diff --git a/BPASmartClient.JakaRobot/JaKaHelper.cs b/BPASmartClient.JakaRobot/JaKaHelper.cs
index 85c0ce2f..046ccc43 100644
--- a/BPASmartClient.JakaRobot/JaKaHelper.cs
+++ b/BPASmartClient.JakaRobot/JaKaHelper.cs
@@ -1,5 +1,7 @@
 using BPASmartClient.Helper;
 using BPASmartClient.Message;
+using System.Net;
+using System.Net.NetworkInformation;
 using System.Text;
 
 namespace BPASmartClient.JakaRobot
@@ -60,7 +62,7 @@ namespace BPASmartClient.JakaRobot
         //public const string SENCE_初始位 = "20000";
 
         #endregion
-        private int rshd = -1;
+        public int rshd = -1;
         private bool login = false;
 
         /// <summary>
@@ -74,49 +76,124 @@ namespace BPASmartClient.JakaRobot
         public bool IsIdle { get; set; } = false;
         public bool IsConnected { get { return login; } }
         public bool IsDeviceFirstInit { get; set; }
+        private string IpAddress { get; set; }
+        private bool IsPingOk { get; set; }
+
+        public void Conn(string ip)
+        {
+            jakaAPI.create_handler(ip.ToCharArray(), ref rshd);
+            login = true;
+        }
 
         public void Connect(string ip)
         {
-            bool ErrorFlag = false;
-            ThreadManage.GetInstance().StartLong(new Action(() =>
+            MessageLog.GetInstance.Show("节卡机器人连接中。。。。。");
+            IpAddress = ip;
+            Task.Factory.StartNew(() =>
             {
-                if (rshd == -1 || login == false) 
+                while (!IsPingOk)
                 {
-                    try
-                    {
-                        jakaAPI.create_handler(ip.ToCharArray(), ref rshd);
-                        login = true;
-                    }
-                    catch (Exception ex)
-                    {
-                        if (!ErrorFlag)
-                        {
-                            MessageLog.GetInstance.ShowEx(ex.ToString());
-                            ErrorFlag = true;
-                            login = false;
-                        }
-                        Thread.Sleep(3000);
-                    }
+                    Ping myPing = new Ping();
+                    myPing.PingCompleted += new PingCompletedEventHandler(_myPing_PingCompleted);
+                    myPing.SendAsync(IpAddress, 1000, null);
+                    Thread.Sleep(3000);
                 }
-                if (login && IsDeviceFirstInit==false)
+            });
+
+
+            //bool ErrorFlag = false;
+            //ThreadManage.GetInstance().StartLong(new Action(() =>
+            //{
+            //    if (rshd == -1 || login == false)
+            //    {
+            //        try
+            //        {
+            //            jakaAPI.create_handler(ip.ToCharArray(), ref rshd);
+            //            login = true;
+            //        }
+            //        catch (Exception ex)
+            //        {
+            //            if (!ErrorFlag)
+            //            {
+            //                MessageLog.GetInstance.ShowEx(ex.ToString());
+            //                ErrorFlag = true;
+            //                login = false;
+            //            }
+            //            Thread.Sleep(3000);
+            //        }
+            //    }
+            //    if (login && IsDeviceFirstInit == false)
+            //    {
+            //        try
+            //        {
+            //            Power_On();//打开机器人电源
+            //            Thread.Sleep(1000);
+            //            Enable_robot();//机器人上使能
+            //            IsDeviceFirstInit = true;
+            //            MessageLog.GetInstance.Show("机器人已上电使能");
+            //        }
+            //        catch (Exception ex)
+            //        {
+            //            MessageLog.GetInstance.ShowEx("机器人未完成上电和使能");
+            //        }
+            //    }
+            //    Thread.Sleep(5000);
+            //}), $"节卡机器人连接", true);
+
+        }
+
+        private void _myPing_PingCompleted(object sender, PingCompletedEventArgs e)
+        {
+            if (e.Reply != null && e.Reply.Status == IPStatus.Success)
+            {
+                IsPingOk = true;
+                MessageLog.GetInstance.Show("节卡机器人物理网络准备就绪");
+                Thread.Sleep(3000);
+                bool ErrorFlag = false;
+                ThreadManage.GetInstance().StartLong(new Action(() =>
                 {
-                    try
+                    if (rshd == -1 || login == false)
                     {
-                        Power_On();//打开机器人电源
-                        Thread.Sleep(1000);
-                        Enable_robot();//机器人上使能
-                        IsDeviceFirstInit = true;
-                        MessageLog.GetInstance.Show("机器人已上电使能");
+                        try
+                        {
+                            int result = jakaAPI.create_handler(IpAddress.ToCharArray(), ref rshd);
+                            login = true;
+                            MessageLog.GetInstance.Show($"节卡机器人创建连接成功,句柄：{rshd},返回值：{result}");
+                        }
+                        catch (Exception ex)
+                        {
+                            if (!ErrorFlag)
+                            {
+                                MessageLog.GetInstance.ShowEx(ex.ToString());
+                                ErrorFlag = true;
+                                login = false;
+                            }
+                            Thread.Sleep(3000);
+                        }
                     }
-                    catch (Exception ex)
+                    if (login && IsDeviceFirstInit == false)
                     {
-                        MessageLog.GetInstance.ShowEx("机器人未完成上电和使能");
+                        try
+                        {
+                            MessageLog.GetInstance.Show("节卡机器人打开电源准备");
+                            Thread.Sleep(2000);
+                            Power_On();//打开机器人电源
+                            Thread.Sleep(1000);
+                            MessageLog.GetInstance.Show("节卡机器人上使能准备");
+                            Enable_robot();//机器人上使能
+                            IsDeviceFirstInit = true;
+                            MessageLog.GetInstance.Show("机器人已上电使能");
+                        }
+                        catch (Exception ex)
+                        {
+                            MessageLog.GetInstance.ShowEx("机器人未完成上电和使能");
+                        }
                     }
-                }
-                Thread.Sleep(5000);
-            }), $"节卡机器人连接", true);
-           
+                    Thread.Sleep(5000);
+                }), $"节卡机器人连接", true);
+            }
         }
+
         public void Power_On()
         {
             if (login)
@@ -129,10 +206,10 @@ namespace BPASmartClient.JakaRobot
                 {
                     MessageLog.GetInstance.ShowEx(ave.ToString());
                 }
-                //catch (Exception ex)
-                //{
-                //    MessageLog.GetInstance.ShowEx(ex.ToString());
-                //}
+                catch (Exception ex)
+                {
+                    MessageLog.GetInstance.ShowEx(ex.ToString());
+                }
             }
             else
             {
@@ -324,8 +401,8 @@ namespace BPASmartClient.JakaRobot
         {
             try
             {
-                //加载
-                p: file = Programname.ToCharArray();
+            //加载
+            p: file = Programname.ToCharArray();
                 MessageLog.GetInstance.Show($"调用文件名：{Programname}");
                 status = new JKTYPE.ProgramState();
                 jakaAPI.get_program_state(ref rshd, ref status);
diff --git a/BPASmartClient/Control/FoodMenu.xaml b/BPASmartClient/Control/FoodMenu.xaml
index 44e6465a..dc0e436c 100644
--- a/BPASmartClient/Control/FoodMenu.xaml
+++ b/BPASmartClient/Control/FoodMenu.xaml
@@ -1,12 +1,14 @@
-<UserControl x:Class="Control.FoodMenu"
-      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:local="clr-namespace:Control"
-      mc:Ignorable="d" 
-      d:DesignHeight="450" d:DesignWidth="800"
-      Name="FoodMenu">
+<UserControl
+    x:Class="Control.FoodMenu"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:local="clr-namespace:Control"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    Name="FoodMenu1"
+    d:DesignHeight="450"
+    d:DesignWidth="800"
+    mc:Ignorable="d">
     <UserControl.Resources>
         <ResourceDictionary>
             <ResourceDictionary.MergedDictionaries>
@@ -14,19 +16,22 @@
                 <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
             </ResourceDictionary.MergedDictionaries>
             <Style TargetType="ListBoxItem">
-                <Setter Property="Margin" Value="2"/>
-                <Setter Property="FontSize" Value="22"/>
-                <Setter Property="FontWeight" Value="Black"/>
-                <Setter Property="Background" Value="Transparent"/>
-                <Setter Property="FontFamily" Value="楷体"/>
+                <Setter Property="Margin" Value="2" />
+                <Setter Property="FontSize" Value="22" />
+                <Setter Property="FontWeight" Value="Black" />
+                <Setter Property="Background" Value="Transparent" />
+                <Setter Property="FontFamily" Value="楷体" />
                 <Setter Property="Template">
                     <Setter.Value>
-                        <ControlTemplate  TargetType="ListBoxItem">
-                            <Border BorderBrush="Black" BorderThickness="0" Background="Transparent">
+                        <ControlTemplate TargetType="ListBoxItem">
+                            <Border
+                                Background="Transparent"
+                                BorderBrush="Black"
+                                BorderThickness="0">
                                 <Grid>
                                     <Grid.ColumnDefinitions>
-                                        <ColumnDefinition Width="80*"/>
-                                        <ColumnDefinition Width="20*"/>
+                                        <ColumnDefinition Width="80*" />
+                                        <ColumnDefinition Width="20*" />
                                     </Grid.ColumnDefinitions>
                                 </Grid>
                             </Border>
@@ -36,10 +41,5 @@
             </Style>
         </ResourceDictionary>
     </UserControl.Resources>
-    <Grid>
-        <ListBox>
-            
-            
-        </ListBox>
-    </Grid>
+    <Grid />
 </UserControl>
diff --git a/WpfApp1/App.xaml b/WpfApp1/App.xaml
index 2e70522d..0c5af8ec 100644
--- a/WpfApp1/App.xaml
+++ b/WpfApp1/App.xaml
@@ -1,9 +1,8 @@
-<Application x:Class="WpfApp1.App"
-             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
-             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
-             xmlns:local="clr-namespace:WpfApp1"
-             StartupUri="MainWindow.xaml">
-    <Application.Resources>
-         
-    </Application.Resources>
+<Application
+    x:Class="WpfApp1.App"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:local="clr-namespace:WpfApp1"
+    StartupUri="MainWindow.xaml">
+    <Application.Resources />
 </Application>
diff --git a/WpfApp1/MainWindow.xaml b/WpfApp1/MainWindow.xaml
index cfada060..9e5f5e2b 100644
--- a/WpfApp1/MainWindow.xaml
+++ b/WpfApp1/MainWindow.xaml
@@ -1,12 +1,29 @@
-<Window x:Class="WpfApp1.MainWindow"
-        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
-        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
-        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
-        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
-        xmlns:local="clr-namespace:WpfApp1"
-        mc:Ignorable="d"
-        Title="MainWindow" Height="450" Width="800">
+<Window
+    x:Class="WpfApp1.MainWindow"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:local="clr-namespace:WpfApp1"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    Title="MainWindow"
+    Width="800"
+    Height="450"
+    mc:Ignorable="d">
     <Grid>
-
+        <Button
+            Width="100"
+            Height="30"
+            Margin="36,24,664,381"
+            Content="连接" Click="Button_Click" />
+        <Button
+            Width="100"
+            Height="30"
+            Margin="167,24,533,381"
+            Content="上电" Click="Button_Click_1" />
+        <Button
+            Width="100"
+            Height="30"
+            Margin="300,24,400,381"
+            Content="使能" Click="Button_Click_2" />
     </Grid>
 </Window>
diff --git a/WpfApp1/MainWindow.xaml.cs b/WpfApp1/MainWindow.xaml.cs
index 5c44b05d..ea98f3da 100644
--- a/WpfApp1/MainWindow.xaml.cs
+++ b/WpfApp1/MainWindow.xaml.cs
@@ -12,6 +12,7 @@ using System.Windows.Media;
 using System.Windows.Media.Imaging;
 using System.Windows.Navigation;
 using System.Windows.Shapes;
+using BPASmartClient.JakaRobot;
 using BPASmartClient.S7Net;
 
 namespace WpfApp1
@@ -24,67 +25,87 @@ namespace WpfApp1
         public MainWindow()
         {
             InitializeComponent();
-            SiemensHelper siemensHelper = new SiemensHelper();
-            siemensHelper.Connect(S7.Net.CpuType.S71200, "192.168.101.16");
-            if (siemensHelper.IsConnected)
-            {
-                siemensHelper.WriteString(S7.Net.DataType.DataBlock, 1, 0, "cccc");
-                var res = siemensHelper.ReadClass<XL_Start_DB>(1);
+            //SiemensHelper siemensHelper = new SiemensHelper();
+            //siemensHelper.Connect(S7.Net.CpuType.S71200, "192.168.101.16");
+            //if (siemensHelper.IsConnected)
+            //{
+            //    siemensHelper.WriteString(S7.Net.DataType.DataBlock, 1, 0, "cccc");
+            //    var res = siemensHelper.ReadClass<XL_Start_DB>(1);
 
-                //XL_Start_DB xL_Start_DB = new XL_Start_DB();
-                //xL_Start_DB.RecipeCode = "编码";
-                //xL_Start_DB.RecipeName = "名称";
-                //xL_Start_DB.StockCode = 1;
-                //xL_Start_DB.TrayCode = 2;
-                //for (int i = 0; i < xL_Start_DB.Powder.Length; i++)
-                //{
-                //    xL_Start_DB.Powder[i].Powder_Name = $"料{i}";
-                //    xL_Start_DB.Powder[i].Powder_Weight = (float)(5.0 + i);
-                //}
-                //for (int i = 0; i < xL_Start_DB.Material.Length; i++)
-                //{
-                //    xL_Start_DB.Material[i].Material_Name = $"原料{i}";
-                //    xL_Start_DB.Material[i].Material_Weight = (float)(50.0 + i);
-                //    xL_Start_DB.Material[i].Material_BarrelNum = (short)(i + 1);
-                //}
-                //xL_Start_DB.Order_Request_ACK = true;
-                //xL_Start_DB.Order_Request = true;
+            //    //XL_Start_DB xL_Start_DB = new XL_Start_DB();
+            //    //xL_Start_DB.RecipeCode = "编码";
+            //    //xL_Start_DB.RecipeName = "名称";
+            //    //xL_Start_DB.StockCode = 1;
+            //    //xL_Start_DB.TrayCode = 2;
+            //    //for (int i = 0; i < xL_Start_DB.Powder.Length; i++)
+            //    //{
+            //    //    xL_Start_DB.Powder[i].Powder_Name = $"料{i}";
+            //    //    xL_Start_DB.Powder[i].Powder_Weight = (float)(5.0 + i);
+            //    //}
+            //    //for (int i = 0; i < xL_Start_DB.Material.Length; i++)
+            //    //{
+            //    //    xL_Start_DB.Material[i].Material_Name = $"原料{i}";
+            //    //    xL_Start_DB.Material[i].Material_Weight = (float)(50.0 + i);
+            //    //    xL_Start_DB.Material[i].Material_BarrelNum = (short)(i + 1);
+            //    //}
+            //    //xL_Start_DB.Order_Request_ACK = true;
+            //    //xL_Start_DB.Order_Request = true;
 
-                //for (int i = 0; i < xL_Start_DB.Standby.Length; i++)
-                //{
-                //    xL_Start_DB.Standby[i] = (short)(i + 100);
-                //    xL_Start_DB.Standby1[i] = (short)(i + 300);
-                //}
+            //    //for (int i = 0; i < xL_Start_DB.Standby.Length; i++)
+            //    //{
+            //    //    xL_Start_DB.Standby[i] = (short)(i + 100);
+            //    //    xL_Start_DB.Standby1[i] = (short)(i + 300);
+            //    //}
 
-                res.RecipeCode = "";
-                res.RecipeName = "";
-                res.StockCode = 0;
-                res.TrayCode = 0;
-                for (int i = 0; i < res.Powder.Length; i++)
-                {
-                    res.Powder[i].Powder_Name = "";
-                    res.Powder[i].Powder_Weight = 0;
-                }
-                for (int i = 0; i < res.Material.Length; i++)
-                {
-                    res.Material[i].Material_Name = "";
-                    res.Material[i].Material_Weight = 0;
-                    res.Material[i].Material_BarrelNum = 0;
-                }
-                res.Order_Request_ACK = false;
-                res.Order_Request = false;
+            //    res.RecipeCode = "";
+            //    res.RecipeName = "";
+            //    res.StockCode = 0;
+            //    res.TrayCode = 0;
+            //    for (int i = 0; i < res.Powder.Length; i++)
+            //    {
+            //        res.Powder[i].Powder_Name = "";
+            //        res.Powder[i].Powder_Weight = 0;
+            //    }
+            //    for (int i = 0; i < res.Material.Length; i++)
+            //    {
+            //        res.Material[i].Material_Name = "";
+            //        res.Material[i].Material_Weight = 0;
+            //        res.Material[i].Material_BarrelNum = 0;
+            //    }
+            //    res.Order_Request_ACK = false;
+            //    res.Order_Request = false;
 
-                for (int i = 0; i < res.Standby.Length; i++)
-                {
-                    res.Standby[i] = 0;
-                    res.Standby1[i] = 0;
-                }
+            //    for (int i = 0; i < res.Standby.Length; i++)
+            //    {
+            //        res.Standby[i] = 0;
+            //        res.Standby1[i] = 0;
+            //    }
 
-                siemensHelper.WriteClass<XL_Start_DB>(res, 1);
+            //    siemensHelper.WriteClass<XL_Start_DB>(res, 1);
 
-                var res1 = siemensHelper.ReadClass<XL_Start_DB>(1);
-            }
+            //    var res1 = siemensHelper.ReadClass<XL_Start_DB>(1);
+            //}
 
         }
+
+        JaKaHelper jaKaHelper = new JaKaHelper();
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+            jaKaHelper.Conn("192.168.0.12");
+            MessageBox.Show($"连接成功,{jaKaHelper.rshd}");
+        }
+
+        private void Button_Click_1(object sender, RoutedEventArgs e)
+        {
+            jaKaHelper.Power_On();
+            MessageBox.Show($"上电成功,{jaKaHelper.rshd}");
+        }
+
+        private void Button_Click_2(object sender, RoutedEventArgs e)
+        {
+            jaKaHelper.Enable_robot();
+            MessageBox.Show($"使能成功,{jaKaHelper.rshd}");
+        }
     }
 }
diff --git a/WpfApp1/WpfApp1.csproj b/WpfApp1/WpfApp1.csproj
index 1d569dcc..4bf6fe58 100644
--- a/WpfApp1/WpfApp1.csproj
+++ b/WpfApp1/WpfApp1.csproj
@@ -8,6 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.JakaRobot\BPASmartClient.JakaRobot.csproj" />
     <ProjectReference Include="..\BPASmartClient.S7Net\BPASmartClient.S7Net.csproj" />
   </ItemGroup>