1. 出库流程中，取完料盘后x轴先到待机点然后旋转轴翻转

2. 进出轴退出后检查抽屉到位信号

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

@@ -350,24 +350,22 @@ namespace OnlineStore.DeviceLibrary
                     break;
                 case StepEnum.SI_18_PutTrayMiddle:
                     MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayDown);
-                    //LogInfo($"入库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    LogInfo($"入库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     PullAxis_UpdownToLowP4();
+                    break;
+                case StepEnum.SI_18_PutTrayDown:
+                    MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
+                    LogInfo($"入库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     if (CheckASide())
                     {
-                        LogInfo($"入库 {MoveInfo.SLog}：放下料屉,料斗拉取升降轴到料屉提取低点P4,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                         if (!GetShieldState(sheidAColmns[GetPosColumn()]))
                             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
                     }
                     else
                     {
-                        LogInfo($"入库 {MoveInfo.SLog}：放下料屉,料斗拉取升降轴到料屉提取低点P4,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                         if (!GetShieldState(sheidBColmns[GetPosColumn()]))
                             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
                     }
-                    break;
-                case StepEnum.SI_18_PutTrayDown:
-                    MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
-                    LogInfo($"入库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     PullAxis_Inout_To_Cam();
                     SaveSpecifiedImage();
                     break;

source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs

@@ -117,9 +117,8 @@ namespace OnlineStore.DeviceLibrary
                     //XAxis_To_P1();
 
                     MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
-                    LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4,移栽旋转轴到取放料水平点P2,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     PullAxis_Inout_To_P2_P4();
-                    MiddleAxis_To_P2();
                     XAxis_To_P1();
                     break;
                 case StepEnum.SO_11_PushTray:
@@ -147,24 +146,23 @@ namespace OnlineStore.DeviceLibrary
                     break;
                 case StepEnum.SO_12_PutTrayMiddle:
                     MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayDown);
-                    //LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    LogInfo($"出库 {MoveInfo.SLog}：放下料屉，移栽旋转轴到取放料水平点P2,料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     PullAxis_UpdownToLowP4();
+                    MiddleAxis_To_P2();
+                    break;
+                case StepEnum.SO_12_PutTrayDown:
+                    MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
+                    LogInfo($"出库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点,同时检测{trayAColumns[GetPosColumn()]}=1 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     if (CheckASide())
                     {
-                        LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                         if (!GetShieldState(sheidAColmns[GetPosColumn()]))
                             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
                     }
                     else
                     {
-                        LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                         if (!GetShieldState(sheidBColmns[GetPosColumn()]))
                             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
                     }
-                    break;
-                case StepEnum.SO_12_PutTrayDown:
-                    MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
-                    LogInfo($"出库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     PullAxis_Inout_To_Cam();
                     SaveSpecifiedImage();
                     break;