                            ctrlCommon:CommandHelper.Parameter1="1"
                            ctrlCommon:CommandHelper.Parameter2="1" 
                            ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=LowArmDistance}" 
                           ctrlCommon:CommandHelper.Parameter4="{Binding Text, ElementName=cboMoveBaseType}" 
                           ctrlCommon:CommandHelper.Parameter5="{Binding Text, ElementName=cboMoveSpeedType}" 
                           
                            Margin="0,8,0,0" Width="60" Height="60" VerticalAlignment="Center" >
                        <WrapPanel>
                            <Image Width="56" Height="56" Source="/Resources/Images/Next_32x32.png"></Image>
                        </WrapPanel>
                    </Button>
                </StackPanel>


                <StackPanel Orientation="Vertical" Canvas.Left="470" Canvas.Top="410" Width="195" >
                    <TextBox x:Name="UpperArmDistance"  Grid.Row="1" Grid.Column="1" Margin="8"    IsEnabled="{Binding SelectedItem, Converter={StaticResource valueNotMatchConverter}, ElementName=cboGotoexTarget}"/>
                    <Label Background="AliceBlue" HorizontalContentAlignment="Center" FontSize="20" Content="UpperArm Fwd(mm)" Width="220" Canvas.Left="300" Canvas.Top="200" Height="49"/>

                </StackPanel>

                <StackPanel Orientation="Vertical" Canvas.Left="540" Canvas.Top="282" >
                    <Button Command="{Binding Command}" 
                            ctrlCommon:CommandHelper.CommandName="RobotMove" 
                            ctrlCommon:CommandHelper.Target="Robot"
                            ctrlCommon:CommandHelper.Parameter1="2"
                            ctrlCommon:CommandHelper.Parameter2="0" 
                            ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=UpperArmDistance}"
                            ctrlCommon:CommandHelper.Parameter4="{Binding Text, ElementName=cboMoveBaseType}" 
                           ctrlCommon:CommandHelper.Parameter5="{Binding Text, ElementName=cboMoveSpeedType}" 
                           
                            Margin="0,0,0,0" Width="60" Height="60" VerticalAlignment="Center" >
                        <WrapPanel>
                            <Image Width="56" Height="56" Source="/Resources/Images/Previous_32x32.png"></Image>
                        </WrapPanel>
                    </Button>
                    <Button Command="{Binding Command}" 
                            ctrlCommon:CommandHelper.CommandName="RobotMove" 
                            ctrlCommon:CommandHelper.Target="Robot"
                            ctrlCommon:CommandHelper.Parameter1="2"
                            ctrlCommon:CommandHelper.Parameter2="1"                             
                            ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=UpperArmDistance}"
                            ctrlCommon:CommandHelper.Parameter4="{Binding Text, ElementName=cboMoveBaseType}" 
                           ctrlCommon:CommandHelper.Parameter5="{Binding Text, ElementName=cboMoveSpeedType}" 
                                               
                            Margin="0,8,0,0" Width="60" Height="60" VerticalAlignment="Center" >
                        <WrapPanel>
                            <Image Width="56" Height="56" Source="/Resources/Images/Next_32x32.png"></Image>
                        </WrapPanel>
                    </Button>
                </StackPanel>

                <StackPanel Orientation="Vertical" Canvas.Left="10" Canvas.Top="660" Width="195" >
                    <TextBox x:Name="RotateDegree"  Grid.Row="1" Grid.Column="1" Margin="8"    IsEnabled="{Binding SelectedItem, Converter={StaticResource valueNotMatchConverter}, ElementName=cboGotoexTarget}"/>
                    <Label Background="AliceBlue" HorizontalContentAlignment="Center" FontSize="20" Content="Rotate(deg)" Width="220" Canvas.Left="300" Canvas.Top="200" Height="49"/>

                </StackPanel>

                <StackPanel Orientation="Horizontal" Canvas.Left="40" Canvas.Top="600" >
                    <Button Command="{Binding Command}" 
                            ctrlCommon:CommandHelper.CommandName="RobotMove" 
                            ctrlCommon:CommandHelper.Target="Robot"
                            ctrlCommon:CommandHelper.Parameter1="4"
                            ctrlCommon:CommandHelper.Parameter2="0" 
                            ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=RotateDegree}" 
                            ctrlCommon:CommandHelper.Parameter4="{Binding Text, ElementName=cboMoveBaseType}" 
                           ctrlCommon:CommandHelper.Parameter5="{Binding Text, ElementName=cboMoveSpeedType}" 
                            
                            Margin="0,0,0,0" Width="60" Height="60" VerticalAlignment="Center" >
                        <WrapPanel>
                            <Image Width="56" Height="56" Source="/Resources/Images/Left.png"></Image>
                        </WrapPanel>
                    </Button>
                    <Button Command="{Binding Command}" 
                            ctrlCommon:CommandHelper.CommandName="RobotMove" 
                            ctrlCommon:CommandHelper.Target="Robot"
                            ctrlCommon:CommandHelper.Parameter1="4"
                            ctrlCommon:CommandHelper.Parameter2="1" 
                            ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=RotateDegree}"    
                            ctrlCommon:CommandHelper.Parameter4="{Binding Text, ElementName=cboMoveBaseType}" 
                           ctrlCommon:CommandHelper.Parameter5="{Binding Text, ElementName=cboMoveSpeedType}" 
                            Margin="8,0,0,0" Width="60" Height="60" VerticalAlignment="Center" >
                        <WrapPanel>
                            <Image Width="56" Height="56" Source="/Resources/Images/right.png"></Image>
                        </WrapPanel>
                    </Button>
                </StackPanel>

                <StackPanel Orientation="Vertical" Canvas.Left="470" Canvas.Top="660" Width="195" >
                    <TextBox x:Name="ZDistance"  Grid.Row="1" Grid.Column="1" Margin="8"    IsEnabled="{Binding SelectedItem, Converter={StaticResource valueNotMatchConverter}, ElementName=cboGotoexTarget}"/>
                    <Label Background="AliceBlue" HorizontalContentAlignment="Center" FontSize="20" Content="Z Distance(mm)" Width="220" Canvas.Left="300" Canvas.Top="200" Height="49"/>

                </StackPanel>

                <StackPanel Orientation="Vertical" Canvas.Left="540" Canvas.Top="532" >
                    <Button Command="{Binding Command}" 
                            ctrlCommon:CommandHelper.CommandName="RobotMove" 
                            ctrlCommon:CommandHelper.Target="Robot"
                            ctrlCommon:CommandHelper.Parameter1="3"
                            ctrlCommon:CommandHelper.Parameter2="0" 
                            ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=ZDistance}"    
                            ctrlCommon:CommandHelper.Parameter4="{Binding Text, ElementName=cboMoveBaseType}" 
                           ctrlCommon:CommandHelper.Parameter5="{Binding Text, ElementName=cboMoveSpeedType}" 
                            Margin="0,0,0,0" Width="60" Height="60" VerticalAlignment="Center" >
                        <WrapPanel>
                            <Image Width="56" Height="56" Source="/Resources/Images/Previous_32x32.png"></Image>
                        </WrapPanel>
                    </Button>
                    <Button Command="{Binding Command}" 
                            ctrlCommon:CommandHelper.CommandName="RobotMove" 
                            ctrlCommon:CommandHelper.Target="Robot"
                            ctrlCommon:CommandHelper.Parameter1="3"
                            ctrlCommon:CommandHelper.Parameter2="1"
                            ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=ZDistance}"     
                            ctrlCommon:CommandHelper.Parameter4="{Binding Text, ElementName=cboMoveBaseType}" 
                           ctrlCommon:CommandHelper.Parameter5="{Binding Text, ElementName=cboMoveSpeedType}" 
                            Margin="0,8,0,0" Width="60" Height="60" VerticalAlignment="Center" >
                        <WrapPanel>
                            <Image Width="56" Height="56" Source="/Resources/Images/Next_32x32.png"></Image>
                        </WrapPanel>
                    </Button>
                </StackPanel>

                <DockPanel Background="#d6f1ff"  Canvas.Left="10" Canvas.Top="10" Height="246">
                    <Grid>
                        <Grid.Resources>
                            <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                <Setter Property="VerticalAlignment" Value="Center" />
                                <Setter Property="HorizontalAlignment" Value="Center" />
                            </Style>
                        </Grid.Resources>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="40" />
                            <RowDefinition Height="200" />
                        </Grid.RowDefinitions>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                        </Grid.ColumnDefinitions>

                        <Label Content="Robot Position" Grid.Row="0" Grid.Column="0" Grid.ColumnSpan="3" Width="400"  Style="{StaticResource label}" />
                        <Grid Grid.Row="5" Grid.ColumnSpan="5" ctrlCommon:GridHelper.Column0="LightBlue" ctrlCommon:GridHelper.Column1="Transparent">
                            <Grid.Resources>
                                <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                    <Setter Property="VerticalAlignment" Value="Center" />
                                    <Setter Property="HorizontalAlignment" Value="Left" />
                                    <Setter Property="Margin" Value="10,0,0,0" />
                                </Style>
                            </Grid.Resources>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="210" />
                                <ColumnDefinition />
                            </Grid.ColumnDefinitions>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="40" />

                            </Grid.RowDefinitions>
                            <Label Grid.Row="0" Content="Left Arm(mm)" Height="33" Margin="10,4,0,4" Width="131" />
                            <Label Grid.Row="0" Grid.Column="1"  Content="{Binding RobotPositionX}"  />

                            <Label Grid.Row="1" Content="Right Arm(mm)" Height="33" Margin="10,4,0,4" Width="144"  />
                            <Label Grid.Row="1" Grid.Column="1"  Content="{Binding RobotPositionY}"  />

                            <Label Grid.Row="2" Content="Z Axios(mm)" Height="33" Margin="10,4,0,4" Width="122"   />
                            <Label Grid.Row="2" Grid.Column="1"  Content="{Binding RobotPositionZ}"  />

                            <Label Grid.Row="3" Content="Theta Axis(degree)" Height="33" Margin="10,4,0,4" Width="195"   />
                            <Label Grid.Row="3" Grid.Column="1"  Content="{Binding RobotPositionW}"  />

                            <Button Grid.Row="4" Grid.Column="1" Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="ReadParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="CurrentPositionData"
                            Margin="0,5,10,0"  Width="180" Content="Read Position"  VerticalAlignment="Center" Height="35"/>



                        </Grid>
                    </Grid>
                </DockPanel>


                <DockPanel Background="#d6f1ff"  Canvas.Right="430" Canvas.Top="10" Height="558" Canvas.Left="1090" Width="395" >
                    <Grid>
                        <Grid.Resources>
                            <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                <Setter Property="VerticalAlignment" Value="Center" />
                                <Setter Property="HorizontalAlignment" Value="Center" />
                            </Style>
                        </Grid.Resources>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="40" />
                            <RowDefinition Height="610" />
                        </Grid.RowDefinitions>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                        </Grid.ColumnDefinitions>

                        <Label Content="Robot Status" Grid.Row="0" Grid.Column="0" Grid.ColumnSpan="3" Width="400"  Style="{StaticResource label}" />
                        <Grid Grid.Row="1" Grid.ColumnSpan="3" ctrlCommon:GridHelper.Column0="LightBlue" ctrlCommon:GridHelper.Column1="Transparent" Margin="0,0,-0.333,100">
                            <Grid.Resources>
                                <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                    <Setter Property="VerticalAlignment" Value="Center" />
                                    <Setter Property="HorizontalAlignment" Value="Left" />
                                    <Setter Property="Margin" Value="10,0,0,0" />
                                </Style>
                            </Grid.Resources>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="232" />
                                <ColumnDefinition Width="*"/>
                                <ColumnDefinition />
                            </Grid.ColumnDefinitions>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="40" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="40" />



                            </Grid.RowDefinitions>
                            <Label Grid.Row="0" Content="State(State Machine)" Height="32" Margin="10,3,0,3" Width="198"/>
                            <Label Grid.Row="0" Grid.Column="1"  Content="{Binding RobotState}" Margin="0,0,0,0"  Grid.ColumnSpan="2" />

                            <Label Grid.Row="1" Content="Left and Z Status" Height="32" Margin="10,3,0,3" Width="162" />
                            <Label Grid.Row="1" Grid.Column="1"  Content="{Binding LeftarmAndZaxisStatus}" Margin="0,0,0,0"  Grid.ColumnSpan="2"  />

                            <Label Grid.Row="2" Content="Right and Theta Status" Height="32" Margin="10,3,0,3" Width="214" />
                            <Label Grid.Row="2" Grid.Column="1"  Content="{Binding RightarmAndThetaarmStatus}" Margin="0,0,0,0" Grid.ColumnSpan="2"   />

                            <Label Grid.Row="3" Content="Pressure Sensor(Right)" Height="32" Margin="10,3,0,3" Width="218"/>
                            <Label Grid.Row="3" Grid.Column="1"  Content="{Binding IsRightArmPressureSensorON}" Margin="0,0,0,0"  Grid.ColumnSpan="2"  />

                            <Label Grid.Row="4" Content="Pressure Sensor(Left)" Height="32" Margin="10,3,0,3" Width="206"/>
                            <Label Grid.Row="4" Grid.Column="1"  Content="{Binding IsLeftArmPressureSensorON}" Margin="0,0,0,0" Grid.ColumnSpan="2"  />
                            <Label Grid.Row="5" Content="Compaund State" Height="32" Margin="10,3,0,3" Width="206" />
                            <Label Grid.Row="5" Grid.Column="1"  Content="{Binding CurrentCompoundCommandStatus}" Margin="0,0,0,0"  Grid.ColumnSpan="2" />
                            <Label Grid.Row="6" Content="Current Bank NO" Height="32" Margin="10,3,0,3" Width="206"/>
                            <Label Grid.Row="6" Grid.Column="1"  Content="{Binding ReadBankNumber}" Margin="5,0" Height="37" Width="80"  />
                            <TextBox x:Name="txtBankNo"  Grid.Row="6" Grid.Column="2" Margin="5,2,5,2" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="7" Content="Current Cassette NO" Height="32" Margin="10,3,0,3" Width="206"/>
                            <Label Grid.Row="7" Grid.Column="1"  Content="{Binding ReadCassetNumber}" Margin="5,0" Height="39" Width="80"/>
                            <TextBox x:Name="txtCassetteNo"  Grid.Row="7" Grid.Column="2" Margin="5,2,5,2" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="8" Content="Current Slots Number" Height="32" Margin="10,3,0,3" Width="206"/>
                            <Label Grid.Row="8" Grid.Column="1"  Content="{Binding ReadSlotNumber}" Margin="5,0"  Height="39" Width="80"   />
                            <TextBox x:Name="txtSlotNo"  Grid.Row="8" Grid.Column="2" Margin="5,2,5,2" IsEnabled="True" Height="Auto"/>




                            <StackPanel Grid.Row="9" Grid.Column="0" Grid.ColumnSpan ="3"  Orientation="Horizontal" >
                                <Button  Content="Home" Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="RobotHome" 
                                    ctrlCommon:CommandHelper.Target="Robot" Width="70" Margin="5,2,4,0" Height="35" 
                                    ctrlCommon:CommandHelper.Parameter1="{Binding Text,ElementName=cboMoveSpeedType}"/>


                                <Button Content="Reset" Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="RobotReset" 
                                    ctrlCommon:CommandHelper.Target="Robot" Margin="5,2,4,0" Height="35" Width="70" />
                                <Button Content="Stop" Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="RobotStop" 
                                    ctrlCommon:CommandHelper.Target="Robot" Margin="5,2,4,0" Height="35" Width="70" />
                                <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="ReadParameter" 
                                    ctrlCommon:CommandHelper.Target ="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="CurrentStatus"
                                         Content="Read" Margin="5,1,4,2" Width="70" Height="35" VerticalAlignment="Stretch" />
                                <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="BankNumber"
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtBankNo}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=txtCassetteNo}" 
                                    ctrlCommon:CommandHelper.Parameter4="{Binding Text,ElementName=txtSlotNo}" 
                                         Content="Set" Margin="5,0,4,2" Width="70" Height="35" VerticalAlignment="Stretch" />

                            </StackPanel>

                            <Label Grid.Row="10" Content="A Data NO(0-999)" Height="32" Margin="10,3,0,3" Width="214"/>
                            <TextBox x:Name="txtADataNO"  Grid.Row="10" Grid.Column="1" Margin="5,2,5,2" IsEnabled="True" Height="Auto" Grid.ColumnSpan="2"/>

                            <Label Grid.Row="11" Grid.Column="0"  Content="A Data Content" Height="36" Margin="14,1,0,1" Width="158"  />

                            <Label Grid.Row="11"  Content="{Binding CurrentReadAData}" Margin="5,2,5,2" Grid.Column="1"  Width="80" Height="39"/>
                            <TextBox x:Name="txtADataSetValue"  Grid.Row="11" Grid.Column="2" Margin="5,0" IsEnabled="True" Height="Auto"/>



                            <StackPanel Grid.Row="12" Grid.Column="0" Grid.ColumnSpan ="3"  Orientation="Horizontal" HorizontalAlignment="Right" Width="396" Margin="-1,0,0,0" >
                                <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="ReadParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="AData"                                    
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtADataNO}" 
                                    Margin="5,0"  VerticalAlignment="Center" Width="90" Content="Read" Height="35"/>
                                <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="AData"                                    
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtADataNO}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=txtADataSetValue}" 
                                        
                                    Margin="5,0"  VerticalAlignment="Center" Width="85" Content="Set" Height="35"/>
                                <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="ReadParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="EPData"
                                    ctrlCommon:CommandHelper.Parameter2="AData"                                        
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=txtADataNO}" 
                                    Margin="5,0"  VerticalAlignment="Center" Width="90" Height="35" Content="LoadEP"/>

                                <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="EPData"                                    
                                    ctrlCommon:CommandHelper.Parameter2="AData" 
                                    Margin="5,0"  VerticalAlignment="Center" Width="90" Height="35" Content="SaveEP"/>

                            </StackPanel>






                        </Grid>
                    </Grid>
                </DockPanel>


                <DockPanel Background="#d6f1ff" Height="252" Canvas.Left="675" Canvas.Top="10" Width="400">
                    <Grid>
                        <Grid.Resources>
                            <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                <Setter Property="VerticalAlignment" Value="Center" />
                                <Setter Property="HorizontalAlignment" Value="Center" />
                            </Style>
                        </Grid.Resources>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="40" />
                            <RowDefinition Height="200" />
                        </Grid.RowDefinitions>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                        </Grid.ColumnDefinitions>

                        <Label Content="Parameters" Grid.Row="0" Grid.Column="0" Grid.ColumnSpan="3" Width="400"  Style="{StaticResource label}" />
                        <Grid Grid.ColumnSpan="3" ctrlCommon:GridHelper.Column0="LightBlue" ctrlCommon:GridHelper.Column1="Transparent" Height="200" VerticalAlignment="Bottom" Margin="0,-18,0,0" Grid.RowSpan="2">
                            <Grid.Resources>
                                <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                    <Setter Property="VerticalAlignment" Value="Center" />
                                    <Setter Property="HorizontalAlignment" Value="Left" />
                                    <Setter Property="Margin" Value="10,0,0,0" />
                                </Style>
                            </Grid.Resources>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="180" />
                                <ColumnDefinition Width="100" />
                                <ColumnDefinition />
                            </Grid.ColumnDefinitions>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="40" />


                            </Grid.RowDefinitions>
                            <Label Grid.Row="0" Content="Parameter NO." Height="32" Margin="10,4,0,4" Width="144" />
                            <TextBox x:Name="txtExtParaNO"  Grid.Row="0" Grid.Column="1" Margin="5,2" IsEnabled="True" Height="Auto" Grid.ColumnSpan="2"/>
                            <Label Grid.Row="1" Content="Parameter Min." Height="32" Margin="10,4,0,4" Width="147" />
                            <Label Grid.Row="1" Content="{Binding ReadParameterMin}" Grid.Column="1" Grid.ColumnSpan="2" HorizontalAlignment="Center"/>

                            <Label Grid.Row="2" Content="Parameter Max." Height="32" Margin="10,4,0,4" Width="152" />
                            <Label Grid.Row="2" Content="{Binding ReadParameterMax}" Grid.Column="1" Grid.ColumnSpan="2"  HorizontalAlignment="Center"/>


                            <Label Grid.Row="3" Content="Value" Height="32" Margin="10,4,0,4" Width="60"  />
                            <Label Grid.Row="3" Grid.Column="1"  Content="{Binding ReadParameterValue}" Height="32" Margin="5,4,0,4" Width="85" />


                            <TextBox x:Name="txtExtParaSetValue"  Grid.Row="3" Grid.Column="2" Margin="5,3" IsEnabled="True" Height="Auto"/>

                            <StackPanel Orientation="Horizontal" Grid.Row="4" Grid.ColumnSpan="3" Margin="0,0,0,-13" >
                                <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="ReadParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="RobotParameter"                                    
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtExtParaNO}" 
                                    Margin="13,2,5,0"  VerticalAlignment="Center" Width="180" Height="35" Content="Read"/>

                                <Button Grid.Row="2" Grid.Column="1" Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="RobotParameter"   
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtExtParaNO}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=txtExtParaSetValue}" 
                                    
                                    Margin="5"  VerticalAlignment="Center" Width="180" Height="35" Content="Set"/>
                            </StackPanel>


                        </Grid>
                    </Grid>
                </DockPanel>

                <DockPanel Background="#d6f1ff"  Canvas.Right="10" Canvas.Top="10" Canvas.Left="1500" Width="395" >
                    <Grid>
                        <Grid.Resources>
                            <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                <Setter Property="VerticalAlignment" Value="Center" />
                                <Setter Property="HorizontalAlignment" Value="Center" />
                            </Style>
                        </Grid.Resources>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="40" />
                            <RowDefinition Height="403" />
                        </Grid.RowDefinitions>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                        </Grid.ColumnDefinitions>

                        <Label Content="Robot Point Positin" Grid.Row="0" Grid.Column="0" Grid.ColumnSpan="3" Width="400"  Style="{StaticResource label}" />
                        <Grid Grid.Row="5" Grid.ColumnSpan="5" ctrlCommon:GridHelper.Column0="LightBlue" ctrlCommon:GridHelper.Column1="Transparent">
                            <Grid.Resources>
                                <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                    <Setter Property="VerticalAlignment" Value="Center" />
                                    <Setter Property="HorizontalAlignment" Value="Left" />
                                    <Setter Property="Margin" Value="10,0,0,0" />
                                </Style>
                            </Grid.Resources>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="165" />
                                <ColumnDefinition Width="115" />
                                <ColumnDefinition />
                            </Grid.ColumnDefinitions>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="40" />
                                <RowDefinition Height="40" />
                                <RowDefinition Height="40" />
                                <RowDefinition Height="40" />
                                <RowDefinition Height="40" />
                            </Grid.RowDefinitions>
                            <Label Grid.Row="0" Content="Position NO." Height="33" Margin="10,4,0,4" Width="122" />
                            <TextBox x:Name="txtPOSNO"  Grid.Row="0" Grid.Column="1" Grid.ColumnSpan="2" Margin="0,3,5,3" IsEnabled="True" Height="Auto"/>


                            <Label Grid.Row="1" Content="Left Arm(um)" Margin="10,5,0,4" Width="155" Height="32"  />
                            <Label Grid.Row="1" Grid.Column="1"  Content="{Binding RobotReadXPosition}" Height="37" Margin="0,0,0,0" Width="115"  />
                            <TextBox x:Name="txtSetValue_X"  Grid.Row="1" Grid.Column="2" Margin="5,3" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="2" Content="Right Arm(um)" Height="33" Margin="10,4,0,4" Width="139"  />
                            <Label Grid.Row="2" Grid.Column="1"  Content="{Binding RobotReadYPosition}" Height="36" Margin="0,0,0,0" Width="115"  />
                            <TextBox x:Name="txtSetValue_Y"  Grid.Row="2" Grid.Column="2" Margin="5,3" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="3" Content="Z Postion(um)" Margin="10,5,0,4" Width="145" Height="32"  />
                            <Label Grid.Row="3" Grid.Column="1"  Content="{Binding RobotReadZPosition}" Height="35" Margin="0" Width="95"  />
                            <TextBox x:Name="txtSetValue_Z"  Grid.Row="3" Grid.Column="2" Margin="5,3" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="4" Content="Theta(0.001deg)" Margin="0,4,0,5" Width="156" Height="32"  />
                            <Label Grid.Row="4" Grid.Column="1"  Content="{Binding RobotReadWPosition}" Margin="0"  />
                            <TextBox x:Name="txtSetValue_W"  Grid.Row="4" Grid.Column="2" Margin="5,3" IsEnabled="True" Height="Auto"/>


                            <StackPanel Orientation="Horizontal" Grid.Row="5" Grid.ColumnSpan="3" Margin="0,0,0,28" Grid.RowSpan="2" >
                                <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="ReadParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="PositionData"                                    
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtPOSNO}" 
                                    Margin="13,6,5,14"  VerticalAlignment="Center" Width="113" Content="Read" Height="34"/>

                                <Button Grid.ColumnSpan="1" 
                                    Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="PositionData"   
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtPOSNO}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=txtSetValue_Y}" 
                                    ctrlCommon:CommandHelper.Parameter4="{Binding Text,ElementName=txtSetValue_W}" 
                                    ctrlCommon:CommandHelper.Parameter5="{Binding Text,ElementName=txtSetValue_X}" 
                                    ctrlCommon:CommandHelper.Parameter6="{Binding Text,ElementName=txtSetValue_Z}"                                 
                                    Margin="5,6,5,14"  VerticalAlignment="Center" Width="113" Content="Write Position" Height="34"/>
                                <Button Grid.ColumnSpan="1" 
                                    Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="CurrentPositionData"   
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtPOSNO}"                                 
                                    Margin="5,6,5,14"  VerticalAlignment="Center" Width="113" Content="Write Current" Height="34"/>



                            </StackPanel>

                            <StackPanel Grid.Row="6" Grid.Column="0" Grid.ColumnSpan ="3"  Orientation="Horizontal" >
                                <ComboBox  x:Name="cboGripHand"  ItemsSource="{Binding RobotArmSelected}" Width="165" Margin="5,10,5,1"/>
                                <Button Content="Hold" Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="RobotGrip" 
                                    ctrlCommon:CommandHelper.Target="Robot"  
                                    ctrlCommon:CommandHelper.Parameter1="{Binding Text,ElementName=cboGripHand}" 
                                        Grid.RowSpan="2"  Margin="5,2,5,0" Height="35" VerticalAlignment="Stretch"  />

                                <Button Content="Release" Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="RobotRelease" 
                                    ctrlCommon:CommandHelper.Target="Robot"  
                                    ctrlCommon:CommandHelper.Parameter1="{Binding Text,ElementName=cboGripHand}" 
                                        Grid.RowSpan="2"  Margin="5,2,5,0" Height="35" Width="95"  />
                            </StackPanel>


                            <StackPanel Grid.Row="7" Grid.Column="0" Grid.ColumnSpan ="3"  Orientation="Horizontal" HorizontalAlignment="Right" Width="396" >
                                <ComboBox x:Name="cboPickTarget" 
                                      ItemsSource="{Binding RobotTargetStation}" SelectedValuePath="Value" Margin="5,5,5,5" Width="90" />

                                <ComboBox x:Name="cboPickSlot" SelectedValuePath="Value" 
                                          ItemsSource="{Binding RobotSelectSlot}" 
                                           Margin="5" Width="85" />

                                <ComboBox x:Name="cboPickHand" ItemsSource="{Binding RobotArmSelected}" Margin="5,5,5,5" Width="100" />
                                <Button Content="Pick" Command="{Binding Command}" Margin="5,2,5,0"
                                    ctrlCommon:CommandHelper.CommandName="RobotPick" 
                                    ctrlCommon:CommandHelper.Target="Robot"  
                                    ctrlCommon:CommandHelper.Parameter1="{Binding Text,ElementName=cboPickTarget}" 
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=cboPickSlot}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=cboPickHand}" 
                                        Width="75" Height="35"/>



                            </StackPanel>

                            <StackPanel Grid.Row="8" Grid.Column="0" Grid.ColumnSpan ="3"  Orientation="Horizontal" HorizontalAlignment="Right" Width="396" >
                                <ComboBox x:Name="cboPlaceTarget"
                                      ItemsSource="{Binding RobotTargetStation}" SelectedValuePath="Value" Width="90" Margin="5,5,5,5"/>
                                <ComboBox x:Name="cboPlaceSlot" SelectedValuePath="Value"
                                          ItemsSource="{Binding RobotSelectSlot}" 
                                          IsEnabled="True" Margin="5,5,5,5" Width="85"/>

                                <ComboBox x:Name="cboPlaceHand" ItemsSource="{Binding RobotArmSelected}" Margin="5,5,5,5" Width="100" />
                                <Button Content="Place" Command="{Binding Command}" Margin="5,2,5,0"
                                    ctrlCommon:CommandHelper.CommandName="RobotPlace" 
                                    ctrlCommon:CommandHelper.Target="Robot" 
                                    ctrlCommon:CommandHelper.Parameter1="{Binding Text, ElementName=cboPlaceTarget}" 
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text ,ElementName=cboPlaceSlot}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=cboPlaceHand}" 
                                    
                                    Width="75" Height="35" VerticalAlignment="Stretch"
                                    />


                            </StackPanel>

                            <StackPanel Grid.Row="9" Grid.Column="0" Grid.ColumnSpan ="3"  Orientation="Horizontal" HorizontalAlignment="Right" Width="396" >

                                <ComboBox x:Name="cboSwapTarget" 
                                      ItemsSource="{Binding RobotTargetStation}" SelectedValuePath="Value" Width="90" Margin="5,5,5,5"/>
                                <ComboBox x:Name="cboSwapSlot" SelectedValuePath="Value" 
                                          ItemsSource="{Binding RobotSelectSlot}" 
                                          IsEnabled="True" Width="85" Margin="5,5,5,5" />
                                <ComboBox x:Name="cboSwapPickHand" Grid.Row="16"  ItemsSource="{Binding RobotArmSelected}" Grid.ColumnSpan="2" Margin="5,5,5,5" Width="100"/>
                                <Button Grid.Row="16" Grid.Column="1" Content="Swap" Command="{Binding Command}" Margin="5,2,5,0"
                                    ctrlCommon:CommandHelper.CommandName="RobotExchange" 
                                    ctrlCommon:CommandHelper.Target="Robot" 
                                    ctrlCommon:CommandHelper.Parameter1="{Binding Text, ElementName=cboSwapTarget}" 
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text ,ElementName=cboSwapSlot}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=cboSwapPickHand}" 
                                        Width="75" Height="35" />


                            </StackPanel>




                        </Grid>
                    </Grid>
                </DockPanel>

                <DockPanel Background="#d6f1ff"  Canvas.Right="10" Canvas.Top="460" Height="326" Canvas.Left="1500" Width="395" >
                    <Grid>
                        <Grid.Resources>
                            <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                <Setter Property="VerticalAlignment" Value="Center" />
                                <Setter Property="HorizontalAlignment" Value="Center" />
                            </Style>
                        </Grid.Resources>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="40" />
                            <RowDefinition Height="300" />
                        </Grid.RowDefinitions>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                        </Grid.ColumnDefinitions>

                        <Label Content="Compaund Command Editor" Grid.Row="0" Grid.Column="0" Grid.ColumnSpan="3" Width="400"  Style="{StaticResource label}" />
                        <Grid Grid.Row="5" Grid.ColumnSpan="5" ctrlCommon:GridHelper.Column0="LightBlue" ctrlCommon:GridHelper.Column1="Transparent">
                            <Grid.Resources>
                                <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                    <Setter Property="VerticalAlignment" Value="Center" />
                                    <Setter Property="HorizontalAlignment" Value="Left" />
                                    <Setter Property="Margin" Value="10,0,0,0" />
                                </Style>
                            </Grid.Resources>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="180" />
                                <ColumnDefinition Width="100" />
                                <ColumnDefinition Width="*" />
                            </Grid.ColumnDefinitions>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="40" />
                                <RowDefinition Height="186" />
                                <RowDefinition Height="40" />



                            </Grid.RowDefinitions>
                            <Label Grid.Row="0" Content="Routine Selection" />
                            <ComboBox Grid.Row="0" Grid.Column="1" x:Name="cboRoutineSelection" 
                                      ItemsSource="{Binding JelCompaundCommandType}" SelectedValuePath="Value" Margin="5,5,5,5" Width="90" />


                            <TextBox x:Name="txtCompaundCommandNO"  Grid.Row="0" Grid.Column="2" Margin="5,2" IsEnabled="True"/>

                            <Label Grid.Row="1" Content ="Routine Content" Height="38" Margin="12,10,0,153"  />

                            <TextBlock Grid.Row="1" Text ="(Main routine NO is from 1-139, subrountine is from   1-F)" FontSize="15" TextWrapping="Wrap"  Height="113" Margin="10,60,3,0" Width="167"  />
                            <TextBox Text="{Binding CurrentReadRoutine,Mode=TwoWay}"   TextWrapping="Wrap" Grid.Row="1" Grid.Column="1" Grid.ColumnSpan="2" Margin="5,10,5,98" IsEnabled="True" Height="Auto"/>

                            <TextBox x:Name="txtCompaundCommandSet"  TextWrapping="Wrap"  Grid.Row="1" Grid.Column="1" Grid.ColumnSpan="2" Margin="5,98,5,10" IsEnabled="True" Height="Auto"/>

                            <StackPanel Orientation="Horizontal" Grid.Row="2" Grid.ColumnSpan="3" Margin="0,0,0,-13" >
                                <Button Command="{Binding Command}" IsEnabled="True"
                                    ctrlCommon:CommandHelper.CommandName="ReadParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot" 
                                    ctrlCommon:CommandHelper.Parameter1="CompaundCommand" 
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=cboRoutineSelection}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=txtCompaundCommandNO}" 
                                    Margin="13,2,5,0"  VerticalAlignment="Center" Width="180" Height="35" Content="Read"/>

                                <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot" 
                                    ctrlCommon:CommandHelper.Parameter1="CompaundCommand" 
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=cboRoutineSelection}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=txtCompaundCommandNO}" 
                                    ctrlCommon:CommandHelper.Parameter4="{Binding Text,ElementName=txtCompaundCommandSet}"                                        
                                        
                                    Margin="5,2,5,0"  VerticalAlignment="Center" Width="180" Height="35" Content="Write"/>
                            </StackPanel>

                        </Grid>
                    </Grid>
                </DockPanel>


                <DockPanel Background="#d6f1ff" Canvas.Top="575" Height="210" Canvas.Left="1090" Width="395" >
                    <Grid>
                        <Grid.Resources>
                            <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                <Setter Property="VerticalAlignment" Value="Center" />
                                <Setter Property="HorizontalAlignment" Value="Center" />
                            </Style>
                        </Grid.Resources>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="40" />
                            <RowDefinition Height="170" />
                        </Grid.RowDefinitions>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                        </Grid.ColumnDefinitions>

                        <Label Content="Speed Configuration" Grid.Row="0" Grid.Column="0" Grid.ColumnSpan="3" Width="400"  Style="{StaticResource label}" />
                        <Grid Grid.Row="5" Grid.ColumnSpan="5" ctrlCommon:GridHelper.Column0="LightBlue" ctrlCommon:GridHelper.Column1="Transparent">
                            <Grid.Resources>
                                <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                    <Setter Property="VerticalAlignment" Value="Center" />
                                    <Setter Property="HorizontalAlignment" Value="Left" />
                                    <Setter Property="Margin" Value="10,0,0,0" />
                                </Style>
                            </Grid.Resources>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="180" />
                                <ColumnDefinition Width="*" />
                            </Grid.ColumnDefinitions>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="40" />
                            </Grid.RowDefinitions>
                          
                            <Label Grid.Row="0" Content="Read Speed" Margin="10,4,0,4"  />

                            <TextBox x:Name="txtABWSpeed" Text="{Binding CurrentReadSpeedData}" Grid.Row="0" Grid.Column="1" Margin="5,2"    IsEnabled="True" Height="Auto" />

                            <Label Grid.Row="1" Content="Set Speed" Margin="10,4,0,4"  />

                            <TextBox x:Name="txtZSpeed"  Grid.Row="1" Grid.Column="1" Margin="5,2"    IsEnabled="True" Height="Auto" />

                            <Button Grid.Row="3" Grid.Column="0"  Content="Read Speed" Command="{Binding Command}" 
                        ctrlCommon:CommandHelper.CommandName="ReadParameter" 
                        ctrlCommon:CommandHelper.Target="Robot" 
                        ctrlCommon:CommandHelper.Parameter1="RobotSpeed"
                                   Grid.ColumnSpan="2"
                        ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=cboSpeedType}"
                        Margin="13,5,202,-4" Width="180"  Height="35"/>

                            <Button Grid.Row="3" Grid.Column="1"  Content="Set Speed" Command="{Binding Command}" 
                        ctrlCommon:CommandHelper.CommandName="SetParameter" 
                        ctrlCommon:CommandHelper.Target="Robot" 
                        ctrlCommon:CommandHelper.Parameter1="RobotSpeed"
                        ctrlCommon:CommandHelper.Parameter2=""
                        ctrlCommon:CommandHelper.Parameter3="{Binding Text, ElementName=txtZSpeed}" 
                        Margin="18,5,18,-4" Width="180"  Height="35" Grid.ColumnSpan="2"/>
                        </Grid>
                    </Grid>
                </DockPanel>


                <DockPanel Background="#d6f1ff" Canvas.Top="269"  Width="400" Height="518" Canvas.Left="675" >
                    <Grid>
                        <Grid.Resources>
                            <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                <Setter Property="VerticalAlignment" Value="Center" />
                                <Setter Property="HorizontalAlignment" Value="Center" />
                            </Style>
                        </Grid.Resources>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="40" />
                            <RowDefinition Height="460" />
                        </Grid.RowDefinitions>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="*" />
                        </Grid.ColumnDefinitions>

                        <Label Content="Mapping Paramter" Grid.Row="0" Grid.Column="0" Grid.ColumnSpan="3" Width="400"  Style="{StaticResource label}" />
                        <Grid Grid.Row="1" Grid.ColumnSpan="3" ctrlCommon:GridHelper.Column0="LightBlue" ctrlCommon:GridHelper.Column1="Transparent" Margin="0,0,0,-23">
                            <Grid.Resources>
                                <Style TargetType="Label" BasedOn="{StaticResource {x:Type Label}}">
                                    <Setter Property="VerticalAlignment" Value="Center" />
                                    <Setter Property="HorizontalAlignment" Value="Left" />
                                    <Setter Property="Margin" Value="10,0,0,0" />
                                </Style>
                            </Grid.Resources>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="180" />
                                <ColumnDefinition Width="100" />
                                <ColumnDefinition />
                            </Grid.ColumnDefinitions>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="38" />
                                <RowDefinition Height="40" />

                            </Grid.RowDefinitions>
                            <Label Grid.Row="0" Content="1st Slot Pos" Margin="10,4,0,5" Height="32" Width="117"/>
                            <Label Grid.Column="1" Content="{Binding MappingFirstSlotPosition}" Grid.Row="0" Height="32" Margin="5,4,0,5" Width="85"  />

                            <TextBox x:Name="txtSetValue_MappingFirstSlotPosition"  Grid.Row="0" Grid.Column="2" Margin="5,3" IsEnabled="True" Height="Auto"/>




                            <Label Grid.Row="1" Content="Top Slot Pos" Margin="10,5,0,4" Height="32" Width="122"/>
                            <Label Grid.Column="1" Content="{Binding MappingTopSlotPostion}" Grid.Row="1"  Height="32" Margin="5,4,0,5" Width="85"  />
                            <TextBox x:Name="txtSetValue_MappingTopSlotPostion"  Grid.Row="1" Grid.Column="2" Margin="5,3" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="2" Content="Slots Number" Margin="10,4,0,5" Height="32" Width="170"/>
                            <Label Grid.Row="2" Grid.Column="1"  
                                   Content="{Binding MappingSlotsNumber}" Height="32" Margin="5,4,0,5" Width="85"  />
                            <TextBox x:Name="txtSetValue_MappingSlotsNumber"  Grid.Row="2" Grid.Column="2"  Margin="5,3" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="3" Content="Min detect width" Margin="10,5,0,4" Height="32" Width="155" />
                            <Label Grid.Row="3" Grid.Column="1"  Content="{Binding MappingMinDetectWidth}" Height="32" Margin="5,4,0,5" Width="85"  />
                            <TextBox x:Name="txtSetValue_MappingMinDetectWidth"  
                                     Grid.Row="3" Grid.Column="2"  Margin="5,3" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="4" Content="Max detect width" Margin="10,4,0,5" Width="160" Height="31"/>
                            <Label Grid.Row="4" Grid.Column="1" 
                                   Content="{Binding MappingMaxDetectWidth}" Height="32" Margin="5,4,0,4" Width="85"  />
                            <TextBox x:Name="txtSetValue_MappingMaxDetectWidth"  Grid.Row="4" Grid.Column="2"  
                                     Margin="5,3,5,2" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="5" Content="Gate Width" Margin="10,4,0,4" Height="32" Width="160"/>
                            <Label Grid.Row="5" Grid.Column="1" 
                                   Content="{Binding MappingGateWidth}" Height="32" Margin="5,4,0,4" Width="85"  />
                            <TextBox x:Name="txtSetValue_MappingGateWidth"  Grid.Row="5" Grid.Column="2"  
                                     Margin="5,3,5,2" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="6" Content="Stop Pos" Margin="10,4,0,4" Height="32" Width="91" />
                            <Label Grid.Row="6" Grid.Column="1"  Content="{Binding MappingStopPostion}" Height="32" Margin="5,4,0,4" Width="85"  />
                            <TextBox x:Name="txtSetValue_MappingStopPostion"  Grid.Row="6" Grid.Column="2" 
                                      Margin="5,3,5,2" IsEnabled="True" Height="Auto"/>

                            <Label Grid.Row="7" Content="Search Speed" Margin="10,4,0,4" Height="32" Width="137" />
                            <Label Grid.Row="7" Grid.Column="1"  Content="{Binding MappingSpeed}" Height="32" Margin="5,4,0,4" Width="85"  />
                            <TextBox x:Name="txtSetValue_MappingSpeed"  Grid.Row="7" Grid.Column="2" 
                                      Margin="5,3,5,2" IsEnabled="True" Height="Auto"/>
                            <Label Grid.Row="8" Content="Mapping Sensor" Margin="10,4,0,5" Width="170" Height="31" />
                            <Label Grid.Row="8" Grid.Column="1"  Content="{Binding IsMappingSensorON}" Grid.ColumnSpan="2" Height="32" Margin="5,4,0,4" Width="210"  />

                            <Label Grid.Row="9" Content="Wafer Result" Margin="10,4,0,5" Width="170" Height="31" />
                            <Label Grid.Row="9" Grid.Column="1"  Content="{Binding MappingWaferResult}" Grid.ColumnSpan="2" Height="32" Margin="5,4,0,4" Width="210"  />
                            <Label Grid.Row="10" Content="Width Result" Margin="10,4,0,5" Width="170" Height="31" />
                            <Label Grid.Row="10" Grid.Column="1"  Content="{Binding MappingWidthResult}" Grid.ColumnSpan="2" Height="32" Margin="5,4,0,4" Width="210"  />


                            <StackPanel Orientation="Horizontal" Grid.Row="11" Grid.ColumnSpan="3" Margin="0,0,0,-13" >

                                <Button  Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="ReadParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="MappingData"   
                                    Margin="12,6,5,0"  Content="Read"  VerticalAlignment="Top" Width="113" Height="35"/>


                                <Button  
                                    Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="MappingData"   
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtSetValue_MappingFirstSlotPosition}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=txtSetValue_MappingTopSlotPostion}" 
                                    ctrlCommon:CommandHelper.Parameter4="{Binding Text,ElementName=txtSetValue_MappingSlotsNumber}" 
                                    ctrlCommon:CommandHelper.Parameter5="{Binding Text,ElementName=txtSetValue_MappingMinDetectWidth}" 
                                    ctrlCommon:CommandHelper.Parameter6="{Binding Text,ElementName=txtSetValue_MappingMaxDetectWidth}" 
                                    ctrlCommon:CommandHelper.Parameter7="{Binding Text,ElementName=txtSetValue_MappingGateWidth}"                                   
                                    ctrlCommon:CommandHelper.Parameter8="{Binding Text,ElementName=txtSetValue_MappingStopPostion}" 
                                    ctrlCommon:CommandHelper.Parameter9="{Binding Text,ElementName=txtSetValue_MappingSpeed}"  
                                    
                                    Margin="5,6,5,0"   Content="Set"  VerticalAlignment="Top" Width="113" Height="35"/>

                                <Button  
                                    Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="MappingCommand"                                         
                                    Margin="5,6,5,0"   Content="Execute"  VerticalAlignment="Top" Width="135" Height="35"/>

                            </StackPanel>




                        </Grid>
                    </Grid>
                </DockPanel>


                <!--StackPanel Orientation="Horizontal" Canvas.Left="290" Canvas.Top="760" >
                    <ComboBox x:Name="cbo_LPOption"   ItemsSource="{Binding LoadPortList}"   SelectedValuePath="Value" Width="125"/>
                    <ComboBox x:Name="cbo_MdataOption"   ItemsSource="{Binding MappingParameterType}"   SelectedValuePath="Value" Width="100"/>
                    <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="MappingDataForLP"   
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=cbo_LPOption}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=cbo_MdataOption}"
                                    ctrlCommon:CommandHelper.Parameter4="WS4"
                            
                            Margin="8,0,0,0"  Width="67" Height="30" Content="4'"  VerticalAlignment="Center" />
                    <Button Command="{Binding Command}" 
                                    ctrlCommon:CommandHelper.CommandName="SetParameter" 
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="MappingDataForLP"   
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=cbo_LPOption}" 
                                    ctrlCommon:CommandHelper.Parameter3="{Binding Text,ElementName=cbo_MdataOption}"
                                    ctrlCommon:CommandHelper.Parameter4="WS6"
                            Margin="8,0,0,0"  Width="67" Height="30" Content="6'"   VerticalAlignment="Center"  />
                </-->



            </Canvas>
        </Border>

    </Grid>
</UserControl>