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" VerticalContentAlignment="Center" 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" FontSize="18" FontWeight="Bold" 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" VerticalContentAlignment="Center" 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" VerticalContentAlignment="Center" 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" VerticalContentAlignment="Center" 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" FontSize="18" FontWeight="Bold" 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}" Template="{StaticResource realism_button}"
                                    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" FontSize="18" FontWeight="Bold" 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}" Template="{StaticResource realism_button}"
                                    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}" Template="{StaticResource realism_button}"
                                    ctrlCommon:CommandHelper.CommandName="RobotReset"
                                    ctrlCommon:CommandHelper.Target="Robot" Margin="5,2,4,0" Height="35" Width="70" />
                                <Button Content="Stop" Command="{Binding Command}" Template="{StaticResource realism_button}"
                                    ctrlCommon:CommandHelper.CommandName="RobotStop"
                                    ctrlCommon:CommandHelper.Target="Robot" Margin="5,2,4,0" Height="35" Width="70" />
                                <Button Command="{Binding Command}" Template="{StaticResource realism_button}"
                                    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}" Template="{StaticResource realism_button}"
                                    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="69" 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}" Template="{StaticResource realism_button}"
                                    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}" Template="{StaticResource realism_button}"
                                    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}" Template="{StaticResource realism_button}"
                                    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}" Template="{StaticResource realism_button}"
                                    ctrlCommon:CommandHelper.CommandName="SetParameter"
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="EPData"
                                    ctrlCommon:CommandHelper.Parameter2="AData"
                                    Margin="5,0"  VerticalAlignment="Center" Width="91" 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" FontSize="18" FontWeight="Bold" 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}"  Template="{StaticResource realism_button}"
                                    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}" Template="{StaticResource realism_button}"
                                    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" FontSize="18" FontWeight="Bold" 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="0,0,0,0" Grid.RowSpan="1">
                                <Button Command="{Binding Command}" Template="{StaticResource realism_button}"
                                    ctrlCommon:CommandHelper.CommandName="ReadParameter"
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="PositionData"
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtPOSNO}"
                                    Margin="13,0,5,0"  VerticalAlignment="Center" Width="114" Content="Read" Height="34" />

                                <Button Grid.ColumnSpan="1" Template="{StaticResource realism_button}"
                                    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="8,0,5,0"  VerticalAlignment="Center" Width="116" Content="Write Position" Height="34" />
                                <Button Grid.ColumnSpan="1" Template="{StaticResource realism_button}"
                                    Command="{Binding Command}"
                                    ctrlCommon:CommandHelper.CommandName="SetParameter"
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="CurrentPositionData"
                                    ctrlCommon:CommandHelper.Parameter2="{Binding Text,ElementName=txtPOSNO}"
                                    Margin="8,0,5,0"  VerticalAlignment="Center" Width="116" 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="5,5,5,5" />
                                <Button Content="Hold" Command="{Binding Command}" Template="{StaticResource realism_button}"
                                    ctrlCommon:CommandHelper.CommandName="RobotGrip"
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="{Binding Text,ElementName=cboGripHand}"
                                        Grid.RowSpan="2"  Margin="5,2,5,2" Height="35" VerticalAlignment="Center" />

                                <Button Content="Release" Command="{Binding Command}" Template="{StaticResource realism_button}"
                                    ctrlCommon:CommandHelper.CommandName="RobotRelease"
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="{Binding Text,ElementName=cboGripHand}"
                                        Grid.RowSpan="2"  Margin="5,2,5,2" Height="35" Width="95" VerticalAlignment="Center"/>
                            </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" Template="{StaticResource realism_button}"
                                    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" Template="{StaticResource realism_button}"
                                    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" Template="{StaticResource realism_button}"
                                    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" FontSize="18" FontWeight="Bold" 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" Template="{StaticResource realism_button}"
                                    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="17,2,5,0"  VerticalAlignment="Center" Width="170" Height="35" Content="Read" />

                                <Button Command="{Binding Command}" Template="{StaticResource realism_button}"
                                    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="15,2,5,0"  VerticalAlignment="Center" Width="170" 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" FontSize="18" FontWeight="Bold" 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}" Template="{StaticResource realism_button}"
                        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="170"  Height="35" />

                            <Button Grid.Row="3" Grid.Column="1"  Content="Set Speed" Command="{Binding Command}" Template="{StaticResource realism_button}"
                        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="170"  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" FontSize="18" FontWeight="Bold" 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}" Template="{StaticResource realism_button}"
                                    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}" Template="{StaticResource realism_button}"
                                    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="12,6,5,0"   Content="Set"  VerticalAlignment="Top" Width="113" Height="35" />

                                <Button
                                    Command="{Binding Command}" Template="{StaticResource realism_button}"
                                    ctrlCommon:CommandHelper.CommandName="SetParameter"
                                    ctrlCommon:CommandHelper.Target="Robot"
                                    ctrlCommon:CommandHelper.Parameter1="MappingCommand"
                                    Margin="12,6,5,0"   Content="Execute"  VerticalAlignment="Top" Width="113" 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>