diff --git a/Modules/Mainframe/TMs/TMModule.cs b/Modules/Mainframe/TMs/TMModule.cs
index 5d88124f..d4f84a3c 100644
--- a/Modules/Mainframe/TMs/TMModule.cs
+++ b/Modules/Mainframe/TMs/TMModule.cs
@@ -18,6 +18,7 @@ using Aitex.Sorter.Common;
 using MECF.Framework.Common.Equipment;
 using MECF.Framework.Common.Event;
 using MECF.Framework.Common.PLC;
+using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
 using SicModules.TMs.Routines;
 using SicAds = SicModules.Devices.SicAds;
 
@@ -574,6 +575,10 @@ namespace SicModules.TMs
 
             OP.Subscribe($"{Module}.SetOnline", (string cmd, object[] args) => PutOnline());
             OP.Subscribe($"{Module}.SetOffline", (string cmd, object[] args) => PutOffline());
+
+            OP.Subscribe($"TMRobot.RobotArmBlade1SetParameter", (string cmd, object[] args) =>RobotArmBlade1SetParameter(args));
+            OP.Subscribe($"TMRobot.RobotArmBlade1ReadParameter", (string cmd, object[] args) => RobotArmBlade1ReadParameter(args));
+
         }
 
         private void InitData()
@@ -703,6 +708,16 @@ namespace SicModules.TMs
             return true;
         }
 
+        private bool RobotArmBlade1SetParameter(object[] param)
+        {
+           return RobotDevice.SetParameter(new object[] { param[0], RobotArmEnum.Blade1, param[1] });
+        }
+
+        private bool RobotArmBlade1ReadParameter(object[] param)
+        {
+            return RobotDevice.ReadParameter(new object[] { param[0], RobotArmEnum.Blade1});
+        }
+
         private bool FsmExitError(object[] param)
         {
             return true;
diff --git a/Modules/Mainframe/gitversion.json b/Modules/Mainframe/gitversion.json
index b242759f..fe210aba 100644
--- a/Modules/Mainframe/gitversion.json
+++ b/Modules/Mainframe/gitversion.json
@@ -2,34 +2,34 @@
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   "Minor": 9,
   "Patch": 2,
-  "PreReleaseTag": "----multiplate-develop.592",
-  "PreReleaseTagWithDash": "-----multiplate-develop.592",
+  "PreReleaseTag": "----multiplate-develop.593",
+  "PreReleaseTagWithDash": "-----multiplate-develop.593",
   "PreReleaseLabel": "----multiplate-develop",
   "PreReleaseLabelWithDash": "-----multiplate-develop",
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   "MajorMinorPatch": "23.9.2",
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-  "LegacySemVer": "23.9.2-----multiplate-de592",
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-  "NuGetPreReleaseTag": "----multiplate-d0592",
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   "VersionSourceSha": "c29389314a6af8abb1346677a53be6fe6b00379e",
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+  "CommitsSinceVersionSource": 593,
+  "CommitsSinceVersionSourcePadded": "0593",
+  "UncommittedChanges": 0,
+  "CommitDate": "2024-06-28"
 }
\ No newline at end of file
diff --git a/SicRT/gitversion.json b/SicRT/gitversion.json
index b242759f..fe210aba 100644
--- a/SicRT/gitversion.json
+++ b/SicRT/gitversion.json
@@ -2,34 +2,34 @@
   "Major": 23,
   "Minor": 9,
   "Patch": 2,
-  "PreReleaseTag": "----multiplate-develop.592",
-  "PreReleaseTagWithDash": "-----multiplate-develop.592",
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+  "PreReleaseTagWithDash": "-----multiplate-develop.593",
   "PreReleaseLabel": "----multiplate-develop",
   "PreReleaseLabelWithDash": "-----multiplate-develop",
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   "BuildMetaDataPadded": "",
-  "FullBuildMetaData": "Branch.----multiplate-develop.Sha.cc3fcd2e29a0b6ecb494106b5cc05b4758ecb996",
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   "MajorMinorPatch": "23.9.2",
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-  "LegacySemVer": "23.9.2-----multiplate-de592",
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+  "SemVer": "23.9.2-----multiplate-develop.593",
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-  "NuGetPreReleaseTagV2": "----multiplate-d0592",
-  "NuGetPreReleaseTag": "----multiplate-d0592",
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+  "NuGetVersion": "23.9.2-----multiplate-d0593",
+  "NuGetPreReleaseTagV2": "----multiplate-d0593",
+  "NuGetPreReleaseTag": "----multiplate-d0593",
   "VersionSourceSha": "c29389314a6af8abb1346677a53be6fe6b00379e",
-  "CommitsSinceVersionSource": 592,
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-  "UncommittedChanges": 2,
-  "CommitDate": "2024-06-27"
+  "CommitsSinceVersionSource": 593,
+  "CommitsSinceVersionSourcePadded": "0593",
+  "UncommittedChanges": 0,
+  "CommitDate": "2024-06-28"
 }
\ No newline at end of file
diff --git a/SicSimulator/gitversion.json b/SicSimulator/gitversion.json
index b242759f..fe210aba 100644
--- a/SicSimulator/gitversion.json
+++ b/SicSimulator/gitversion.json
@@ -2,34 +2,34 @@
   "Major": 23,
   "Minor": 9,
   "Patch": 2,
-  "PreReleaseTag": "----multiplate-develop.592",
-  "PreReleaseTagWithDash": "-----multiplate-develop.592",
+  "PreReleaseTag": "----multiplate-develop.593",
+  "PreReleaseTagWithDash": "-----multiplate-develop.593",
   "PreReleaseLabel": "----multiplate-develop",
   "PreReleaseLabelWithDash": "-----multiplate-develop",
-  "PreReleaseNumber": 592,
-  "WeightedPreReleaseNumber": 592,
+  "PreReleaseNumber": 593,
+  "WeightedPreReleaseNumber": 593,
   "BuildMetaData": null,
   "BuildMetaDataPadded": "",
-  "FullBuildMetaData": "Branch.----multiplate-develop.Sha.cc3fcd2e29a0b6ecb494106b5cc05b4758ecb996",
+  "FullBuildMetaData": "Branch.----multiplate-develop.Sha.acb370ddb614cdf83fe7c40f0c7d0ffaab2e3859",
   "MajorMinorPatch": "23.9.2",
-  "SemVer": "23.9.2-----multiplate-develop.592",
-  "LegacySemVer": "23.9.2-----multiplate-de592",
-  "LegacySemVerPadded": "23.9.2-----multiplate-d0592",
-  "AssemblySemVer": "23.9.2.592",
-  "AssemblySemFileVer": "23.9.2.592",
-  "FullSemVer": "23.9.2-----multiplate-develop.592",
-  "InformationalVersion": "23.9.2-----multiplate-develop.592+Branch.----multiplate-develop.Sha.cc3fcd2e29a0b6ecb494106b5cc05b4758ecb996",
+  "SemVer": "23.9.2-----multiplate-develop.593",
+  "LegacySemVer": "23.9.2-----multiplate-de593",
+  "LegacySemVerPadded": "23.9.2-----multiplate-d0593",
+  "AssemblySemVer": "23.9.2.593",
+  "AssemblySemFileVer": "23.9.2.593",
+  "FullSemVer": "23.9.2-----multiplate-develop.593",
+  "InformationalVersion": "23.9.2-----multiplate-develop.593+Branch.----multiplate-develop.Sha.acb370ddb614cdf83fe7c40f0c7d0ffaab2e3859",
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   "EscapedBranchName": "----multiplate-develop",
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-  "NuGetPreReleaseTagV2": "----multiplate-d0592",
-  "NuGetPreReleaseTag": "----multiplate-d0592",
+  "Sha": "acb370ddb614cdf83fe7c40f0c7d0ffaab2e3859",
+  "ShortSha": "acb370d",
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+  "NuGetVersion": "23.9.2-----multiplate-d0593",
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+  "NuGetPreReleaseTag": "----multiplate-d0593",
   "VersionSourceSha": "c29389314a6af8abb1346677a53be6fe6b00379e",
-  "CommitsSinceVersionSource": 592,
-  "CommitsSinceVersionSourcePadded": "0592",
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-  "CommitDate": "2024-06-27"
+  "CommitsSinceVersionSource": 593,
+  "CommitsSinceVersionSourcePadded": "0593",
+  "UncommittedChanges": 0,
+  "CommitDate": "2024-06-28"
 }
\ No newline at end of file
diff --git a/SicUI/Models/Maintenances/TM/TMView.xaml b/SicUI/Models/Maintenances/TM/TMView.xaml
index 732228a6..6dcca755 100644
--- a/SicUI/Models/Maintenances/TM/TMView.xaml
+++ b/SicUI/Models/Maintenances/TM/TMView.xaml
@@ -3006,6 +3006,7 @@
                         <RowDefinition Height="32" />
                         <RowDefinition Height="32" />
                         <RowDefinition Height="32" />
+                        <RowDefinition Height="32" />
                     </Grid.RowDefinitions>
                     <Grid.ColumnDefinitions>
                         <ColumnDefinition Width="90" />
@@ -3487,6 +3488,86 @@
                         </StackPanel>
                     </Border>
 
+                    <Border
+                        Grid.Row="7"
+                        Padding="5,1,0,1"
+                        Background="{DynamicResource Table_BG_Title}"
+                        BorderBrush="{DynamicResource Table_BD}"
+                        BorderThickness="1,0,1,1">
+                        <TextBlock
+                            VerticalAlignment="Center"
+                            lex:ResxLocalizationProvider.DefaultDictionary="lang_tmview"
+                            FontFamily="Arial"
+                            FontSize="12"
+                            Foreground="{DynamicResource FG_Black}"
+                            Text="Robot Wafer"
+                            TextWrapping="Wrap" />
+                    </Border>
+
+                    <Border
+                        Grid.Row="7"
+                        Grid.Column="1"
+                        Padding="5,1,0,1"
+                        Background="{DynamicResource Table_BG_Content}"
+                        BorderBrush="{DynamicResource Table_BD}"
+                        BorderThickness="0,0,1,1">
+                        <ComboBox
+                            Width="90"
+                            Height="25"
+                            Name="cmb_RobotLoads"
+                            ItemsSource="{Binding RobotLoads}"
+                            SelectedItem="{Binding SelectRobotLoad}" />
+                    </Border>
+
+
+                    <Border
+                        Grid.Row="7"
+                        Grid.Column="2"
+                        Padding="5,1,0,1"
+                        Background="{DynamicResource Table_BG_Content}"
+                        BorderBrush="{DynamicResource Table_BD}"
+                        BorderThickness="0,0,0,1">
+                        <StackPanel Orientation="Horizontal">
+                            <Button
+                                Width="90"
+                                Height="25"
+                                Margin="10,0"
+                                Content="Robot Set"
+                                IsEnabled="{Binding CheckOffline}">
+                                <i:Interaction.Triggers>
+                                    <i:EventTrigger EventName="Click">
+                                        <cal:ActionMessage MethodName="RobotSetParameter"/>
+                                    </i:EventTrigger>
+                                </i:Interaction.Triggers>
+                            </Button>
+
+                            <Button
+                                Width="90"
+                                Height="25"
+                                Margin="10,0"
+                                Content="Robot Read"
+                                IsEnabled="{Binding CheckOffline}">
+                                <i:Interaction.Triggers>
+                                    <i:EventTrigger EventName="Click">
+                                        <cal:ActionMessage MethodName="RobotReadParameter"/>
+                                    </i:EventTrigger>
+                                </i:Interaction.Triggers>
+                            </Button>
+
+                            <TextBlock
+                                VerticalAlignment="Center"
+                                lex:ResxLocalizationProvider.DefaultDictionary="lang_terms"
+                                FontFamily="Arial"
+                                FontSize="12"
+                                Foreground="{DynamicResource FG_Black}"
+                                Text="{Binding RobotHaveWafer}"
+                                TextAlignment="Center"
+                                TextWrapping="Wrap" />
+
+                        </StackPanel>
+                    </Border>
+
+
                 </Grid>
 
                 <Grid Margin="0,-20" Visibility="{Binding IsBufferInstalled, Converter={StaticResource BoolVisibilityConverter}}">
diff --git a/SicUI/Models/Maintenances/TM/TMViewModel.cs b/SicUI/Models/Maintenances/TM/TMViewModel.cs
index 779136f6..e8add162 100644
--- a/SicUI/Models/Maintenances/TM/TMViewModel.cs
+++ b/SicUI/Models/Maintenances/TM/TMViewModel.cs
@@ -14,6 +14,7 @@ using Aitex.Core.RT.SCCore;
 using Aitex.Core.RT.DataCenter;
 using MECF.Framework.Common.DBCore;
 using System;
+using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
 
 namespace SicUI.Client.Models.Platform.TM
 {
@@ -264,6 +265,15 @@ namespace SicUI.Client.Models.Platform.TM
             return ModuleStatusBackground.GetStatusBackground(status);
         }
 
+        private List<string> _robotLoads=new List<string>(){"ON","OFF"};
+        public List<string> RobotLoads
+        {
+            get { return _robotLoads; }
+            set { _robotLoads = value; NotifyOfPropertyChange("RobotLoads"); }
+        }
+
+
+        public string SelectRobotLoad { get; set; } = "ON";
 
         private List<string> _modules = new List<string>() { "PM1", "PM2", "LoadLock", "UnLoad", "Buffer.01", "Buffer.02", "Buffer.03" };
         public List<string> Modules
@@ -633,6 +643,12 @@ namespace SicUI.Client.Models.Platform.TM
         #endregion
 
         #region TM Robot
+
+        [Subscription("TMRobot.IsHaveWafer")]
+        public bool IsHaveWafer { get; set; }
+
+        public string RobotHaveWafer => IsHaveWafer ? "ON" : "OFF";
+
         public void TMRobot_Home()
         {
             TMProvider.Instance.TMRobot_Home();
@@ -1091,7 +1107,15 @@ namespace SicUI.Client.Models.Platform.TM
             InvokeClient.Instance.Service.DoOperation($"{module}.Separate");
         }
 
-       
+        public void RobotSetParameter()
+        {
+            InvokeClient.Instance.Service.DoOperation($"TMRobot.RobotArmBlade1SetParameter", new object[] { "SetLoad", SelectRobotLoad =="ON" ? true:false});
+        }
+
+        public void RobotReadParameter()
+        {
+            InvokeClient.Instance.Service.DoOperation($"TMRobot.RobotArmBlade1ReadParameter", new object[] { "QueryWaferPresent"});
+        }
         #endregion
 
         #region ConfinementRing
diff --git a/SicUI/Models/PMs/PMMotionView.xaml b/SicUI/Models/PMs/PMMotionView.xaml
index ccf940c3..5e141b27 100644
--- a/SicUI/Models/PMs/PMMotionView.xaml
+++ b/SicUI/Models/PMs/PMMotionView.xaml
@@ -1432,12 +1432,10 @@
                     Background="{DynamicResource Table_BG_Content}"
                     BorderBrush="{DynamicResource Table_BD}"
                     BorderThickness="0,0,1,1">
-                    <Button
-                        Margin="5,2"
-                        Content="Move">
+                    <Button Margin="5,2" Content="Move">
                         <i:Interaction.Triggers>
                             <i:EventTrigger EventName="Click">
-                                <cal:ActionMessage MethodName="SpindleSpeedRun">
+                                <cal:ActionMessage MethodName="SetActualSpeed">
                                     <cal:Parameter Value="{Binding Path=Text, ElementName=txtActualSpeed}" />
                                 </cal:ActionMessage>
                             </i:EventTrigger>
@@ -1494,7 +1492,7 @@
                     <Button Margin="5,2" Content="Move">
                         <i:Interaction.Triggers>
                             <i:EventTrigger EventName="Click">
-                                <cal:ActionMessage MethodName="SpindleLoadAngleRun">
+                                <cal:ActionMessage MethodName="LoadAngleSet">
                                     <cal:Parameter Value="{Binding Path=Text, ElementName=txtLoadAngleSet}" />
                                 </cal:ActionMessage>
                             </i:EventTrigger>
@@ -1526,7 +1524,7 @@
                     <Button Margin="5,2" Content="Move">
                         <i:Interaction.Triggers>
                             <i:EventTrigger EventName="Click">
-                                <cal:ActionMessage MethodName="SpindleUnloadAngleRun">
+                                <cal:ActionMessage MethodName="UnloadAngleSet">
                                     <cal:Parameter Value="{Binding Path=Text, ElementName=txtUnloadAngleSet}" />
                                 </cal:ActionMessage>
                             </i:EventTrigger>
@@ -1555,10 +1553,10 @@
                     <ctrl:TextBoxEx
                         x:Name="txtLoadAngleSet"
                         Height="22"
-                        EditBoxMode="SignInteger"
+                        EditBoxMode="Decimal"
                         FontFamily="Arial"
                         FontSize="14"
-                        MaxValue="360"
+                        MaxValue="0"
                         MinValue="-360"
                         Text="0.0"
                         ToolTip="相对位置设定"
@@ -1585,11 +1583,11 @@
                     <ctrl:TextBoxEx
                         Name="txtUnloadAngleSet"
                         Height="22"
-                        EditBoxMode="SignInteger"
+                        EditBoxMode="Decimal"
                         FontFamily="Arial"
                         FontSize="14"
-                        MaxValue="0"
-                        MinValue="-360"
+                        MaxValue="360"
+                        MinValue="0"
                         Text="0.0"
                         ToolTip="相对位置设定"
                         Validation.ErrorTemplate="{x:Null}" />
diff --git a/SicUI/Models/PMs/PMMotionViewModel.cs b/SicUI/Models/PMs/PMMotionViewModel.cs
index a1b790e5..d8720c31 100644
--- a/SicUI/Models/PMs/PMMotionViewModel.cs
+++ b/SicUI/Models/PMs/PMMotionViewModel.cs
@@ -462,17 +462,17 @@ namespace SicUI.Models.PMs
 
         public void SetActualSpeed(object data)
         {
-            SetPMServoValue(data, 1000, 0, "SetActualSpeed");
+            SetPMServoValue(data, 1000, 0, "SpindleSpeedRun");
         }
 
         public void LoadAngleSet(object data)
         {
-            SetPMServoValue(data, 360, -360, "SpindleLoadAngleSet");
+            SetPMServoValue(data, 0, -360, "SpindleLoadAngleRun");
         }
 
         public void UnloadAngleSet(object data)
         {
-            SetPMServoValue(data, 0, -360, "SpindleUnloadAngleSet");
+            SetPMServoValue(data, 360, 0, "SpindleUnloadAngleRun");
         }
 
         private void SetPMServoValue(object data, int max,int min,string name)
@@ -494,19 +494,19 @@ namespace SicUI.Models.PMs
             InvokeClient.Instance.Service.DoOperation($"{SystemName}.PMServo.{name}", value);
         }
 
-        public void SpindleSpeedRun(string cmd)
-        {
-            InvokeClient.Instance.Service.DoOperation($"{SystemName}.PMServo.SpindleSpeedRun", Convert.ToSingle(cmd));
-        }
+        //public void SpindleSpeedRun(string cmd)
+        //{
+        //    InvokeClient.Instance.Service.DoOperation($"{SystemName}.PMServo.SpindleSpeedRun", Convert.ToSingle(cmd));
+        //}
 
-        public void SpindleLoadAngleRun(string cmd)
-        {
-            InvokeClient.Instance.Service.DoOperation($"{SystemName}.PMServo.SpindleLoadAngleRun", Convert.ToSingle(cmd));
-        }
-        public void SpindleUnloadAngleRun(string cmd)
-        {
-            InvokeClient.Instance.Service.DoOperation($"{SystemName}.PMServo.SpindleUnloadAngleRun", Convert.ToSingle(cmd));
-        }
+        //public void SpindleLoadAngleRun(string cmd)
+        //{
+        //    InvokeClient.Instance.Service.DoOperation($"{SystemName}.PMServo.SpindleLoadAngleRun", Convert.ToSingle(cmd));
+        //}
+        //public void SpindleUnloadAngleRun(string cmd)
+        //{
+        //    InvokeClient.Instance.Service.DoOperation($"{SystemName}.PMServo.SpindleUnloadAngleRun", Convert.ToSingle(cmd));
+        //}
 
 
         #endregion
diff --git a/SicUI/gitversion.json b/SicUI/gitversion.json
index b242759f..fe210aba 100644
--- a/SicUI/gitversion.json
+++ b/SicUI/gitversion.json
@@ -2,34 +2,34 @@
   "Major": 23,
   "Minor": 9,
   "Patch": 2,
-  "PreReleaseTag": "----multiplate-develop.592",
-  "PreReleaseTagWithDash": "-----multiplate-develop.592",
+  "PreReleaseTag": "----multiplate-develop.593",
+  "PreReleaseTagWithDash": "-----multiplate-develop.593",
   "PreReleaseLabel": "----multiplate-develop",
   "PreReleaseLabelWithDash": "-----multiplate-develop",
-  "PreReleaseNumber": 592,
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diff --git a/ThirdParty/MECF.Framework/MECF.Framework.RT.Core.dll b/ThirdParty/MECF.Framework/MECF.Framework.RT.Core.dll
index 8b22c47c..e8e94ec6 100644
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diff --git a/ThirdParty/MECF.Framework/MECF.Framework.RT.EquipmentLibrary.dll b/ThirdParty/MECF.Framework/MECF.Framework.RT.EquipmentLibrary.dll
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diff --git a/ThirdParty/MECF.Framework/MECF.Framework.Simulator.Core.dll b/ThirdParty/MECF.Framework/MECF.Framework.Simulator.Core.dll
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diff --git a/ThirdParty/MECF.Framework/MECF.Framework.UI.Client.dll b/ThirdParty/MECF.Framework/MECF.Framework.UI.Client.dll
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diff --git a/ThirdParty/MECF.Framework/MECF.Framework.UI.Core.dll b/ThirdParty/MECF.Framework/MECF.Framework.UI.Core.dll
index 4d24cf6f..bbe42b26 100644
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diff --git a/ThirdParty/MECF.Framework/zh/Sicentury.Localization.resources.dll b/ThirdParty/MECF.Framework/zh/Sicentury.Localization.resources.dll
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