存储机构-添加出入库、初始化、点位配置

source/Common/Setting_Init.cs

@@ -29,8 +29,8 @@ namespace OnlineStore.Common
  
         public static string ConfigPath_XLRStore = "ConfigPath_XLRStore";
         public static string ConfigPath_Input = "ConfigPath_Input";
-        public static string ConfigPath_Box = "ConfigPath_Box"; 
- 
+        public static string ConfigPath_Box = "ConfigPath_Box";
+        public static string ConfigPath_BoxPosition = "ConfigPath_BoxPosition";
         /// <summary>
         /// 需要识别的二维码类型，多个中间使用#分割
         /// </summary>

source/Common/bean/Bean.cs

@@ -262,6 +262,6 @@ namespace OnlineStore.Common
         public static string rfidLoc = "rfidLoc";
 
         public static string barcode = "barcode";
-        
+
     }
 }

source/Common/util/FormUtil.cs

@@ -104,5 +104,35 @@ namespace OnlineStore.Common
             }
             return span.Hours.ToString().PadLeft(2, '0') + ":" + span.Minutes.ToString().PadLeft(2, '0') + ":" + seconds;
         }
+        public static bool GetBoolData(Dictionary<string, string> data, string key, bool defaultValue = false)
+        {
+            if (data.ContainsKey(key))
+            {
+                try
+                {
+                    return Convert.ToBoolean(data[key]);
+                }
+                catch (Exception ex)
+                {
+
+                }
+            }
+            return defaultValue;
+        }
+        public static int GetIntData(Dictionary<string, string> data, string key, int defaultValue = 0)
+        {
+            if (data.ContainsKey(key))
+            {
+                try
+                {
+                    return Convert.ToInt32(data[key]);
+                }
+                catch (Exception ex)
+                {
+
+                }
+            }
+            return defaultValue;
+        }
     }
 }

source/Common/util/MyWebClient.cs

@@ -52,6 +52,79 @@ namespace OnlineStore.Common
     }
     public class HttpHelper
     {
+        public static Operation PostOperation(string url, Operation operation, bool simulate = false)
+        {
+            try
+            {
+                if (operation == null)
+                {
+                    return null;
+                }
+                if (simulate)
+                {//模拟服务器返回
+                    operation.status = 200;
+                    operation.data.Clear();
+                    operation.data.Add("posId", "A001");
+                    string pos = "D100-111#D102-222#D104-333";
+                    operation.data.Add("pos", pos);
+                    if (operation.op == 1 || operation.op == 2)
+                    {//入库或出库
+
+                        string json = JsonHelper.SerializeObject(operation);
+                        LogUtil.error("模拟HTTP服务器返回出库入库信息：" + json);
+                        return operation;
+                    }
+                    return null;
+                }
+
+                try
+                {
+                    if (url.ToLower().IndexOf("https", System.StringComparison.Ordinal) > -1)
+                    {
+                        ServicePointManager.ServerCertificateValidationCallback =
+                                       new RemoteCertificateValidationCallback((sender, certificate, chain, errors) => { return true; });
+                    }
+                    string json = JsonHelper.SerializeObject(operation);
+                    var wc = new MyWebClient(5000);
+                    if (string.IsNullOrEmpty(wc.Headers["Content-Type"]))
+                        wc.Headers.Add("Content-Type", "application/json;charset=UTF-8");
+                    wc.Encoding = Encoding.UTF8;
+
+                    string result = wc.UploadString(url, "POST", json);
+
+                    if (!string.IsNullOrEmpty(result))
+                    {
+                        try
+                        {
+                            Operation reOP = JsonHelper.DeserializeJsonToObject<Operation>(result);
+                            if (isLog == 1 || reOP.op > 0)
+                            {
+                                //LogUtil.info("【"+url+"】发送【" + json  + "】收到【" + result + "】");
+                            }
+                            return reOP;
+                        }
+                        catch (Exception ex)
+                        {
+                            LogUtil.error("JsonHelper.DeserializeJsonToObject 出错【result=" + result + "】" + ex);
+                        }
+                    }
+                }
+                catch (WebException ex)
+                {
+                    LogUtil.error("POST [" + url + "] WebException :" + ex.ToString(), 101);
+                }
+                catch (Exception e)
+                {
+                    LogUtil.error("POST [" + url + "] ERROR:" + e.ToString(), 101);
+                }
+            }
+
+            catch (Exception ex)
+            {
+                LogUtil.error("Post 出错【operation.op=" + operation.op + "】：" + ex);
+            }
+            return null;
+        }
         public static bool PingURLIP(string url, int ms = 100)
         {
             string[] urlArray = url.Split('/');

source/DeviceLibrary/Config/Config_BoxEquip.csv

@@ -11,10 +11,10 @@ AXIS,0,B面移栽旋转轴,MiddleAxis_B,8,HC,,35000,60000,60000,1000,5000,20000,10,100
 AXIS,0,B面移栽压紧轴,ComAxis_B,9,HC,,35000,60000,60000,1000,5000,20000,10,100,0,0
 ,,,,,,,,,,,,,,,,
 PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,,,,,,,,,,,
+PRO,0,温湿度端口号,Humiture_Port,0,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,行走机构_待机点P1,MoveAxis_P1,100,,,,,,,,,,,,
 PRO,0,行走机构_进出料机构取放点P2,MoveAxis_P2,100,,,,,,,,,,,,
-PRO,0,行走机构_存储库位取放点位P3,MoveAxis_P3,100,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,料斗拉取进出轴_待机点P1,PullAxis_Inout_P1,100,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,

source/DeviceLibrary/Config/linePositions.csv

-位置,优先级,高度,宽度,料仓ID,料斗进出轴料屉提取点P2P4,料斗进出轴料屉库位点P3P5,料斗升降轴料屉提取高点P3,料斗升降轴料屉提取低点P4,移栽升降轴料屉上方过渡点P6P12,移栽升降轴料屉取放点P7P13,AB移栽X轴料屉库位取放料点P3,AB移栽压紧轴压紧前点P2,AB移栽压紧轴压紧点P3
-05AA03040102,1,20,7,1,190500,1779933,1790933,1790933,1779933,1779933,1779933,1779933,1779933
+位置,优先级,高度,宽度,料仓ID,料斗进出轴料屉提取点P2P4,料斗进出轴料屉库位点P3P5,料斗升降轴料屉提取高点P3,料斗升降轴料屉提取低点P4,存储库位取放点位P3,移栽升降轴料屉上方过渡点P6P12,移栽升降轴料屉取放点P7P13,AB移栽X轴料屉库位取放料点P3,AB移栽压紧轴压紧前点P2,AB移栽压紧轴压紧点P3
+05AA03040102,1,20,7,2,190500,1779933,1790933,1790933,1779933,1779933,1779933,1779933,1779933,1779933
+05BB03040102,1,20,7,2,190500,1779933,1790933,1790933,1779933,1779933,1779933,1779933,1779933,1779933

source/DeviceLibrary/DeviceLibrary.csproj

@@ -79,8 +79,10 @@
     <Compile Include="manager\StoreManager.cs" />
     <Compile Include="deviceLibrary\RFID\RFIDManagercs.cs" />
     <Compile Include="manager\SServerManager.cs" />
-    <Compile Include="storeBean\boxBean\BoxEquip_RequestServer.cs" />
+    <Compile Include="storeBean\boxBean\BoxEquip_ConnectServerTimer.cs" />
     <Compile Include="storeBean\boxBean\AutoInoutInfo.cs" />
+    <Compile Include="storeBean\boxBean\BoxEquip_InExecute.cs" />
+    <Compile Include="storeBean\boxBean\BoxEquip_OutExecute.cs" />
     <Compile Include="storeBean\boxBean\Humiture\HumitureBean.cs" />
     <Compile Include="storeBean\boxBean\Humiture\HumitureController.cs" />
     <Compile Include="storeBean\inputBean\BatchMoveBean.cs" />
@@ -201,7 +203,9 @@
     <Content Include="huichuan_x86\IMC_API_x86.lib">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </Content>
-    <None Include="Config\linePositions.csv" />
+    <Content Include="Config\linePositions.csv">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </Content>
     <None Include="packages.config" />
     <Content Include="SDK\MotorMaster.config">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>

source/DeviceLibrary/manager/SServerManager.cs

@@ -10,6 +10,39 @@ namespace OnlineStore.DeviceLibrary
 {
     public class SServerManager
     {
+        #region 存储机构使用的API
+        private static string api_communication = "service/store/communication";    //流水线状态通信接口 
+        public static string GetPostApi(string host)
+        {
+            if (host == "")
+            {
+                host = ConfigAppSettings.GetValue(Setting_Init.http_server);
+            }
+            if (!host.StartsWith("http://"))
+            {
+                host = "http://" + host;
+            }
+            if (!host.EndsWith("/"))
+            {
+                host = host + "/";
+            }
+            return host + api_communication;
+        }
+
+        internal static string GetShelfIDByLoc(int rfidLoc, List<string> shelfPosList)
+        {
+            string shelfId = "";
+            if (rfidLoc.Equals(-1))
+            {
+                shelfId = shelfPosList[0];
+            }
+            if (rfidLoc >= 1 && rfidLoc <= 8 && rfidLoc <= shelfPosList.Count)
+            {
+                shelfId = shelfPosList[rfidLoc - 1];
+            }
+            return shelfId;
+        }
+        #endregion
         //http://localhost/myproject/service/store/emptyPosForPutin
         private static string Addr_PosForPutin = "/service/store/emptyPosForPutin";
         /// <summary>

source/DeviceLibrary/manager/StoreManager.cs

@@ -97,15 +97,18 @@ namespace OnlineStore.DeviceLibrary
                     string inputConfigPath = appPath + ConfigAppSettings.GetValue(Setting_Init.ConfigPath_Input);
 
                     InputEquip_Config inputConfig = CSVConfigReader.LoadInputConfig(1, DeviceType.InputEquip, inputConfigPath);
-                  
+
                     inputConfig.SetIO(1);
                     allConfigMap.Add(1, inputConfig);
                     string boxPath = appPath + ConfigAppSettings.GetValue(Setting_Init.ConfigPath_Box);
 
-                    BoxEquip_Config boxConfig = CSVConfigReader.LoadBoxConfig(2, DeviceType.BoxEquip, boxPath); 
+                    BoxEquip_Config boxConfig = CSVConfigReader.LoadBoxConfig(2, DeviceType.BoxEquip, boxPath);
                     boxConfig.SetIO(2);
 
                     allConfigMap.Add(2, boxConfig);
+                    //加载点位
+                    string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.ConfigPath_BoxPosition);
+                    CSVPositionReader<BoxPosition>.AddCSVFile(positionConfigFile);
 
                     XLRStore = new XLRStoreBean(Config, inputConfig, boxConfig);
                     LogUtil.info("加载 完成！");
@@ -144,25 +147,28 @@ namespace OnlineStore.DeviceLibrary
             return false;
         }
 
-        public static void SaveBoxConfig(BoxEquip_Config config)
+        public static bool SaveBoxConfig(BoxEquip_Config config)
         {
             try
             {
                 //位置配置到文件中
                 string appPath = Application.StartupPath;
                 string boxConfig = appPath + ConfigAppSettings.GetValue(Setting_Init.ConfigPath_Box);
-                 
+
                 allConfigMap[config.Id] = config;
-             
+
                 bool result = CSVConfigReader.SaveConfig(boxConfig, config, typeof(BoxEquip_Config));
                 if (!result)
                 {
                     LogUtil.error("保存配置文件失败：" + boxConfig);
+                    return false;
                 }
+                return true;
             }
             catch (Exception ex)
             {
                 LogUtil.error("出错：", ex);
+                return false;
             }
         }
         public static void SaveInputEquipConfig(InputEquip_Config config)
@@ -172,7 +178,7 @@ namespace OnlineStore.DeviceLibrary
                 //位置配置到文件中
                 string appPath = Application.StartupPath;
                 string configFile = appPath + ConfigAppSettings.GetValue(Setting_Init.ConfigPath_Input);
-                 
+
                 allConfigMap[config.Id] = config;
                 bool result = CSVConfigReader.SaveConfig(configFile, config, typeof(InputEquip_Config));
                 if (!result)
@@ -185,7 +191,7 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.error("出错：", ex);
             }
         }
-       
+
 
         private static List<int> trayHeightList = new List<int>();
         public static List<int> GetTrayList()

source/DeviceLibrary/manager/model/DeviceStep.cs

@@ -9,12 +9,12 @@ using System.IO;
 using System.IO.Ports;
 using System.Linq;
 using System.Text;
- 
+
 using System.Windows.Forms;
 
 namespace OnlineStore.DeviceLibrary
 {
-    
+
     /// <summary>
     ///0= 等待启动/已经停止，1=初始化完成， 2=正常运行中，3=可以进行新的处理，4=忙碌，重置
     /// </summary>
@@ -32,7 +32,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 设备正在重置中，请稍后
         /// </summary>
-        Reset = 2, 
+        Reset = 2,
         /// <summary>
         /// 正常运行中，可以进行新的处理
         /// </summary>
@@ -52,7 +52,7 @@ namespace OnlineStore.DeviceLibrary
     /// </summary>
     public enum DeviceStatus
     {
-        None=0,
+        None = 0,
         /// <summary>
         /// 1=设备联机（正常就绪）（入库后，BOX恢复原始状态）（出库后，移载装置恢复原始状态），
         /// </summary>
@@ -60,7 +60,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         ///2=急停中
         /// </summary>
-        SuddenStop = 2, 
+        SuddenStop = 2,
         /// <summary>
         /// 3=故障中
         /// </summary>
@@ -72,7 +72,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 5=设备调试中 
         /// </summary>
-        Debugging = 5, 
+        Debugging = 5,
         /// <summary>
         /// 6=入库执行中 
         /// </summary>
@@ -104,13 +104,275 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 重置中（原点返回和重置都发此状态）
         /// </summary>
-        ResetMove =13,       
+        ResetMove = 13,
     }
-     
-    public enum StepEnum 
-    { 
+
+    public enum StepEnum
+    {
+        /// <summary>
+        /// 无操作，等待状态
+        /// </summary>
         Wait = 0,
 
+        #region 料仓原点返回和重置步骤  100开始
+        /// <summary>
+        /// BOX复位：存储机构复位
+        /// </summary>
+        BOX_H01_Wait = 101,
+        /// <summary>
+        /// BOX复位：料斗拉取升降轴到待机点
+        /// </summary>
+        BOX_H02_PullAxis_UpDownToP1,
+        /// <summary>
+        /// BOX复位：料斗拉取进出轴先返回原点
+        /// </summary>
+        BOX_H03_PullAxis_InoutHome,
+        /// <summary>
+        /// BOX复位：料斗拉取升降轴、AB面压紧轴返回原点
+        /// </summary>
+        BOX_H04_PullAxis_Updown_ABComAxis_Home,
+        /// <summary>
+        ///  BOX复位：AB面移栽x轴原点返回
+        /// </summary>
+        BOX_H05_XAxis_AB_Home,
+        /// <summary>
+        ///  BOX复位：行走机构、移栽升降轴、AB面移栽旋转轴原点返回
+        /// </summary>
+        BOX_H06_OtherAxis_Home,
+
+        /// <summary>
+        /// BOX待机位：料斗拉取升降轴先返回待机位
+        /// </summary>
+        BOX_R01_PullAxis_UpDownToP1,
+        /// <summary>
+        /// BOX待机位：料斗拉取进出轴、AB面压紧轴返回待机位
+        /// </summary>
+        BOX_R02_PullAxis_InOut_ABComAxis_ToP1,
+        /// <summary>
+        ///  BOX待机位：AB面移栽x轴返回待机位
+        /// </summary>
+        BOX_R03_XAxis_AB_ToP1,
+        /// <summary>
+        ///  BOX待机位：行走机构、移栽升降轴、AB面移栽旋转轴返回待机位
+        /// </summary>
+        BOX_R04_OtherAxisToP1,
+        #endregion
+
+        #region 出库步骤  200开始
+        /// <summary>
+        /// 料仓出库:开始出库
+        /// </summary>
+        SO_00_StartOutstore = 201,
+        /// <summary>
+        ///料仓出库：料斗拉取进出轴先运动到P1，料斗拉取升降轴运动到P1
+        /// </summary>
+        SO_01_PullAxis_Ready,
+
+        /// <summary>
+        ///  料仓出库：所有轴运行到库位：
+        ///  1. 移栽升降轴到AB料屉上方过度点
+        ///  2. 行走机构到P3(存储库位取放点位)
+        ///  3. A/B面移栽压紧轴到P2(压紧前点)
+        ///  4. A/B面移栽旋转轴到P3(料屉垂直取放料点)
+        /// </summary>
+        SO_02_ToPosition,
+        /// <summary>
+        ///  料仓出库：到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）
+        /// </summary>
+        SO_03_ToTray,
+        /// <summary>
+        ///  料仓出库：提升抽屉，料斗拉取升降轴到P3（料屉提取高点）
+        /// </summary>
+        SO_04_LiftTray,
+        /// <summary>
+        /// 料仓出库：拉抽屉到库位点，料斗拉取进出轴到P3（A/B面料屉库位点）
+        /// </summary>
+        SO_05_PullTray,
+        /// <summary>
+        /// 料仓出库：将抽屉降到库位提取点，料斗拉取升降轴到P2(料屉提取水平点)，到位后检测X16-X30对应信号=1
+        /// </summary>
+        SO_06_DropTrayToPos,
+
+        /// <summary>
+        /// 料仓出库：进入库位中，移栽升降轴到A/B面料屉取放点
+        /// </summary>
+        SO_07_GetReel,
+
+        /// <summary>
+        /// 料仓出库：压紧轴开始缓慢压紧，A/B面移栽压紧轴到P3（压紧点）
+        /// </summary>
+        SO_08_StartCompress,
+
+        ///// <summary>
+        ///// 料仓出库:检测到料叉压紧确认信号，再次向下压紧指定的值
+        ///// </summary>
+        //SO_09_ComDownMove,
+        /// <summary>
+        /// 料仓出库,等待压紧信号确认
+        /// </summary>
+        //SO_10_CheckComSig,
+
+        /// <summary>
+        ///料仓出库：叉子从库位返回，移栽升降轴到A/B面料屉上方过度点
+        /// </summary>
+        SO_09_UpDownBack,
+
+        /// <summary>
+        ///  料仓出库：料屉返回，提升抽屉，料斗拉取升降轴到P3（料屉提取高点）
+        /// </summary>
+        SO_10_LiftTray,
+        /// <summary>
+        ///  料仓出库：推到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）同时检测X04-X09=1
+        /// </summary>
+        SO_11_PushTray,
+        /// <summary>
+        /// 料仓出库:放下料屉，料斗拉取升降轴到P4(料屉提取低点)
+        /// /// </summary>
+        SO_12_PutTrayDown,
+        /// <summary>
+        /// 料仓出库:料斗拉取进出轴到P1（待机点）
+        /// </summary>
+        SO_13_InoutBack,
+        /// <summary>
+        /// 料仓出库:取料完成，准备去出料口
+        /// </summary>
+        SO_14_GetReels_Ready,
+        /// <summary>
+        /// 料仓出库：到料盘暂存区
+        /// 1. 移栽升降轴到A/B下暂存区放料高点
+        /// 2. 行走机构到P2（进出料机构取放点）
+        /// 3. A面移栽旋转轴到P2（进出料暂存区取放料水平点），同时检测X02=1 
+        ///    或者 B面移栽旋转轴到P2（进出料暂存区取放料水平点），同时检测X03=1
+        /// </summary>
+        SO_15_ToBufferArea,
+        /// <summary>
+        /// 料仓出库：确保暂存区无料盘
+        /// 如果有料盘则报警，该区域无料时才会出库
+        /// </summary>
+        SO_16_VerifyBufferState,
+        /// <summary>
+        /// 料仓出库：A/B面移栽X轴到P2（A/B进出料暂存区取放点）
+        /// </summary>
+        SO_17_InOutToBuff,
+        /// <summary>
+        /// 料仓出库：把料盘放下
+        /// 1. 移栽升降轴到A/B下暂存区放料低点
+        /// 2. A/B面移栽压紧轴到P2压紧前点
+        /// </summary>
+        SO_18_PutReel,
+        /// <summary>
+        /// 料仓出库：A/B面移栽X轴到P1（待机点）
+        /// </summary>
+        SO_19_InOutBackFromBuff,
+        /// <summary>
+        /// 料仓出库：A/B面移栽旋转轴到P1（待机点）
+        /// </summary>
+        SO_20_Finish,
+
+
+
+        #endregion
+
+        #region 入库步骤，300开始
+        /// <summary>
+        /// 料仓入库:开始入库
+        /// </summary>
+        SI_00_StartInstore = 301,
+        /// <summary>
+        ///料仓入库：料斗拉取进出轴先运动到P1
+        /// </summary>
+        SI_01_PullAxis_Ready,
+        /// <summary>
+        /// 料仓入库：到料盘暂存区
+        /// 1. 行走机构到P2（进出料机构取放点）
+        /// 2. 移栽升降轴到P3(A上暂存区取料低点)
+        /// 3. A/B面移栽压紧轴到P2（压紧前点）
+        /// 4. A面移栽旋转轴到P2（进出料暂存区取放料水平点），同时检测X02=1 
+        ///    或者 B面移栽旋转轴到P2（进出料暂存区取放料水平点），同时检测X03=1
+        /// </summary>
+        SI_02_ToBufferArea,
+
+        /// <summary>
+        /// 料仓入库：确保暂存区有料盘
+        /// 如果无料盘则报警
+        /// </summary>
+        SI_03_VerifyBufferState,
+        /// <summary>
+        /// 料仓入库：A/B面移栽X轴到P2（A/B进出料暂存区取放点）
+        /// </summary>
+        SI_04_InOutToBuff,
+        /// <summary>
+        /// 料仓入库：取料盘
+        /// 1. 移栽升降轴到P2（A上暂存区取料高点）
+        /// 2. A/B面移栽压紧轴到P3压紧点
+        /// </summary>
+        SI_05_GetReel,
+        /// <summary>
+        /// 料仓入库：A/B面移栽X轴到P3（A/B面料屉库位取放料点）
+        /// </summary>
+        SI_06_InOutBackFromBuff,
+        /// <summary>
+        /// 料仓入库：A/B面移栽旋转轴到P3（A面料屉库位垂直取放料点）
+        /// </summary>
+        SI_07_MiddleToP3,
+        /// <summary>
+        ///  料仓入库：所有轴运行到库位：
+        ///  1. 移栽升降轴到AB料屉上方过度点
+        ///  2. 行走机构到P3（存储库位取放点位）
+        ///  3. 料斗拉取升降轴到P4(料屉提取低点)
+        /// </summary>
+        SI_08_ToPosition,
+        /// <summary>
+        ///  料仓入库：到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）
+        /// </summary>
+        SI_09_ToTray,
+        /// <summary>
+        ///  料仓入库：提升抽屉，料斗拉取升降轴到P3（料屉提取高点）
+        /// </summary>
+        SI_10_LiftTray,
+        /// <summary>
+        /// 料仓入库：拉抽屉到库位点，料斗拉取进出轴到P3（A/B面料屉库位点）
+        /// </summary>
+        SI_11_PullTray,
+        /// <summary>
+        /// 料仓入库：将抽屉降到库位提取点，料斗拉取升降轴到P2(料屉提取水平点)，到位后检测X16-X30对应信号=1
+        /// </summary>
+        SI_12_DropTrayToPos,
+
+        /// <summary>
+        /// 料仓入库：进入库位中，移栽升降轴到A/B面料屉取放点
+        /// </summary>
+        SI_13_GetReel,
+
+        ///// <summary>
+        ///// 料仓入库：压紧轴开始缓慢释放，A/B面移栽压紧轴到P2（压紧前点）
+        ///// </summary>
+        SI_14_ReleaseCompress,
+
+        /// <summary>
+        ///料仓入库：叉子从库位返回，移栽升降轴到A/B面料屉上方过度点
+        /// </summary>
+        SI_15_UpDownBack,
+
+        /// <summary>
+        ///  料仓入库：料屉返回，提升抽屉，料斗拉取升降轴到P3（料屉提取高点）
+        /// </summary>
+        SI_16_LiftTray,
+        /// <summary>
+        ///  料仓入库：推到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）同时检测X04-X09=1
+        /// </summary>
+        SI_17_PushTray,
+        /// <summary>
+        /// 料仓入库:放下料屉，料斗拉取升降轴到P4(料屉提取低点)
+        /// </summary>
+        SI_18_PutTrayDown,
+        /// <summary>
+        /// 料仓入库:料斗拉取进出轴到P1（待机点）,检查另一边入库情况
+        /// </summary>
+        SI_19_InoutBack,
+
+        #endregion
+
         #region 入料模块复位 1000 开始
 
 
@@ -142,7 +404,7 @@ namespace OnlineStore.DeviceLibrary
         /// 入料模块复位：升降轴到P1
         /// </summary>
         IR06_UpdownToP1,
-        
+
         /// <summary>
         /// 入料模块复位:  夹紧气缸放松
         /// </summary>
@@ -155,11 +417,11 @@ namespace OnlineStore.DeviceLibrary
         #endregion
 
         #region 入料模块取料 1100 开始
-       
+
         /// <summary>
         /// 入库料串取料：升降轴到达P1
         /// </summary>
-        II01_UpdownToP1= 1101,
+        II01_UpdownToP1 = 1101,
 
         /// <summary>
         /// 入库料串取料A：取料旋转轴SVD13运动到P2（A料口取料点）
@@ -297,7 +559,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 入料->NG：取料旋转轴SVD13 运动到P1（待机点）
         /// </summary>
-        II86_MiddleToP1, 
+        II86_MiddleToP1,
         #endregion
 
 
@@ -334,7 +596,6 @@ namespace OnlineStore.DeviceLibrary
 
         #endregion
 
-
         #region 入料模块批量轴开始入料 1600 开始
         /// <summary>
         /// 料串入料：准备取料
@@ -344,12 +605,12 @@ namespace OnlineStore.DeviceLibrary
         /// 料串入料：批量轴到待机点P1, 阻挡气缸下降
         /// </summary>
         IB02_BatchAxisToP1,
-        
+
         /// <summary>
         /// 料串入料：链条开始转动
         /// </summary>
         IB04_LineStart,
-     
+
         /// <summary>
         /// 料串入料：阻挡气缸上升
         /// </summary>
@@ -403,268 +664,17 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         IB23_ShelfOut,
         #endregion 
+
     }
     /// <summary>
     /// 料仓运动状态（当料仓状态=busy时，才会有此运动状态）
     /// </summary>
     public enum StoreStep
     {
-        /// <summary>
-        /// 无操作，等待状态
-        /// </summary>
-        Wait = 0,
-        #region 料仓原点返回和重置步骤  0010开始
-
-        /// <summary>
-        /// BOX复位：料斗拉取进出轴先返回原点
-        /// </summary>
-        BOX_H01_PullAxis_InoutBack = 011,
-        /// <summary>
-        /// BOX复位：料斗拉取升降轴、AB面压紧轴返回原点
-        /// </summary>
-        BOX_H02_PullAxis_Updown_ABComAxis_Back = 012,
-        /// <summary>
-        ///  BOX复位：AB面移栽x轴原点返回
-        /// </summary>
-        BOX_H03_XAxis_AB_Back = 013,
-        /// <summary>
-        ///  BOX复位：行走机构、移栽升降轴、AB面移栽旋转轴原点返回
-        /// </summary>
-        BOX_H04_OtherAxisBack = 014,
-
-        /// <summary>
-        /// BOX待机位：料斗拉取进出轴先返回待机位
-        /// </summary>
-        BOX_H05_PullAxis_InoutToP1 = 015,
-        /// <summary>
-        /// BOX待机位：料斗拉取升降轴、AB面压紧轴返回待机位
-        /// </summary>
-        BOX_H06_PullAxis_Updown_ABComAxis_ToP1 = 016,
-        /// <summary>
-        ///  BOX待机位：AB面移栽x轴返回待机位
-        /// </summary>
-        BOX_H07_XAxis_AB_ToP1 = 017,
-        /// <summary>
-        ///  BOX待机位：行走机构、移栽升降轴、AB面移栽旋转轴返回待机位
-        /// </summary>
-        BOX_H08_OtherAxisToP1 = 018,
-        #endregion
-
-        #region 出库步骤  2000开始
-
-        /// <summary>
-        ///料仓出库：检查出库的料在哪一边
-        /// </summary>
-        SO_00_StartWithCheck = 2001,
-        /// <summary>
-        ///料仓出库：料斗拉取进出轴先运动到P1，料斗拉取升降轴运动到料屉提取低点
-        /// </summary>
-        SO_01_PullAxis_Ready = 2002,
-
-        /// <summary>
-        ///  料仓出库：所有轴运行到库位：
-        ///  1. 移栽升降轴到AB料屉上方过度点
-        ///  2. 行走机构到P3(存储库位取放点位)
-        ///  3. A/B面移栽压紧轴到P2(压紧前点)
-        ///  4. A/B面移栽旋转轴到P3(料屉垂直取放料点)
-        /// </summary>
-        SO_02_ToPosition,
-        /// <summary>
-        ///  料仓出库：到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）
-        /// </summary>
-        SO_03_ToTray,
-        /// <summary>
-        ///  料仓出库：提升抽屉，料斗拉取升降轴到P3（料屉提取高点）
-        /// </summary>
-        SO_04_LiftTray,
-        /// <summary>
-        /// 料仓出库：拉抽屉到库位点，料斗拉取进出轴到P3（A/B面料屉库位点）
-        /// </summary>
-        SO_05_PullTray,
-        /// <summary>
-        /// 料仓出库：将抽屉降到库位提取点，料斗拉取升降轴到P2(料屉提取水平点)，到位后检测X16-X30对应信号=1
-        /// </summary>
-        SO_06_DropTrayToPos,
-
-        /// <summary>
-        /// 料仓出库：进入库位中，移栽升降轴到A/B面料屉取放点
-        /// </summary>
-        SO_07_GetReel,
-
-        ///// <summary>
-        ///// 料仓出库：压紧轴开始缓慢压紧，A/B面移栽压紧轴到P3（压紧点）
-        ///// </summary>
-        SO_08_StartCompress,
-
-        ///// <summary>
-        ///// 料仓出库:检测到料叉压紧确认信号，再次向下压紧指定的值
-        ///// </summary>
-        //SO_09_ComDownMove,
-        /// <summary>
-        /// 料仓出库,等待压紧信号确认
-        /// </summary>
-        //SO_10_CheckComSig,
-
-        /// <summary>
-        ///料仓出库：叉子从库位返回，移栽升降轴到A/B面料屉上方过度点
-        /// </summary>
-        SO_09_UpDownBack,
-
-        /// <summary>
-        ///  料仓出库：料屉返回，提升抽屉，料斗拉取升降轴到P3（料屉提取高点）
-        /// </summary>
-        SO_10_LiftTray,
-        /// <summary>
-        ///  料仓出库：推到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）同时检测X04-X09=1
-        /// </summary>
-        SO_11_PushTray,
-        /// <summary>
-        /// 料仓出库:放下料屉，料斗拉取升降轴到P4(料屉提取低点)
-        /// /// </summary>
-        SO_12_PutTrayDown,
-        /// <summary>
-        /// 料仓出库:料斗拉取进出轴到P1（待机点）
-        /// </summary>
-        SO_13_InoutBack,
-        /// <summary>
-        /// 料仓出库:检查另一边是否有出库任务
-        /// </summary>
-        SO_14_CheckOtherSide,
-        /// <summary>
-        /// 料仓出库：到料盘暂存区
-        /// 1. 移栽升降轴到A/B下暂存区放料高点
-        /// 2. 行走机构到P2（进出料机构取放点）
-        /// 3. A面移栽旋转轴到P2（进出料暂存区取放料水平点），同时检测X02=1 
-        ///    或者 B面移栽旋转轴到P2（进出料暂存区取放料水平点），同时检测X03=1
-        /// </summary>
-        S0_15_ToBufferArea,
-        /// <summary>
-        /// 料仓出库：确保暂存区无料盘
-        /// 如果有料盘则报警，该区域无料时才会出库
-        /// </summary>
-        SO_16_VerifyBufferState,
-        /// <summary>
-        /// 料仓出库：A/B面移栽X轴到P2（A/B进出料暂存区取放点）
-        /// </summary>
-        SO_17_InOutToBuff,
-        /// <summary>
-        /// 料仓出库：把料盘放下
-        /// 1. 移栽升降轴到A/B下暂存区放料低点
-        /// 2. A/B面移栽压紧轴到P2压紧前点
-        /// </summary>
-        SO_18_PutReel,
-        /// <summary>
-        /// 料仓出库：A/B面移栽X轴到P1（待机点）
-        /// </summary>
-        SO_19_InOutBackFromBuff,
-        /// <summary>
-        /// 料仓出库：A/B面移栽旋转轴到P1（待机点）
-        /// </summary>
-        SO_20_Finish,
-
-
-
-        #endregion
-
-        #region 入库步骤，3000开始
-        /// <summary>
-        ///料仓出库：料斗拉取进出轴先运动到P1
-        /// </summary>
-        SI_01_PullAxis_Ready = 3010,
-        /// <summary>
-        /// 料仓入库：到料盘暂存区
-        /// 1. 移栽升降轴到P3(A上暂存区取料低点)
-        /// 2. 行走机构到P2（进出料机构取放点）
-        /// 3. A/B面移栽压紧轴到P2（压紧前点）
-        /// 3. A面移栽旋转轴到P2（进出料暂存区取放料水平点），同时检测X02=1 
-        ///    或者 B面移栽旋转轴到P2（进出料暂存区取放料水平点），同时检测X03=1
-        /// </summary>
-        SI_02_ToBufferArea,
-
-        /// <summary>
-        /// 料仓入库：确保暂存区有料盘
-        /// 如果无料盘则报警
-        /// </summary>
-        SI_03_VerifyBufferState,
-        /// <summary>
-        /// 料仓入库：A/B面移栽X轴到P2（A/B进出料暂存区取放点）
-        /// </summary>
-        SI_04_InOutToBuff,
-        /// <summary>
-        /// 料仓入库：取料盘
-        /// 1. 移栽升降轴到P2（A上暂存区取料高点）
-        /// 2. A/B面移栽压紧轴到P3压紧点
-        /// </summary>
-        SI_05_GetReel,
-        /// <summary>
-        /// 料仓入库：A/B面移栽X轴到P3（A/B面料屉库位取放料点）
-        /// </summary>
-        SI_06_InOutBackFromBuff,
-        /// <summary>
-        /// 料仓入库：A/B面移栽旋转轴到P3（A面料屉库位垂直取放料点）
-        /// </summary>
-        SI_07_MiddleToP3,
-        /// <summary>
-        ///  料仓入库：所有轴运行到库位：
-        ///  1. 移栽升降轴到AB料屉上方过度点
-        ///  2. 行走机构到P3（存储库位取放点位）
-        ///  3. 料斗拉取升降轴到P4(料屉提取低点)
-        /// </summary>
-        SI_08_ToPosition,
-        /// <summary>
-        ///  料仓入库：到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）
-        /// </summary>
-        SI_09_ToTray,
-        /// <summary>
-        ///  料仓入库：提升抽屉，料斗拉取升降轴到P3（料屉提取高点）
-        /// </summary>
-        SI_10_LiftTray,
-        /// <summary>
-        /// 料仓入库：拉抽屉到库位点，料斗拉取进出轴到P3（A/B面料屉库位点）
-        /// </summary>
-        SI_11_PullTray,
-        /// <summary>
-        /// 料仓入库：将抽屉降到库位提取点，料斗拉取升降轴到P2(料屉提取水平点)，到位后检测X16-X30对应信号=1
-        /// </summary>
-        SI_12_DropTrayToPos,
-
-        /// <summary>
-        /// 料仓入库：进入库位中，移栽升降轴到A/B面料屉取放点
-        /// </summary>
-        SI_13_GetReel,
 
-        ///// <summary>
-        ///// 料仓入库：压紧轴开始缓慢释放，A/B面移栽压紧轴到P2（压紧前点）
-        ///// </summary>
-        SI_14_ReleaseCompress,
 
-        /// <summary>
-        ///料仓入库：叉子从库位返回，移栽升降轴到A/B面料屉上方过度点
-        /// </summary>
-        SI_15_UpDownBack,
 
-        /// <summary>
-        ///  料仓入库：料屉返回，提升抽屉，料斗拉取升降轴到P3（料屉提取高点）
-        /// </summary>
-        SI_16_LiftTray,
-        /// <summary>
-        ///  料仓入库：推到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）同时检测X04-X09=1
-        /// </summary>
-        SI_17_PushTray,
-        /// <summary>
-        /// 料仓入库:放下料屉，料斗拉取升降轴到P4(料屉提取低点)
-        /// /// </summary>
-        SI_18_PutTrayDown,
-        /// <summary>
-        /// 料仓入库:料斗拉取进出轴到P1（待机点）
-        /// </summary>
-        SI_19_InoutBack,
-        /// <summary>
-        /// 料仓入库:检查另一边入库情况
-        /// </summary>
-        SI_20_CheckOtherSide,
 
-        #endregion
 
     }
     public enum AlarmType
@@ -681,7 +691,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 轴报警
         /// </summary>
-        AxisAlarm = 1000, 
+        AxisAlarm = 1000,
         /// <summary>
         /// 轴运动错误，没有达到指定脉冲，但是io判断已停止运动
         /// </summary>

source/DeviceLibrary/manager/model/InOutParam.cs

@@ -24,7 +24,7 @@ namespace OnlineStore.DeviceLibrary
 
         public InOutParam(InOutPosInfo inoutInfo, LineMoveP linePosition = null)
         {
-            ACStoreP = null; ;
+            ACStoreP = null;
             MoveP = linePosition;
             this.PosInfo = inoutInfo;
         }
@@ -48,19 +48,23 @@ namespace OnlineStore.DeviceLibrary
         }
 
         public InOutPosInfo PosInfo { get; set; }
-        public LineMoveP MoveP { get; set; } 
-
+        /// <summary>
+        /// 料叉已取料的信息
+        /// </summary>
+        public InOutPosInfo PosInfoBack { get; set; } = null;
+        public LineMoveP MoveP { get; set; }
         /// <summary>
         /// 入料机构从哪个料串取料，或出库放到哪个料串
         /// 0=未知，1=A侧料串，2=B侧料串
         /// </summary>
-        public int ShelfType{ get; set; }=0;
-} 
+        public int ShelfType { get; set; } = 0;
+    }
     /// <summary>
-      /// 出入库料盘信息
-      /// </summary>
+    /// 出入库料盘信息
+    /// </summary>
     public class InOutPosInfo
     {
+        public InOutPosInfo() { }
         public InOutPosInfo(string barcode, string posId, int platew = 0, int plateh = 0, bool urgentReel = false, bool cutReel = false, bool smallReel = false, string rfid = "", int rfidLoc = 0, bool singleOut = false)
         {
             this.barcode = barcode;
@@ -75,7 +79,7 @@ namespace OnlineStore.DeviceLibrary
             this.singleOut = singleOut;
         }
 
-        public static InOutPosInfo NewNgPos(string barcode, string posId, int platew , int plateh,  string ngMsg)
+        public static InOutPosInfo NewNgPos(string barcode, string posId, int platew, int plateh, string ngMsg)
         {
             InOutPosInfo inOut = new InOutPosInfo(barcode, posId, platew, plateh);
             inOut.IsNG = true;
@@ -132,12 +136,343 @@ namespace OnlineStore.DeviceLibrary
         public bool IsNG { get; set; } = false;
 
         public string NgMsg { get; set; } = "";
+        /// <summary>
+        /// 库位在存储机构哪个面
+        /// 0=未知,1=A面，2=B面
+        /// 例：05AA03040102
+        //	05：表示料仓编号，01-08
+        //	AA：存储机构A面或B面，AA或者BB
+        //	03：表示抽屉在第几行
+        //	04：表示抽屉在第几列
+        //	01：表示在抽屉中的第几行
+        //02：表示在抽屉中的第几列
+        /// </summary>
+        public string PosSide
+        {
+            get
+            {
+                if (PosId.Substring(2, 2).Equals("AA")) return "A";
+                else if (PosId.Substring(2, 2).Equals("BB")) return "B";
+                return "";
+            }
+        }
+        /// <summary>
+        /// 检查库位是否存在
+        /// </summary>
+        /// <returns></returns>
+        public bool CheckPosition()
+        {
+            BoxPosition position = CSVPositionReader<BoxPosition>.GetPositon(PosId);
+            if (position == null)
+            {
+                return false;
+            }
+            return true;
+        }
+        /// <summary>
+        /// 获取料盘所在料屉的层序号
+        /// </summary>
+        /// <returns></returns>
+        public int GetTrayRow()
+        {
+            int.TryParse(PosId.Substring(4, 2), out int result);
+            return result;
+        }
+        /// <summary>
+        /// 获取料盘所在料屉的列序号
+        /// </summary>
+        /// <returns></returns>
+        public int GetTrayColumn()
+        {
+            int.TryParse(PosId.Substring(6, 2), out int result);
+            return result;
+        }
+        /// <summary>
+        /// 获取料盘在抽屉里的行
+        /// </summary>
+        /// <returns></returns>
+        public int GetRowInTray()
+        {
+            int.TryParse(PosId.Substring(8, 2), out int result);
+            return result;
+        }
+        /// <summary>
+        /// 获取料盘在抽屉里的列
+        /// </summary>
+        /// <returns></returns>
+        public int GetColumnInTray()
+        {
+            int.TryParse(PosId.Substring(10, 2), out int result);
+            return result;
+        }
+        /// <summary>
+        /// 拷贝一个新的实例
+        /// </summary>
+        /// <returns></returns>
+        public InOutPosInfo ToCopy()
+        {
+            InOutPosInfo posInfo = new InOutPosInfo();
+            System.Reflection.PropertyInfo[] info1 = posInfo.GetType().GetProperties();
+            System.Reflection.PropertyInfo[] info2 = this.GetType().GetProperties();
+            for (int i = 0; i < info1.Length; i++)
+                info1[i].SetValue(posInfo, info2[i].GetValue(this));
+            return posInfo;
+
+        }
     }
     /// <summary>
     /// 出入库位置信息
     /// </summary>
     public class LineMoveP
     {
+        public LineMoveP() { }
+
+        public LineMoveP(BoxEquip_Config equip_Config, string posId = "")
+        {
+            if (!string.IsNullOrEmpty(posId))
+                UpdatePosById(posId);
+            LoadStaticPos(equip_Config);
+        }
+        /// <summary>
+        /// 根据库位编号获取库位位置
+        /// </summary>
+        /// <param name="posId"></param>
+        public void UpdatePosById(string posId)
+        {
+            BoxPosition position = CSVPositionReader<BoxPosition>.GetPositon(posId);
+            if (position == null)
+            {
+                LogUtil.error("GetPositon[" + posId + "] =null,没有库位不能执行出入库");
+            }
+
+            PullAxis_Inout_P2_P4 = position.PullAxis_Inout_P2_P4;
+            PullAxis_Inout_P3_P5 = position.PullAxis_Inout_P3_P5;
+            PullAxis_Updown_P3 = position.PullAxis_Updown_P3;
+            PullAxis_Updown_P4 = position.PullAxis_Updown_P4;
+            Updown_P6_P12 = position.Updown_P6_P12;
+            Updown_P7_P13 = position.Updown_P7_P13;
+            XAxis_AB_P3 = position.XAxis_AB_P3;
+            ComAxis_AB_P2 = position.ComAxis_AB_P2;
+            ComAxis_AB_P3 = position.XAxis_AB_P3;
+            MoveAxis_P3 = position.MoveAxis_P3;
+        }
+        /// <summary>
+        /// 加载固定点位位置
+        /// </summary>
+        public void LoadStaticPos(BoxEquip_Config equip_Config)
+        {
+            MoveAxis_P1 = equip_Config.MoveAxis_P1;
+            MoveAxis_P2 = equip_Config.MoveAxis_P2;
+            PullAxis_Inout_P1 = equip_Config.PullAxis_Inout_P1;
+            Updown_P1 = equip_Config.Updown_P1;
+            Updown_P2 = equip_Config.Updown_P2;
+            Updown_P3 = equip_Config.Updown_P3;
+            Updown_P4 = equip_Config.Updown_P4;
+            Updown_P5 = equip_Config.Updown_P5;
+            Updown_P8 = equip_Config.Updown_P8;
+            Updown_P9 = equip_Config.Updown_P9;
+            Updown_P10 = equip_Config.Updown_P10;
+            Updown_P11 = equip_Config.Updown_P11;
+            PullAxis_Updown_P1 = equip_Config.PullAxis_Updown_P1;
+            PullAxis_Updown_P2 = equip_Config.PullAxis_Updown_P2;
+            XAxis_A_P1 = equip_Config.XAxis_A_P1;
+            XAxis_A_P2 = equip_Config.XAxis_A_P2;
+            MiddleAxis_A_P1 = equip_Config.MiddleAxis_A_P1;
+            MiddleAxis_A_P2 = equip_Config.MiddleAxis_A_P2;
+            MiddleAxis_A_P3 = equip_Config.MiddleAxis_A_P3;
+            ComAxis_A_P1 = equip_Config.ComAxis_A_P1;
+            XAxis_B_P1 = equip_Config.XAxis_B_P1;
+            XAxis_B_P2 = equip_Config.XAxis_B_P2;
+            MiddleAxis_B_P1 = equip_Config.MiddleAxis_B_P1;
+            MiddleAxis_B_P2 = equip_Config.MiddleAxis_B_P2;
+            MiddleAxis_B_P3 = equip_Config.MiddleAxis_B_P3;
+            ComAxis_B_P1 = equip_Config.ComAxis_B_P1;
+        }
+        #region 固定轴移动点位信息
+        /// <summary>
+        ///  PRO,0,行走机构_待机点P1,MoveAxis_P1,100,,,,,,,,,,,,
+        /// </summary>
+        public int MoveAxis_P1 = 0;
+
+        /// <summary>
+        ///  PRO,0,行走机构_进出料机构取放点位P2,MoveAxis_P2,100,,,,,,,,,,,,
+        /// </summary>
+        public int MoveAxis_P2 = 0;
+
+        /// <summary>
+        ///  PRO,0,料斗拉取进出轴_待机点P1,PullAxis_Inout_P1,100,,,,,,,,,,,,
+        /// </summary>
+        public int PullAxis_Inout_P1 = 0;
+
+        /// <summary>
+        ///  PRO,0,移栽升降轴_待机点P1,Updown_P1,100,,,,,,,,,,,,
+        /// </summary>
+        public int Updown_P1 = 0;
+
+        /// <summary>
+        ///  PRO,0,移栽升降轴_A上暂存区取料高点P2,Updown_P2,100,,,,,,,,,,,,
+        /// </summary>
+        public int Updown_P2 = 0;
+
+        /// <summary>
+        /// PRO,0,移栽升降轴_A上暂存区取料低点P3,Updown_P3,100,,,,,,,,,,,,
+        /// </summary>
+        public int Updown_P3 = 0;
+
+        /// <summary>
+        /// PRO,0,移栽升降轴_A下暂存区放料高点P4,Updown_P4,100,,,,,,,,,,,,
+        /// </summary>
+        public int Updown_P4 = 0;
+
+        /// <summary>
+        ///  PRO,0,移栽升降轴_A下暂存区放料低点P5,Updown_P5,100,,,,,,,,,,,,
+        /// </summary>
+        public int Updown_P5 = 0;
+
+        /// <summary>
+        ///  PRO,0,移栽升降轴_B上暂存区取料高点P8,Updown_P8,100,,,,,,,,,,,,
+        /// </summary>
+        public int Updown_P8 = 0;
+
+        /// <summary>
+        ///  PRO,0,移栽升降轴_B上暂存区取料低点P9,Updown_P9,100,,,,,,,,,,,,
+        /// </summary>
+        public int Updown_P9 = 0;
+
+        /// <summary>
+        ///  PRO,0,移栽升降轴_B下暂存区取料高点P10,Updown_P10,100,,,,,,,,,,,,
+        /// </summary>
+        public int Updown_P10 = 0;
+
+        /// <summary>
+        ///  PRO,0,移栽升降轴_B下暂存区取料低点P11,Updown_P11,100,,,,,,,,,,,,
+        /// </summary>
+        public int Updown_P11 = 0;
+
+        /// <summary>
+        ///  PRO,0,料斗拉取升降轴_待机点P1,PullAxis_Updown_P1,100,,,,,,,,,,,,
+        /// </summary>
+        public int PullAxis_Updown_P1 = 0;
+
+        /// <summary>
+        ///  PRO,0,料斗拉取升降轴_料屉提取水平点P2,PullAxis_Updown_P2,100,,,,,,,,,,,,
+        /// </summary>
+        public int PullAxis_Updown_P2 = 0;
+
+        /// <summary>
+        ///  PRO,0,A面移栽X轴_待机点P1,XAxis_A_P1,100,,,,,,,,,,,,
+        /// </summary>
+        public int XAxis_A_P1 = 0;
 
+        /// <summary>
+        ///  PRO,0,A面移栽X轴_A进出料暂存区取放料点P2,XAxis_A_P2,100,,,,,,,,,,,,
+        /// </summary>
+        public int XAxis_A_P2 = 0;
+
+        /// <summary>
+        ///  PRO,0,A面移栽旋转轴_待机点P1,MiddleAxis_A_P1,100,,,,,,,,,,,,
+        /// </summary>
+        public int MiddleAxis_A_P1 = 0;
+
+        /// <summary>
+        ///  PRO,0,A面移栽旋转轴_A进出料暂存区取放料水平点P2,MiddleAxis_A_P2,100,,,,,,,,,,,,
+        /// </summary>
+        public int MiddleAxis_A_P2 = 0;
+
+        /// <summary>
+        /// PRO,0,A面移栽旋转轴_A面料屉库位垂直取放料点P3,MiddleAxis_A_P3,100,,,,,,,,,,,,
+        /// </summary>
+        public int MiddleAxis_A_P3 = 0;
+
+        /// <summary>
+        ///  PRO,0,A面移栽压紧轴_待机点P1,ComAxis_A_P1,100,,,,,,,,,,,,
+        /// </summary>
+        public int ComAxis_A_P1 = 0;
+
+        /// <summary>
+        ///  PRO,0,B面移栽X轴_待机点P1,XAxis_B_P1,100,,,,,,,,,,,,
+        /// </summary>
+        public int XAxis_B_P1 = 0;
+
+        /// <summary>
+        ///  PRO,0,B面移栽X轴_B进出料暂存区取放料点P2,XAxis_B_P2,100,,,,,,,,,,,,
+        /// </summary>
+        public int XAxis_B_P2 = 0;
+
+        /// <summary>
+        ///  PRO,0,B面移栽旋转轴_待机点P1,MiddleAxis_B_P1,100,,,,,,,,,,,,
+        /// </summary>
+        public int MiddleAxis_B_P1 = 0;
+
+        /// <summary>
+        /// PRO,0,B面移栽旋转轴_B进出料暂存区取放料水平点P2,MiddleAxis_B_P2,100,,,,,,,,,,,,
+        /// </summary>
+        public int MiddleAxis_B_P2 = 0;
+
+        /// <summary>
+        ///  PRO,0,B面移栽旋转轴_B面料屉库位垂直取放料点P3,MiddleAxis_B_P3,100,,,,,,,,,,,,
+        /// </summary>
+        public int MiddleAxis_B_P3 = 0;
+
+        /// <summary>
+        ///  PRO,0,B面移栽压紧轴_待机点P1,ComAxis_B_P1,100,,,,,,,,,,,,
+        /// </summary>
+        public int ComAxis_B_P1 = 0;
+
+        #endregion
+
+        #region 灵活轴移动点位信息
+        /// <summary>
+        /// PRO,0,行走机构_存储库位取放点位P3,MoveAxis_P3,100,,,,,,,,,,,,
+        /// </summary>
+        public int MoveAxis_P3 = 0;
+        /// <summary>
+        /// 料斗进出轴料屉提取点
+        /// P2 对应 A面
+        /// P4 对应 B面
+        /// </summary>
+        public int PullAxis_Inout_P2_P4 = 0;
+
+        /// <summary>
+        /// 料斗进出轴料屉库位点
+        /// P3 对应 A面
+        /// P5 对应 B面
+        /// </summary>
+        public int PullAxis_Inout_P3_P5 = 0;
+        /// <summary>
+        /// 料斗升降轴料屉提取高点P3
+        /// </summary>
+        public int PullAxis_Updown_P3 = 0;
+        /// <summary>
+        /// 料斗升降轴料屉提取低点P4
+        /// </summary>
+        public int PullAxis_Updown_P4 = 0;
+
+        /// <summary>
+        /// 移栽升降轴料屉上方过渡点
+        /// P6 对应 A面
+        /// P12 对应 B面
+        /// </summary>
+        public int Updown_P6_P12 = 0;
+        /// <summary>
+        /// 移栽升降轴料屉取放点
+        /// P7 对应 A面
+        /// P13 对应 B面
+        /// </summary>
+        public int Updown_P7_P13 = 0;
+        /// <summary>
+        /// AB移栽X轴料屉库位取放料点P3
+        /// </summary>
+        public int XAxis_AB_P3 = 0;
+
+        /// <summary>
+        /// AB移栽压紧轴压紧前点P2
+        /// </summary>
+        public int ComAxis_AB_P2 = 0;
+        /// <summary>
+        /// AB移栽压紧轴压紧点P3
+        /// </summary>
+        public int ComAxis_AB_P3 = 0;
+        #endregion
     }
-}
+}
\ No newline at end of file

source/DeviceLibrary/storeBean/boxBean/AutoInoutInfo.cs

@@ -30,7 +30,6 @@ namespace OnlineStore.DeviceLibrary
         #endregion
 
 
-
         public void StartAuto(int jiange, int currIndex, string shelfPosId)
         {
             autoNext = true;
@@ -44,18 +43,16 @@ namespace OnlineStore.DeviceLibrary
             autoNext = false;
         }
 
-        internal void InOutEndProcess(AC_BOX_Bean boxBean, StoreMoveType storeMoveType)
+        internal void InOutEndProcess(BoxEquip boxBean, MoveType storeMoveType)
         {
             try
             {
-                CurrInOutCount++;
-                CurrInOutACount++;
                 //是否自动进入出库状态
                 if (!autoNext)
                 {
                     return;
                 }
-                if (storeMoveType.Equals(StoreMoveType.InStore))
+                if (storeMoveType.Equals(MoveType.InStore))
                 {
                     int newIndex = positionIndex - 1;
                     if (newIndex < 0)
@@ -76,27 +73,26 @@ namespace OnlineStore.DeviceLibrary
                     {
                         positionIndex = newIndex;
                         string posid = boxBean.PositionNumList[positionIndex];
-
-                        InOutParam param = new InOutParam("AAAA", posid, shelfPosId);
+                        InOutParam param = new InOutParam(new InOutPosInfo("AAAA", posid));
                         //param.NeedOutShelf = false;
                         //param.NeedEnterShelf = false;
                         //判断是否需要重置
-                        if (CurrInOutACount >= boxBean.Config.Box_ResetACount)
-                        {
-                            boxBean.LogInfo("自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把出库信息存入排队列表中");
-                            boxBean.Reset(false);
-                            autoMsg = "自动出库：" + posid;
-                            boxBean.waitOutStoreList.Enqueue(param);
-                        } 
-                        else
+                        //if (CurrInOutACount >= boxBean.Config.Box_ResetACount)
+                        //{
+                        //    boxBean.LogInfo("自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把出库信息存入排队列表中");
+                        //    boxBean.Reset(false);
+                        //    autoMsg = "自动出库：" + posid;
+                        //    boxBean.waitOutStoreList.Enqueue(param);
+                        //} 
+                        //else
                         {
                             boxBean.LogInfo("自动进入下一个出库：posid=" + posid);
                             autoMsg = "自动出库：" + posid;
-                            boxBean.StartOutStoreMove(param);
+                            boxBean.StartOutstore(param);
                         }
                     }
                 }
-                else if (storeMoveType.Equals(StoreMoveType.OutStore))
+                else if (storeMoveType.Equals(MoveType.OutStore))
                 {
                     int newIndex = positionIndex - Jiange;
                     if (newIndex < 0)
@@ -116,21 +112,21 @@ namespace OnlineStore.DeviceLibrary
                     else
                     {
                         string posid = boxBean.PositionNumList[newIndex];
-                        InOutParam param = new InOutParam("AAAA", posid, shelfPosId);
+                        InOutParam param = new InOutParam(new InOutPosInfo("AAAA", posid));
                        // param.NeedOutShelf = false;
                         //判断是否需要重置
-                        if (CurrInOutACount >= boxBean.Config.Box_ResetACount)
-                        {
-                            boxBean.LogInfo("自动进入下一个入库：posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把入库信息存入排队列表中");
-                            boxBean.Reset(false);
-                            autoMsg = "自动入库：" + posid;
-                            boxBean.waitOutStoreList.Enqueue(param);
-                        } 
-                        else
+                        //if (CurrInOutACount >= boxBean.Config.Box_ResetACount)
+                        //{
+                        //    boxBean.LogInfo("自动进入下一个入库：posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把入库信息存入排队列表中");
+                        //    boxBean.Reset(false);
+                        //    autoMsg = "自动入库：" + posid;
+                        //    boxBean.waitOutStoreList.Enqueue(param);
+                        //} 
+                        //else
                         {
                             boxBean.LogInfo("自动进入下一个入库：posid=" + posid);
                             autoMsg = "自动入库：" + posid;
-                            boxBean.StartInStoreMove(param);
+                            boxBean.StartInstore(param);
                         }
                     }
                 }

source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs

@@ -10,27 +10,79 @@ using System.Threading;
 using System.Threading.Tasks;
 
 namespace OnlineStore.DeviceLibrary
-{ 
+{
     public partial class BoxEquip : EquipBase
-    { 
+    {
+        /// <summary>
+        /// 自动出入库
+        /// </summary>
+        public AutoInoutInfo AutoInout = new AutoInoutInfo();
         /// <summary>
         /// 配置文件
         /// </summary>
         public BoxEquip_Config Config;
         /// <summary>
-        /// 轴
+        /// 行走机构
         /// </summary>
         public AxisBean MoveAxis = null;
+        /// <summary>
+        /// 料屉拉取进出轴
+        /// </summary>
         public AxisBean PullAxis_Inout = null;
+        /// <summary>
+        /// 移栽升降轴
+        /// </summary>
         public AxisBean UpdownAxis = null;
+        /// <summary>
+        /// A面移栽X轴
+        /// </summary>
         public AxisBean XAxis_A = null;
+        /// <summary>
+        /// A面移栽旋转轴
+        /// </summary>
         public AxisBean MiddleAxis_A = null;
+        /// <summary>
+        /// A面移栽压紧轴
+        /// </summary>
         public AxisBean ComAxis_A = null;
+        /// <summary>
+        /// 料屉拉取升降轴
+        /// </summary>
         public AxisBean PullAxis_Updown = null;
+        /// <summary>
+        /// B面移栽X轴
+        /// </summary>
         public AxisBean XAxis_B = null;
+        /// <summary>
+        /// B面移栽旋转轴
+        /// </summary>
         public AxisBean MiddleAxis_B = null;
+        /// <summary>
+        /// B面移栽压紧轴
+        /// </summary>
         public AxisBean ComAxis_B = null;
-        private AxisBean[] moveAxisArray;
+        public AxisBean[] moveAxisArray;
+        //温湿度
+        public HumitureBean humBean = null;
+        public string lastPosId = "";
+        public DeviceStatus deviceStatus = DeviceStatus.ResetMove;
+        public string CID = "";
+        /// <summary>
+        /// 抽屉层信号
+        /// </summary>
+        public string[] trayRows;
+        /// <summary>
+        /// A面列抽屉列信号
+        /// </summary>
+        public string[] trayAColumns;
+        /// <summary>
+        /// B面列抽屉列信号
+        /// </summary>
+        public string[] trayBColumns;
+        /// <summary>
+        /// 等待出库的队列
+        /// </summary>
+        public ConcurrentQueue<InOutParam> waitOutStoreList = new ConcurrentQueue<InOutParam>();
         /// <summary>
         /// A面等待出库的队列
         /// </summary>
@@ -39,38 +91,94 @@ namespace OnlineStore.DeviceLibrary
         /// B面等待出库的队列
         /// </summary>
         public ConcurrentQueue<InOutParam> waitBOutStoreList = new ConcurrentQueue<InOutParam>();
+        //库位表
+        public List<string> PositionNumList;
         public BoxEquip(string cid, BoxEquip_Config config)
         {
             baseConfig = config;
-            this.DeviceID = config.Id;
             this.Config = config;
-            IsDebug = config.IsDebug.Equals(1); 
-            Name = (" " + "存储机构" +   " ").ToUpper();
+            this.DeviceID = config.Id;
+            CID = config.CID;
+            IsDebug = config.IsDebug.Equals(1);
+            Name = (" " + "存储机构" + " ").ToUpper();
             Init();
+            InitConnectServerTimer();
             ledProcessTimer.Elapsed += LedProcess;
             IoCheckTimer.Elapsed += IoCheckTimerProcess;
-            MoveInfo = new DeviceMoveInfo(" 存储机构 "); 
-
-            //MoveZAxis = new AxisBean(StoreManager.Config.Move_Z_Axis, Name);
-            //MoveXAxis = new AxisBean(StoreManager.Config.Move_X_Axis, Name);
-            //LabelXAxis = new AxisBean(StoreManager.Config.Label_X_Axis, Name);
-            //LabelYAxis = new AxisBean(StoreManager.Config.Label_Y_Axis, Name);
-            //LabelZAxis = new AxisBean(StoreManager.Config.Label_Z_Axis, Name);
-            //LabelRAxis = new AxisBean(StoreManager.Config.Label_R_Axis, Name);
-            //BatchAxis = new AxisBean(StoreManager.Config.Out_Batch_Axis,Name);
+            MoveInfo = new DeviceMoveInfo(" 存储机构 ");
+            //温湿度
+            humBean = new HumitureBean(config.Humiture_Port, Name);
+            InitRowColumnSig();
+            InitAllAxis();
+            InitPosititionNumList();
 
-            //moveAxisArray = new AxisBean[] {MoveXAxis,MoveZAxis };
-
-            //labelAxisArray = new AxisBean[] { LabelXAxis,LabelYAxis,LabelZAxis,LabelRAxis};
-
-            //if (LabelWaitMS < 1000)
-            //{
-            //    LabelWaitMS = 3000;
-            //    ConfigAppSettings.SaveValue(Setting_Init.LabelWaitMS, LabelWaitMS);
-            //    LogUtil.info(Name + " 初始化并保存 LabelWaitMS=" + LabelWaitMS);
-            //}
         }
-         
+        void InitRowColumnSig()
+        {
+            trayRows = new string[] { IO_Type.SuddenStop_BTN,
+                IO_Type.Row_Check_1,
+                IO_Type.Row_Check_2,
+                IO_Type.Row_Check_3,
+                IO_Type.Row_Check_4,
+                IO_Type.Row_Check_5,
+                IO_Type.Row_Check_6,
+                IO_Type.Row_Check_7,
+                IO_Type.Row_Check_8,
+                IO_Type.Row_Check_9,
+                IO_Type.Row_Check_10,
+                IO_Type.Row_Check_11,
+                IO_Type.Row_Check_12,
+                IO_Type.Row_Check_13,
+                IO_Type.Row_Check_14,
+                IO_Type.Row_Check_15
+            };
+            trayAColumns = new string[] { IO_Type.SuddenStop_BTN,
+            IO_Type.Column_Check_A1,
+            IO_Type.Column_Check_A2,
+            IO_Type.Column_Check_A3,
+            IO_Type.Column_Check_A4,
+            IO_Type.Column_Check_A5,
+            IO_Type.Column_Check_A6
+            };
+            trayBColumns = new string[] { IO_Type.SuddenStop_BTN,
+            IO_Type.Column_Check_B1,
+            IO_Type.Column_Check_B2,
+            IO_Type.Column_Check_B3,
+            IO_Type.Column_Check_B4,
+            IO_Type.Column_Check_B5,
+            IO_Type.Column_Check_B6
+            };
+        }
+        internal void InitAllAxis()
+        {
+            MoveAxis = new AxisBean(Config.MoveAxis, Name);
+            PullAxis_Inout = new AxisBean(Config.PullAxis_Inout, Name);
+            UpdownAxis = new AxisBean(Config.UpdownAxis, Name);
+            XAxis_A = new AxisBean(Config.XAxis_A, Name);
+            MiddleAxis_A = new AxisBean(Config.MiddleAxis_A, Name);
+            ComAxis_A = new AxisBean(Config.ComAxis_A, Name);
+            PullAxis_Updown = new AxisBean(Config.PullAxis_Updown, Name);
+            XAxis_B = new AxisBean(Config.XAxis_B, Name);
+            MiddleAxis_B = new AxisBean(Config.MiddleAxis_B, Name);
+            ComAxis_B = new AxisBean(Config.ComAxis_B, Name);
+            moveAxisArray = new AxisBean[] {
+                MoveAxis,PullAxis_Inout,UpdownAxis,PullAxis_Updown,
+                XAxis_A,MiddleAxis_A,ComAxis_A,
+                XAxis_B,MiddleAxis_B,ComAxis_B
+            };
+        }
+        internal void InitPosititionNumList()
+        {
+            List<BoxPosition> positionList = CSVPositionReader<BoxPosition>.getPositionList();
+            PositionNumList = new List<string>();
+            foreach (BoxPosition position in positionList)
+            {
+                if (position.StoreId.Equals(DeviceID) && BoxPosition.CheckPosition(position, Config))
+                {
+                    PositionNumList.Add(position.PositionNum);
+                }
+            }
+        }
         public override bool StartRun()
         {
             if (CanStartRun().Equals(false))
@@ -83,17 +191,18 @@ namespace OnlineStore.DeviceLibrary
                 return false;
             }
             SetAllTimer(false);
-            MoveInfo.EndMove(); 
-            runStatus = RunStatus.HomeMoving;           
-            
-            MoveInfo.NewMove(MoveType.RHome);  
+            SetConnectServerTimer(false);
+            MoveInfo.EndMove();
+            SetBoxStatus(DeviceStatus.ResetMove, RunStatus.HomeMoving);
+            MoveInfo.NewMove(MoveType.RHome);
             LogInfo("开始 原点返回：    ");
             StartReset();
-             
-            SetAllTimer(true ); 
-            return true ;
+
+            SetConnectServerTimer(true);
+            SetAllTimer(true);
+            return true;
         }
-         
+
         public override bool Reset()
         {
             StopMove();
@@ -102,14 +211,13 @@ namespace OnlineStore.DeviceLibrary
                 CloseAllAxis();
                 return false;
             }
-            mainTimer.Enabled = false ;
-            runStatus = RunStatus.Reset;
-
-            MoveInfo.NewMove(MoveType.Reset); 
+            mainTimer.Enabled = false;
+            SetBoxStatus(DeviceStatus.ResetMove, RunStatus.Reset);
+            MoveInfo.NewMove(MoveType.Reset);
 
             LogInfo("开始重置：  ");
             StartReset();
-            mainTimer.Enabled = true ;
+            mainTimer.Enabled = true;
             return true;
         }
 
@@ -118,44 +226,27 @@ namespace OnlineStore.DeviceLibrary
 
         private void StartReset()
         {
-            //AgvClient.SetStatus(Config.AgvInName);
-            //AgvClient.SetStatus(Config.AgvOutName);
-
-            ////TimerMaxSeconds = 10;
-            //SetWarnMsg("");
-            //alarmType = AlarmType.None;
-            //isInSuddenDown = false;
-            //isNoAirpressure_Check = false;
-            //TimerMaxSeconds = 0;
+            SetWarnMsg("");
+            alarmType = AlarmType.None;
+            isInSuddenDown = false;
+            isNoAirpressure_Check = false;
+            MoveInfo.NextMoveStep(StepEnum.BOX_H01_Wait);
+            AutoInout.StopAuto();
+            LogInfo($"复位 {MoveInfo.SLog} ：存储机构轴开始复位");
 
-            //MoveReset();
-
-            //SecMoveReset();
-
-            ShelfMoveReset();
-         
             isInPro = false;
         }
 
-        public void ShelfMoveReset()
-        {
-            //ShelfMoveInfo.NextMoveStep(StepEnum.OBR01_StopUp);
-            //ShelfWorkLog("阻挡气缸上升");
-            //IOMove(IO_Type.O_ELine_InStop, IO_VALUE.LOW);
-            //IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.LOW);
-            //IOMove(IO_Type.O_WLine_WorkStop, IO_VALUE.LOW);
-            //ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_ELine_InStop, IO_VALUE.LOW));
-            //ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_OutStop, IO_VALUE.LOW));
-            //ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_WorkStop, IO_VALUE.LOW));
-        }
-        
         protected override void ResetProcess()
         {
             if (MoveInfo.MoveType.Equals(MoveType.Reset) || MoveInfo.MoveType.Equals(MoveType.RHome))
             {
                 MoveResetPro();
             }
-        
+            //else if(MoveInfo.MoveType.Equals(MoveType.RHome))
+            //{
+            //    MoveHomePro();
+            //}
         }
 
         private void MoveResetPro()
@@ -168,146 +259,126 @@ namespace OnlineStore.DeviceLibrary
             {
                 return;
             }
-            
+            switch (MoveInfo.MoveStep)
+            {
+                //回零
+                case StepEnum.BOX_H01_Wait:
+                    if (!PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P1) && !PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P2))
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.BOX_H02_PullAxis_UpDownToP1);
+                        LogInfo($"存储机构复位 {MoveInfo.SLog}：当前料屉拉取升降轴不在在料屉待机点/提取低点，升降轴先到待机点P1:{Config.PullAxis_Updown_P1}");
+                        PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed);
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.BOX_H03_PullAxis_InoutHome);
+                        LogInfo($"存储机构复位 {MoveInfo.SLog}：料屉拉取进出轴回原点");
+                        PullAxis_Inout.HomeMove(MoveInfo);
+                    }
+                    break;
+                case StepEnum.BOX_H02_PullAxis_UpDownToP1:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H03_PullAxis_InoutHome);
+                    LogInfo($"存储机构复位 {MoveInfo.SLog}：料屉拉取进出轴回原点");
+                    PullAxis_Inout.HomeMove(MoveInfo);
+                    break;
+                case StepEnum.BOX_H03_PullAxis_InoutHome:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H04_PullAxis_Updown_ABComAxis_Home);
+                    LogInfo($"存储机构复位 {MoveInfo.SLog}：料屉拉取升降轴、AB面压紧轴回原点");
+                    PullAxis_Inout.HomeMove(MoveInfo);
+                    ComAxis_A.HomeMove(MoveInfo);
+                    ComAxis_B.HomeMove(MoveInfo);
+                    break;
+                case StepEnum.BOX_H04_PullAxis_Updown_ABComAxis_Home:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H05_XAxis_AB_Home);
+                    LogInfo($"存储机构复位 {MoveInfo.SLog}：AB面移栽X轴回原点");
+                    PullAxis_Inout.HomeMove(MoveInfo);
+                    XAxis_A.HomeMove(MoveInfo);
+                    XAxis_B.HomeMove(MoveInfo);
+                    break;
+
+                case StepEnum.BOX_H05_XAxis_AB_Home:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_H06_OtherAxis_Home);
+                    LogInfo($"存储机构复位 {MoveInfo.SLog}：行走机构、移栽升降轴、AB面移栽旋转轴回原点");
+                    MoveAxis.HomeMove(MoveInfo);
+                    UpdownAxis.HomeMove(MoveInfo);
+                    MiddleAxis_A.HomeMove(MoveInfo);
+                    MiddleAxis_B.HomeMove(MoveInfo);
+                    break;
+
+                case StepEnum.BOX_H06_OtherAxis_Home:
+                    LogInfo($"存储机构复位 {MoveInfo.SLog}：所有轴回零完成");
+                    AllAxisStartMoveToP1();
+                    break;
+
+                //回待机位
+                case StepEnum.BOX_R01_PullAxis_UpDownToP1:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_R02_PullAxis_InOut_ABComAxis_ToP1);
+                    LogInfo($"存储机构复位 {MoveInfo.SLog}：料屉拉取进出轴、AB面压紧轴返回待机位P1");
+                    PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_P1, Config.PullAxis_Inout_P1_Speed);
+                    ComAxis_A.AbsMove(MoveInfo, Config.ComAxis_A_P1, Config.ComAxis_A_P1_Speed);
+                    ComAxis_B.AbsMove(MoveInfo, Config.ComAxis_B_P1, Config.ComAxis_B_P1_Speed);
+                    break;
+
+                case StepEnum.BOX_R02_PullAxis_InOut_ABComAxis_ToP1:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_R03_XAxis_AB_ToP1);
+                    LogInfo($"存储机构复位 {MoveInfo.SLog}：AB面移栽X轴返回待机位P1");
+                    XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed);
+                    XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P1, Config.XAxis_B_P1_Speed);
+                    break;
+
+                case StepEnum.BOX_R03_XAxis_AB_ToP1:
+                    MoveInfo.NextMoveStep(StepEnum.BOX_R04_OtherAxisToP1);
+                    LogInfo($"存储机构复位 {MoveInfo.SLog}：行走机构、移栽升降轴、AB面移栽旋转轴返回待机位P1");
+                    MoveAxis.AbsMove(MoveInfo, Config.MoveAxis_P1, Config.MoveAxis_P1_Speed);
+                    UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
+                    break;
+
+                case StepEnum.BOX_R04_OtherAxisToP1:
+                    LogInfo($"存储机构复位 {MoveInfo.SLog}：所有轴到达待机位完成");
+                    SetBoxStatus(DeviceStatus.None, RunStatus.Runing);
+                    MoveInfo.EndMove();
+                    break;
+            }
+        }
+        private void AllAxisStartMoveToP1()
+        {
+            SetBoxStatus(DeviceStatus.ResetMove,RunStatus.Reset);
+            MoveInfo.NextMoveStep(StepEnum.BOX_R01_PullAxis_UpDownToP1);
+            LogInfo($"存储机构复位 {MoveInfo.SLog}：料屉拉取升降轴返回待机位P1");
+            PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed);
         }
-         
- 
-          
+
+
         #endregion
-        private bool  moveInPro=false;
-        private bool secInPro = false;
-        private bool shelfInPro = false;
-        private DateTime moveLastTime = DateTime.Now;
-        private DateTime secLastTime = DateTime.Now;
-        private DateTime shelfLastTime = DateTime.Now;
-        object worklock = new object();
+
+        private DateTime dtUpperA = DateTime.Now;
+        private DateTime dtUpperB = DateTime.Now;
+        int SigLastTime = 5;//5秒
         protected override void OnTimerProcess()
         {
-            if (MoveStop)
+            TimeSpan timeSpanA = DateTime.Now - dtUpperA;
+            //检测A上暂存区是否有料盘
+            if(IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.HIGH))
             {
-                return;
+                if (timeSpanA.TotalSeconds >= SigLastTime)
+                    StartInstore(new InOutParam(BufferDataManager.AInStoreInfo));
             }
-            int seconds = 3;
-            TimeSpan shelfSpan = DateTime.Now - shelfLastTime;
-            if (!shelfInPro || shelfSpan.TotalSeconds > seconds)
+            else
             {
-                shelfInPro = true;
-                shelfLastTime = DateTime.Now;
-                try
-                {
-                    //if (ShelfMoveInfo.MoveType.Equals(MoveType.ShelfPro))
-                    //{
-                    //    ShelfMoveProcess();
-                    //}
-                    //else if (ShelfMoveInfo.MoveType.Equals(MoveType.Reset) || ShelfMoveInfo.MoveType.Equals(MoveType.RHome))
-                    //{
-                    //    BatchResetMovePro();
-                    //}
-                }
-                catch (Exception ex)
-                {
-                    LogUtil.error(Name + " OnTimerProcess 出错：", ex);
-                }
-                finally
-                {
-                    shelfInPro = false;
-                }
+                dtUpperA = DateTime.Now;
             }
-            TimeSpan secSpan = DateTime.Now - secLastTime;
-            if (!secInPro || secSpan.TotalSeconds > seconds)
+            TimeSpan timeSpanB = DateTime.Now - dtUpperB;
+            //检测B上暂存区是否有料盘
+            if (IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.HIGH))
             {
-                secInPro = true;
-                secLastTime = DateTime.Now;
-                try
-                {
-                    //if (SecMoveInfo.MoveType.Equals(MoveType.Labelling))
-                    //{
-                    //    LabellingProcess();
-                    //}
-                    //else if (SecMoveInfo.MoveType.Equals(MoveType.Reset) || SecMoveInfo.MoveType.Equals(MoveType.RHome))
-                    //{
-                    //    SecMoveResetPro();
-                    //}
-                }
-                catch (Exception ex)
-                {
-                    LogUtil.error(Name + "TimerProcess出错：", ex);
-                }
-                finally
-                {
-                    secInPro = false;
-                }
+                if (timeSpanB.TotalSeconds >= SigLastTime)
+                    StartInstore(new InOutParam(BufferDataManager.BInStoreInfo));
             }
-
-            TimeSpan moveSpan = DateTime.Now - moveLastTime ;
-            if (!moveInPro || moveSpan.TotalSeconds > seconds)
+            else
             {
-                moveInPro = true;
-                moveLastTime = DateTime.Now;
-                try
-                {
-                    if (MoveInfo.MoveType.Equals(MoveType.Working))
-                    {
-                        if (Monitor.TryEnter(worklock))
-                        {
-                            try
-                            {
-                                InstoreProcess();
-                            }
-                            catch (Exception ex)
-                            {
-                                LogUtil.error(Name + "WorkingProcess出错：", ex);
-                            }
-                            finally
-                            {
-                                Monitor.Exit(worklock);
-                            }
-                        }
-                    }
-                    else if (MoveInfo.MoveType.Equals(MoveType.Reset) || MoveInfo.MoveType.Equals(MoveType.RHome))
-                    {
-                        MoveResetPro();
-                    }
-                }
-                catch (Exception ex)
-                {
-                    LogUtil.error(Name + "TimerProcess出错：", ex);
-                }
-                finally
-                {
-                    moveInPro = false;
-                }
+                dtUpperB = DateTime.Now;
             }
-
         }
-        //protected override void BusyMoveProcess()
-        //{
-        //    if (MoveStop)
-        //    {
-        //        return;
-        //    }
-
-        //    if (runStatus.Equals(RobotRunStatus.HomeMoving) || runStatus.Equals(RobotRunStatus.Reset))
-        //    {
-        //        ResetProcess();
-        //    }
-        //    else
-        //    {
-        //        if (ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro))
-        //        {
-        //            ShelfMoveProcess();
-        //        }
-        //        if (SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling))
-        //        {
-        //            LabellingProcess();
-        //        }
-
-        //        if (MoveInfo.MoveType.Equals(RobotMoveType.Working))
-        //        {
-        //            WorkingProcess();
-        //        }
-        //    }
-        //}
 
         protected override void BaseTimerProcess()
         {
@@ -315,43 +386,12 @@ namespace OnlineStore.DeviceLibrary
             {
                 return;
             }
-            //BusyMoveProcess();
-
-          
-
-
-            //if (ShelfMoveInfo.MoveType.Equals(MoveType.None))
-            //{
-            //    if (IOValue(IO_Type.O_WLine_WorkOutCheck).Equals(IO_VALUE.LOW) && NoErrorAlarm())
-            //    {
-            //        if (IOValue(IO_Type.O_WLine_WorkCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.O_WLine_InCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.O_ELine_InCheck).Equals(IO_VALUE.HIGH))
-            //        {
-            //            StartShelfMove();
-            //        }
-            //    }
-            //}
-
-            //if (MoveInfo.MoveType.Equals(MoveType.None))
-            //{
-            //    if (NoErrorAlarm() && IOValue(IO_Type.Out_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.X_OLine_Run).Equals(IO_VALUE.LOW))
-            //    {
-            //        //料串准备好才能取料
-            //        if (OutReelCount >= 0)
-            //        //if (OutReelCount >= 0 && SecMoveInfo.MoveType.Equals(RobotMoveType.None))
-            //        {
-            //            StartWorking(new WorkParam());
-            //        }
-            //    }
-            //}
-
-
-
-           
+            BusyMoveProcess();
 
             if (NoErrorAlarm())
             {
                 CheckAxisAlarm();
-            } 
+            }
         }
         protected override void IOTimeOutProcess()
         {
@@ -367,12 +407,12 @@ namespace OnlineStore.DeviceLibrary
                         return;
                     }
                     ////若BOX和出料都没有在等待Io的过程中则此Io超时异常可能已经处理过
-                    //if ( MoveInfo.IsInWait.Equals(false) && SecMoveInfo.IsInWait.Equals(false)&&ShelfMoveInfo.IsInWait.Equals(false) && StoreManager.LastPrintStatus != Asa.PrintLabel.PrinterStatus.Printing)
-                    //{
-                    //    LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
-                    //    alarmType = AlarmType.None;
-                    //    SetWarnMsg("");
-                    //}
+                    if ( MoveInfo.IsInWait.Equals(false) && NoErrorAlarm())
+                    {
+                        LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
+                        alarmType = AlarmType.None;
+                        SetWarnMsg("");
+                    }
                 }
             }
             catch (Exception ex)
@@ -382,9 +422,9 @@ namespace OnlineStore.DeviceLibrary
         }
         internal override void StopMove()
         {
-           
-         
-            MoveInfo.EndMove(); 
+
+
+            MoveInfo.EndMove();
 
             PullAxis_Updown.SuddenStop();
             MoveAxis.SuddenStop();
@@ -396,15 +436,16 @@ namespace OnlineStore.DeviceLibrary
             ComAxis_A.SuddenStop();
 
             CloseAllAxis();
-             
+
 
         }
 
         public override void StopRun()
         {
+            SetConnectServerTimer(false);
             SetAllTimer(false);
             StopMove();
-            runStatus = RunStatus.Wait;
+            SetBoxStatus(DeviceStatus.None,RunStatus.Wait);
         }
 
         public override string GetMoveStr()
@@ -414,9 +455,9 @@ namespace OnlineStore.DeviceLibrary
 
             msg += "runS：  " + runStatus + "\n";
             msg += "alarm：  " + alarmType + "\n";
- 
 
-           
+
+
             return msg;
         }
 
@@ -451,7 +492,7 @@ namespace OnlineStore.DeviceLibrary
                     return;
                 }
             }
-          
+
             if (AxisIsAlarm(PullAxis_Updown))
             {
                 return;
@@ -460,20 +501,33 @@ namespace OnlineStore.DeviceLibrary
 
 
         public bool OpenAllAxis(bool isCheck = true)
-        { 
+        {
+            foreach (AxisBean axis in moveAxisArray)
+            {
+                string outMsg = "";
+                if (!axis.Open(true, out outMsg))
+                {
+                    LogUtil.info(outMsg);
+                    return false;
+                }
+            }
             return false;
         }
 
         public void CloseAllAxis()
         {
-           
+            foreach (AxisBean axis in moveAxisArray)
+            {
+                axis.SuddenStop();
+                axis.ServoOff();
+            }
         }
 
 
         #endregion
 
-         
 
-      
+
+
     }
 }

source/DeviceLibrary/storeBean/boxBean/BoxEquip_RequestServer.cs → source/DeviceLibrary/storeBean/boxBean/BoxEquip_ConnectServerTimer.cs

@@ -9,13 +9,26 @@ using System.Linq;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
+using System.Timers;
 
 namespace OnlineStore.DeviceLibrary
 {
     public partial class BoxEquip
     {
-
-        #region 与服务器通信定时器，每1秒向服务器通知一次状态,同时执行出库操作
+        private System.Timers.Timer serverConnectTimer;
+        public void InitConnectServerTimer()
+        {
+            serverConnectTimer = new System.Timers.Timer();
+            serverConnectTimer.Interval = 1000;
+            serverConnectTimer.AutoReset = true;
+            serverConnectTimer.Enabled = false;
+            serverConnectTimer.Elapsed += server_connect_timer_Tick;
+        }
+        internal void SetConnectServerTimer(bool open)
+        {
+            serverConnectTimer.Enabled = open;
+        }
+        #region 与服务器通信定时器
 
         private string CodeMsg = "";
         private bool isInProcess = false;
@@ -34,13 +47,10 @@ namespace OnlineStore.DeviceLibrary
             lastConTime = DateTime.Now;
             try
             {
-                //HumitureController.QueryData();
                 humBean.HumidityProcess(this);
                 if (StoreManager.IsConnectServer)
                 {
-
                     SendLineStatus();
-
                 }
             }
             catch (Exception ex)
@@ -52,7 +62,6 @@ namespace OnlineStore.DeviceLibrary
                 isInProcess = false;
             }
         }
-
         /// <summary>
         /// 获取整个料仓的状态
         /// </summary> 
@@ -67,10 +76,10 @@ namespace OnlineStore.DeviceLibrary
             lineOperation.status = 1;
             if (WarnMsg != "")
             {
-                lineOperation.status = (int)StoreStatus.Warning;
+                lineOperation.status = (int)DeviceStatus.Warning;
                 lineOperation.msg = WarnMsg;
             }
-            lineOperation.status = (int)StoreStatus.StoreOnline;
+            lineOperation.status = (int)DeviceStatus.StoreOnline;
 
             BoxStatus boxStatus = new BoxStatus();
             boxStatus.boxId = 1;
@@ -86,22 +95,22 @@ namespace OnlineStore.DeviceLibrary
             CodeMsg = "";
             //WarnMsg = ""; 
             //状态
-            boxStatus.status = (int)storeStatus;
+            boxStatus.status = (int)runStatus;
             if (IsDebug)
             {
-                boxStatus.status = (int)StoreStatus.Debugging;
+                boxStatus.status = (int)DeviceStatus.Debugging;
             }
-            else if (storeStatus.Equals(StoreStatus.OutStoreBoxEnd) || storeStatus.Equals(StoreStatus.InStoreEnd))
+            else if (runStatus.Equals(DeviceStatus.OutStoreBoxEnd) || runStatus.Equals(DeviceStatus.InStoreEnd))
             {
                 boxStatus.data.Add(ParamDefine.posId, lastPosId);
             }
             else if (!lastPosId.Equals(""))
             {
                 boxStatus.data.Add(ParamDefine.posId, lastPosId);
-                boxStatus.status = (int)lastPosIdStatus;
+                boxStatus.status = (int)deviceStatus;
                 if (lastPosId != "")
                 {
-                    LogUtil.info("给服务器发送出入库完成消息：" + Name + ",status【" + lastPosIdStatus + "】posId【" + lastPosId + "】");
+                    LogUtil.info("给服务器发送出入库完成消息：" + Name + ",status【" + deviceStatus + "】posId【" + lastPosId + "】");
                 }
                 lastPosId = "";
             }
@@ -116,7 +125,7 @@ namespace OnlineStore.DeviceLibrary
             }
             lineOperation.boxStatus.Add(1, boxStatus);
 
-            if (!alarmType.Equals(StoreAlarmType.None))
+            if (!alarmType.Equals(AlarmType.None))
             {
                 lineOperation.alarmList.Add(alarmInfo);
             }
@@ -135,8 +144,8 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.error(Name + "没有湿度预警范围，需要从服务器获取，发送OP=" + lineOperation.op, DeviceID + 105);
             }
             string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
-            Operation resultOperation = HttpHelper.PostJson(StoreManager.GetPostApi(server), lineOperation, false);
-
+            Operation resultOperation = HttpHelper.PostOperation(SServerManager.GetPostApi(server), lineOperation);
+            //LogUtil.info("resultOperation="+ JsonHelper.SerializeObject(resultOperation));
             //发送状态信息到服务器 
             if (resultOperation == null || (resultOperation.op <= 0))
             {
@@ -166,7 +175,63 @@ namespace OnlineStore.DeviceLibrary
             }
         }
 
+        public bool ReviceInStoreCMD(string posId, int plateH, int plateW, string message)
+        {
+            string logName = "入库库位验证【 " + message + "】【" + posId + "】：";
+            try
+            {
 
+                if (runStatus.Equals(RunStatus.Wait))
+                {
+                    LogUtil.info(logName + " 设备未启动，验证失败");
+                    return false;
+                }
+                //发送扫码内容到服务器进行入库操作
+                Operation operation = getLineBoxStatus();
+                operation.op = 1;
+                operation.data = new Dictionary<string, string>() { { "code", message }, { "boxId", this.DeviceID.ToString() } };
+                operation.data.Add("inPos", posId);
+                string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
+                for (int i = 1; i <= 3; i++)
+                {
+                    bool timeOut = false;
+                    Operation resultOperation = HttpHelper.PostOperation(SServerManager.GetPostApi(server), operation);
+                    if (timeOut)
+                    {
+                        LogUtil.info(logName + " 第" + i + "次发送超时 ");
+                        continue;
+                    }
+                    if (resultOperation == null)
+                    {
+                        // CodeMsg = "二维码【" + message + "】没有收到服务器反馈";
+                        LogUtil.info(logName + " 没有收到服务器反馈 ");
+                    }
+                    else if (!string.IsNullOrEmpty(resultOperation.msg))
+                    {
+                        //如果有提示消息，直接显示提示
+                        LogUtil.info(logName + "服务器反馈 ：" + resultOperation.msg);
+
+                    }
+                    else if (resultOperation.op.Equals(1))
+                    {
+                        LogUtil.info(logName + " 成功");
+                        return true;
+                    }
+                    else
+                    {
+                        LogUtil.info(logName + "服务器反馈 ：" + JsonHelper.SerializeObject(resultOperation));
+                    }
+                    break;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.info(logName + " 出错：" + ex.ToString());
+
+            }
+            return false;
+        }
+        //public string LastVisualRfid = "";
         private void ReviceOutStoreProcess(Operation resultOperation)
         {
             DateTime time = DateTime.Now;
@@ -178,15 +243,23 @@ namespace OnlineStore.DeviceLibrary
                 string[] posIdArray = data[ParamDefine.posId].Split(splitChar);
                 string[] plateWArray = data[ParamDefine.plateW].Split(splitChar);
                 string[] plateHArray = data[ParamDefine.plateH].Split(splitChar);
-
+                //if (string.IsNullOrEmpty(StoreManager.LastVisualRfid))
+                //{
+                //    StoreManager.LastVisualRfid = data[ParamDefine.rfid];
+                //}
+                //else if (StoreManager.LastVisualRfid != data[ParamDefine.rfid])
+                //{
+                //    LogUtil.error(Name + $" 上一个工单还未结束LastVisualRfid={StoreManager.LastVisualRfid}, CurrentVisualRfid={data[ParamDefine.rfid]}");
+                //    return;
+                //}
                 bool urgentReel = FormUtil.GetBoolData(data, ParamDefine.urgentReel);
-                bool cutReel = FormUtil.GetBoolData(data, ParamDefine.cutReel);
-                bool smallReel = FormUtil.GetBoolData(data, ParamDefine.smallReel);
-                string rfid = data.ContainsKey(ParamDefine.rfid) ? data[ParamDefine.rfid] : "";
-                int rfidLoc = FormUtil.GetIntData(data, ParamDefine.rfidLoc);
+                //bool cutReel = FormUtil.GetBoolData(data, ParamDefine.cutReel);
+                //bool smallReel = FormUtil.GetBoolData(data, ParamDefine.smallReel);
+                //string rfid = data.ContainsKey(ParamDefine.rfid) ? data[ParamDefine.rfid] : "";
+                //int rfidLoc = FormUtil.GetIntData(data, ParamDefine.rfidLoc);
                 string barcode = data.ContainsKey(ParamDefine.barcode) ? data[ParamDefine.barcode] : "";
-                string realRfid = data.ContainsKey(ParamDefine.realRfid) ? data[ParamDefine.realRfid] : "";
-                int taskCount = FormUtil.GetIntData(data, ParamDefine.taskCount, 0);
+                //string realRfid = data.ContainsKey(ParamDefine.realRfid) ? data[ParamDefine.realRfid] : "";
+                //int taskCount = FormUtil.GetIntData(data, ParamDefine.taskCount, 0);
 
                 //urgentReel: true 表示紧急料,需要出到料串上
                 //cutReel: true 表示分盘料,需要出到料串上
@@ -201,42 +274,41 @@ namespace OnlineStore.DeviceLibrary
                 foreach (string posId in posIdArray)
                 {
                     index++;
-                    int  plateW = Convert.ToInt32( plateWArray[index]);
-                    int  plateH =Convert.ToInt32( plateHArray[index]);
-                    string shelfPosID = StoreManager.GetShelfIDByLoc(rfidLoc, ShelfPosList);
-                    InOutParam inoutParam = new InOutParam(barcode, posId, shelfPosID, plateW, plateH, urgentReel, cutReel, smallReel, rfid, rfidLoc, taskCount, realRfid);
+                    int plateW = Convert.ToInt32(plateWArray[index]);
+                    int plateH = Convert.ToInt32(plateHArray[index]);
 
+                    InOutParam inoutParam = new InOutParam(new InOutPosInfo(barcode, posId, plateW, plateH, urgentReel));
                     //根据发送的posId获取位置列表
-                    ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
+                    BoxPosition position = CSVPositionReader<BoxPosition>.GetPositon(posId);
                     if (position == null)
                     {
                         //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
-                        WarnMsg = Name + "未找到库位：【" + inoutParam.ToStr() + "】";
+                        WarnMsg = Name + "未找到库位：【" + inoutParam.PosInfo.ToStr() + "】";
                         LogUtil.error(WarnMsg);
                         continue;
                     }
                     try
                     {
                         //判断是否接收过此库位的出库信息
-                        if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveParam.PosID.Equals(posId))
+                        if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.MoveParam.PosInfo.PosId.Equals(posId))
                         {
-                            LogUtil.error(Name + " 出库命令【" + inoutParam.ToStr() + "】重复，正在【" + posId + "】出库中");
+                            LogUtil.error(Name + " 出库命令【" + inoutParam.PosInfo.ToStr() + "】重复，正在【" + posId + "】出库中");
                             continue;
                         }
 
                         //判断排队列表中是否已存在
                         List<InOutParam> reviceList = new List<InOutParam>(waitOutStoreList);
-                        reviceList = (from m in reviceList where m.PosID.Equals(posId) select m).ToList<InOutParam>();
+                        reviceList = (from m in reviceList where m.PosInfo.PosId.Equals(posId) select m).ToList<InOutParam>();
                         if (reviceList.Count > 0)
                         {
-                            LogUtil.error(Name + " 出库命令【" + inoutParam.ToStr() + "】重复，排队列表中已存在【" + reviceList[0].ToStr() + "】");
+                            LogUtil.error(Name + " 出库命令【" + inoutParam.PosInfo.ToStr() + "】重复，排队列表中已存在【" + reviceList[0].PosInfo.ToStr() + "】");
                             continue;
                         }
 
                     }
                     catch (Exception ex)
                     {
-                        LogUtil.error(Name + "验证出库【" + inoutParam.ToStr() + "】是否重复出错：" + ex.ToString());
+                        LogUtil.error(Name + "验证出库【" + inoutParam.PosInfo.ToStr() + "】是否重复出错：" + ex.ToString());
                     }
                     StartExecuctOut(inoutParam);
                 }

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

+using CodeLibrary;
+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms.VisualStyles;
+
+namespace OnlineStore.DeviceLibrary
+{
+    partial class BoxEquip
+    {
+        #region 入库
+        /// <summary>
+        /// 检查另一个料叉上是否有料，有料则开始入库
+        /// </summary>
+        /// <returns></returns>
+        private bool CheckInStoreOtherSideInfo()
+        {
+            if(MoveInfo.MoveParam.PosInfoBack !=null)
+            {
+                return true;
+            }
+            return false;
+        }
+        /// <summary>
+        /// 料屉行
+        /// </summary>
+        /// <returns></returns>
+        private int GetPosRow()
+        {
+            return MoveInfo.MoveParam.PosInfo.GetTrayRow();
+        }
+        /// <summary>
+        /// 料屉列
+        /// </summary>
+        /// <returns></returns>
+        private int GetPosColumn()
+        {
+            return MoveInfo.MoveParam.PosInfo.GetTrayColumn();
+        }
+        /// <summary>
+        /// 入库前料盘信息检查
+        /// </summary>
+        /// <param name="param"></param>
+        /// <returns></returns>
+        private bool PreInStoreCheck(InOutParam param)
+        {
+            if (!AutoInout.autoNext && InDoorCheck(param))
+            {
+                SetWarnMsg(Name + $" 启动入库出错，入口料盘无入库信息[barcode={param.PosInfo.barcode},PosSide={param.PosInfo.PosSide}], 任务取消");
+                SServerManager.cancelPutInTask(Name, param.PosInfo.barcode);
+                return false;
+            }
+
+            if (!param.PosInfo.CheckPosition())
+            {
+                LogUtil.error(Name + " 启动入库【" + param.PosInfo.ToStr() + "】出错，找不到库位信息");
+                return false;
+            }
+            if (AutoInout.autoNext)
+            {
+                LogInfo(" 循环测试入库, 不做入库验证. ");
+                return true;
+            }
+            else
+            {
+                if (!ReviceInStoreCMD(param.PosInfo.PosId, param.PosInfo.PlateH, param.PosInfo.PlateW, param.PosInfo.barcode))
+                {
+                    LogUtil.error($" 入库验证失败:{param.PosInfo.ToStr()}");
+                    return false;
+                }
+            }
+            return true;
+        }
+
+        /// <summary>
+        /// 清除入料暂存区的料盘信息
+        /// </summary>
+        private void ClearInDoorBuffer()
+        {
+            if(MoveInfo.MoveParam.PosInfo.PosId.Equals(BufferDataManager.AInStoreInfo.PosId))
+            {
+                BufferDataManager.AInStoreInfo = null;
+                LogInfo($"存储机构-入库 {MoveInfo.SLog}：取料完成，清除该暂存区的料盘信息[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+
+            }
+            else if(MoveInfo.MoveParam.PosInfo.PosId.Equals(BufferDataManager.BInStoreInfo.PosId))
+            {
+                BufferDataManager.BInStoreInfo = null;
+                LogInfo($"存储机构-入库 {MoveInfo.SLog}：取料完成，清除该暂存区的料盘信息[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+
+            }
+        }
+        /// <summary>
+        /// 检查另一边暂存区是否存在入库的料
+        /// </summary>
+        /// <returns></returns>
+        private bool CheckOtherSideIsThereReel(out InOutPosInfo inOutPosInfo)
+        {
+            inOutPosInfo = null;
+            if (CheckASide())
+            {                
+                if (InDoorCheck(new InOutParam(BufferDataManager.AInStoreInfo)))
+                {
+                    inOutPosInfo= BufferDataManager.AInStoreInfo.ToCopy();
+                    return true;
+                }
+
+            }
+            else
+            {
+                if (InDoorCheck(new InOutParam(BufferDataManager.BInStoreInfo)))
+                {
+                    inOutPosInfo = BufferDataManager.BInStoreInfo.ToCopy();
+                    return true;
+                }
+
+            }
+            return false;
+        }
+        private void InstoreExecute()
+        {
+            switch (MoveInfo.MoveStep)
+            {
+                case StepEnum.SI_00_StartInstore:
+                    PullAxisToP1("入库");
+                    break;
+                case StepEnum.SI_01_PullAxis_Ready:
+                    SetBoxStatus(DeviceStatus.InStoreExecute, RunStatus.Busy);
+                    MoveInfo.NextMoveStep(StepEnum.SI_02_ToBufferArea);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：到暂存区入料口，" +
+                        $"行走机构到进出料机构取放点P2，移栽升降轴到上暂存区取料低点P3/P9，移栽压紧轴到压紧前点P2，移栽旋转轴到进出料暂存区取放料水平点P2[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    MoveAxis.AbsMove(MoveInfo, Config.MoveAxis_P2, Config.MoveAxis_P2_Speed);
+                    if (CheckASide())
+                    {
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3, Config.Updown_P3_Speed);
+                        ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
+                        MiddleAxis_A.AbsMove(MoveInfo, Config.MiddleAxis_A_P2, Config.MiddleAxis_A_P2_Speed);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AHorizontal_Check, IO_VALUE.HIGH));
+                    }
+                    else
+                    {
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9, Config.Updown_P9_Speed);
+                        ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed);
+                        MiddleAxis_B.AbsMove(MoveInfo, Config.MiddleAxis_B_P2, Config.MiddleAxis_B_P2_Speed);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BHorizontal_Check, IO_VALUE.HIGH));
+                    }
+                    break;
+                case StepEnum.SI_02_ToBufferArea:
+                    if (!InDoorCheck(MoveInfo.MoveParam))
+                    {
+                        SetWarnMsg($" 存储机构-入库 {MoveInfo.SLog}：入口料盘无入库信息[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.PosSide}], 任务取消");
+                        if (MoveInfo.MoveParam.PosInfoBack == null)
+                        {
+                            LogInfo($"存储机构-入库 {MoveInfo.SLog}：入口料盘因无入库信息且AB面料叉无料，结束入库");
+                            SetBoxStatus(DeviceStatus.None, RunStatus.Runing);
+                            MoveInfo.EndMove();
+                        }
+                        else if (MoveInfo.MoveParam.PosInfoBack != null)//料叉有料，忽略当前入料口，直接入库
+                        {
+                            MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
+                            LogInfo($"存储机构-入库 {MoveInfo.SLog}：入口料盘无入库信息，另一面料叉有料。先将当前移栽旋转轴到料屉库位垂直取放料点P3，然后对另一面入库[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                            MiddleAxis_To_P3();
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                            MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
+                            MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
+                            MoveInfo.MoveParam.PosInfoBack = null;
+                        }
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.SI_03_VerifyBufferState);
+                        LogInfo($"存储机构-入库 {MoveInfo.SLog}：入料口入库信息确认[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.PosSide}面]，开始取料");
+                    }
+
+                    break;
+                case StepEnum.SI_03_VerifyBufferState:
+                    MoveInfo.NextMoveStep(StepEnum.SI_04_InOutToBuff);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：移栽X轴到进出料暂存区取放点P2[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    XAxis_To_P2();
+                    break;
+                case StepEnum.SI_04_InOutToBuff:
+                    MoveInfo.NextMoveStep(StepEnum.SI_05_GetReel);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：取料盘，移栽升降轴到上暂存区取料高点P2/P8，移栽压紧轴到压紧点P3");
+                    if (CheckASide())
+                    {
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2, Config.Updown_P2_Speed);
+                        ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_A_P3_Speed);
+                    }
+                    else
+                    {
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8, Config.Updown_P8_Speed);
+                        ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_B_P3_Speed);
+                    }
+                    break;
+                case StepEnum.SI_05_GetReel:
+                    MoveInfo.NextMoveStep(StepEnum.SI_06_InOutBackFromBuff);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：移栽X轴到料屉库位取放料点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    //清空暂存区料盘信息
+                    ClearInDoorBuffer();
+                    XAxis_To_P3();
+                    break;
+                case StepEnum.SI_06_InOutBackFromBuff:
+
+                    //存储当前料叉信息
+                    if (MoveInfo.MoveParam.PosInfoBack == null)
+                    {
+                        if(CheckOtherSideIsThereReel(out InOutPosInfo inOutPosInfo))
+                        {
+                            MoveInfo.NextMoveStep(StepEnum.SI_01_PullAxis_Ready);
+                            LogInfo($"存储机构-入库 {MoveInfo.SLog}：移栽旋转轴到料屉库位垂直取放料点P3,取另一面暂存区的料[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                            MiddleAxis_To_P3();
+                            MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
+                            MoveInfo.MoveParam.PosInfo = inOutPosInfo;
+                            MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutPosInfo.PosId);
+
+                        }
+                        else
+                        {
+                            MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
+                            LogInfo($"存储机构-入库 {MoveInfo.SLog}：移栽旋转轴到料屉库位垂直取放料点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                            MiddleAxis_To_P3();
+                        }
+                    }
+                    else //另一个料叉已有料，进行入库
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
+                        LogInfo($"存储机构-入库 {MoveInfo.SLog}：移栽旋转轴到料屉库位垂直取放料点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                        MiddleAxis_To_P3();
+                    }
+                    break;
+
+                //去库位点
+                case StepEnum.SI_07_MiddleToP3:
+                    MoveInfo.NextMoveStep(StepEnum.SI_08_ToPosition);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：运行到库位,移栽升降轴到料屉上方过渡点P6/P12,行走机构到存储库位取放点位P3," +
+                        $"料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P3, Config.MoveAxis_P3_Speed);
+                    PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P4, Config.PullAxis_Updown_P4_Speed);
+                    UpdownAxisTo_P6_P12();
+                    break;
+                case StepEnum.SI_08_ToPosition:
+                    MoveInfo.NextMoveStep(StepEnum.SI_09_ToTray);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    ToTray();
+                    break;
+                case StepEnum.SI_09_ToTray:
+                    MoveInfo.NextMoveStep(StepEnum.SI_10_LiftTray);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    PullAxis_UpdownToP3();
+                    break;
+                case StepEnum.SI_10_LiftTray:
+                    MoveInfo.NextMoveStep(StepEnum.SI_11_PullTray);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    PullAxis_Inout_To_P3_P5();
+                    break;
+                case StepEnum.SI_11_PullTray:
+                    MoveInfo.NextMoveStep(StepEnum.SI_12_DropTrayToPos);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P2, Config.PullAxis_Updown_P2_Speed);
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
+                    break;
+                case StepEnum.SI_12_DropTrayToPos:
+                    MoveInfo.NextMoveStep(StepEnum.SI_13_GetReel);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    UpdownAxisToP7_P13();
+                    break;
+                case StepEnum.SI_13_GetReel:
+                    MoveInfo.NextMoveStep(StepEnum.SI_14_ReleaseCompress);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：压紧轴开始缓慢释放，移栽压紧轴到压紧前点P2[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    ComAxis_To_P2();
+                    break;
+                case StepEnum.SI_14_ReleaseCompress:
+                    MoveInfo.NextMoveStep(StepEnum.SI_15_UpDownBack);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：叉子从库位返回，[{MoveInfo.MoveParam.PosInfo.ToStr()}]入库完成，移栽升降轴到料屉上方过度点P6/P12[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    //入库完成
+                    SetBoxStatus(DeviceStatus.InStoreEnd, RunStatus.Busy);
+                    UpdownAxisTo_P6_P12();
+                    break;
+                case StepEnum.SI_15_UpDownBack:
+                    MoveInfo.NextMoveStep(StepEnum.SI_16_LiftTray);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P3, Config.PullAxis_Updown_P3_Speed);
+                    break;
+                case StepEnum.SI_16_LiftTray:
+                    MoveInfo.NextMoveStep(StepEnum.SI_17_PushTray);
+                    if (CheckASide())
+                    {
+                        LogInfo($"存储机构-入库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                        PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P2_Speed);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
+                    }
+                    else
+                    {
+                        LogInfo($"存储机构-入库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                        PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P4_Speed);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
+                    }
+                    break;
+                case StepEnum.SI_17_PushTray:
+                    MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayDown);
+                    LogInfo($"存储机构-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.PosSide}面]");
+                    PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P4, Config.PullAxis_Updown_P4_Speed);
+                    break;
+                case StepEnum.SI_18_PutTrayDown:
+                    MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：料斗拉取进出轴到待机点P1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_P1, Config.PullAxis_Inout_P1_Speed);
+                    break;
+                case StepEnum.SI_19_InoutBack:
+
+                    if (!CheckInStoreOtherSideInfo())
+                    {
+                        SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
+                        MoveInfo.EndMove();
+                        AutoInout.InOutEndProcess(this, MoveType.InStore);
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
+                        LogInfo($"存储机构-入库 {MoveInfo.SLog}：从{MoveInfo.MoveParam.PosInfo.PosSide}面切换到另一面入库[{MoveInfo.MoveParam.PosInfoBack.barcode}]");
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                        MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
+                        MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
+                        MoveInfo.MoveParam.PosInfoBack = null;
+
+                    }
+                    break;
+            }
+        }
+        #endregion
+
+    }
+}

source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs

+using CodeLibrary;
+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms.VisualStyles;
+
+namespace OnlineStore.DeviceLibrary
+{
+    partial class BoxEquip
+    {
+
+        /// <summary>
+        /// 料盘放到出料口成功，并将料盘信息写入该口
+        /// </summary>
+        private void SetReelInfoToBuff()
+        {
+            if (CheckASide())
+            {
+                BufferDataManager.AOutStoreInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
+            }
+            else
+            {
+                BufferDataManager.BOutStoreInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
+            }
+        }
+        #region 出库
+        private void OutstoreExecute()
+        {
+            switch (MoveInfo.MoveStep)
+            {
+                case StepEnum.SO_00_StartOutstore:
+                    PullAxisToP1();
+                    break;
+                case StepEnum.SO_01_PullAxis_Ready:
+                    SetBoxStatus(DeviceStatus.OutStoreExecute, RunStatus.Busy);
+                    MoveInfo.NextMoveStep(StepEnum.SO_02_ToPosition);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：运行到库位,移栽升降轴到料屉上方过渡点P6/P12,行走机构到存储库位取放点位P3," +
+                        $"料斗拉取升降轴到料屉提取低点P4，移栽压紧轴到压紧前点P2[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    MoveAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.MoveAxis_P3, Config.MoveAxis_P3_Speed);
+                    PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P4, Config.PullAxis_Updown_P4_Speed);
+                    if (CheckASide())
+                    {
+                        UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P6_P12, Config.Updown_P6_Speed);
+                        ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
+                    }
+                    else
+                    {
+                        UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P6_P12, Config.Updown_P12_Speed);
+                        ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed);
+                    }
+                    break;
+                case StepEnum.SO_02_ToPosition:
+                    MoveInfo.NextMoveStep(StepEnum.SO_03_ToTray);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    ToTray();
+                    break;
+                case StepEnum.SO_03_ToTray:
+                    MoveInfo.NextMoveStep(StepEnum.SO_04_LiftTray);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P3, Config.PullAxis_Updown_P3_Speed);
+                    break;
+                case StepEnum.SO_04_LiftTray:
+                    MoveInfo.NextMoveStep(StepEnum.SO_05_PullTray);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    if (CheckASide())
+                    {
+                        PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P3_P5, Config.PullAxis_Inout_P3_Speed);
+                    }
+                    else
+                    {
+                        PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P3_P5, Config.PullAxis_Inout_P5_Speed);
+                    }
+                    break;
+                case StepEnum.SO_05_PullTray:
+                    MoveInfo.NextMoveStep(StepEnum.SO_06_DropTrayToPos);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P2, Config.PullAxis_Updown_P2_Speed);
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
+                    break;
+                case StepEnum.SO_06_DropTrayToPos:
+                    MoveInfo.NextMoveStep(StepEnum.SI_13_GetReel);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：进入库位中，移栽升降轴到料屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    UpdownAxisToP7_P13();
+                    break;
+                case StepEnum.SO_07_GetReel:
+                    MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress);
+                    LogInfo($"存储机构-入库 {MoveInfo.SLog}：压紧轴开始缓慢夹取，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    ComAxis_To_P3();
+                    break;
+                case StepEnum.SO_08_StartCompress:
+                    MoveInfo.NextMoveStep(StepEnum.SO_09_UpDownBack);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：叉子从库位返回，移栽升降轴到料屉上方过度点P6/P12[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    UpdownAxisTo_P6_P12();
+                    break;
+                case StepEnum.SO_09_UpDownBack:
+                    MoveInfo.NextMoveStep(StepEnum.SO_10_LiftTray);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：提升抽屉，料斗拉取升降轴到料屉提取高点P3[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P3, Config.PullAxis_Updown_P3_Speed);
+                    break;
+                case StepEnum.SO_10_LiftTray:
+                    MoveInfo.NextMoveStep(StepEnum.SO_11_PushTray);
+                    if (CheckASide())
+                    {
+                        LogInfo($"存储机构-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,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                        PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P2_Speed);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
+                    }
+                    else
+                    {
+                        LogInfo($"存储机构-出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                        PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P4_Speed);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
+                    }
+                    break;
+                case StepEnum.SO_11_PushTray:
+                    MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayDown);
+                    LogInfo($"存储机构-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.PosSide}面]");
+                    PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P4, Config.PullAxis_Updown_P4_Speed);
+                    break;
+                case StepEnum.SO_12_PutTrayDown:
+                    MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：料斗拉取进出轴到待机点P1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_P1, Config.PullAxis_Inout_P1_Speed);
+                    break;
+                case StepEnum.SO_13_InoutBack:
+                    //检查另一面是否有出库任务
+                    if (MoveInfo.MoveParam.PosInfoBack == null)
+                    {
+                        if (CheckASide(MoveInfo.MoveParam))
+                        {
+                            if (waitBOutStoreList.Count > 0 && CheckBOutDoor())
+                            {
+                                if (waitBOutStoreList.TryDequeue(out InOutParam inOutParam))//B面料叉空且B面出料口无料，有出库任务
+                                {
+                                    MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
+                                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：A面切换到B面，B面取料[{inOutParam.PosInfo.barcode}]");
+                                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                                    MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
+                                    MoveInfo.MoveParam.PosInfo = inOutParam.PosInfo.ToCopy();
+                                    MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutParam.PosInfo.PosId);
+                                    return;
+                                }
+                            }
+                        }
+                        else
+                        {
+                            if (waitAOutStoreList.Count > 0 && CheckAOutDoor())
+                            {
+                                if (waitAOutStoreList.TryDequeue(out InOutParam inOutParam))
+                                {
+                                    MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
+                                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：B面切换到A面，A面取料[{inOutParam.PosInfo.barcode}]");
+                                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                                    MoveInfo.MoveParam.PosInfoBack = MoveInfo.MoveParam.PosInfo.ToCopy();
+                                    MoveInfo.MoveParam.PosInfo = inOutParam.PosInfo.ToCopy();
+                                    MoveInfo.MoveParam.MoveP = new LineMoveP(Config, inOutParam.PosInfo.PosId);
+                                    return;
+                                }
+                            }
+                        }
+                    }
+                    //直接出库，执行该步骤的情况：1.另一个料叉有料；2.另一面有出库任务但出料口有料；3.另一面没有出库任务;
+                    MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
+                    if (MoveInfo.MoveParam.PosInfoBack == null)
+                        LogInfo($"存储机构-出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]取料完成，准备送往出料口");
+                    else
+                        LogInfo($"存储机构-出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfoBack.ToStr()}]取料完成，准备送往出料口");
+                    break;
+                case StepEnum.SO_14_GetReels_Ready:
+                    //已出一边的料，切换到另一边
+                    MoveInfo.NextMoveStep(StepEnum.SO_15_ToBufferArea);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：到暂存区出料口，" +
+                        $"行走机构到进出料机构取放点P2，移栽升降轴到下暂存区放料高点P4/P10，移栽旋转轴到进出料暂存区取放料水平点P2[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    MoveAxis.AbsMove(MoveInfo, Config.MoveAxis_P2, Config.MoveAxis_P2_Speed);
+                    if (CheckASide())
+                    {
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4, Config.Updown_P4_Speed);
+                        MiddleAxis_A.AbsMove(MoveInfo, Config.MiddleAxis_A_P2, Config.MiddleAxis_A_P2_Speed);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AHorizontal_Check, IO_VALUE.HIGH));
+                    }
+                    else
+                    {
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10, Config.Updown_P10_Speed);
+                        MiddleAxis_B.AbsMove(MoveInfo, Config.MiddleAxis_B_P2, Config.MiddleAxis_B_P2_Speed);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BHorizontal_Check, IO_VALUE.HIGH));
+                    }
+                    break;
+                case StepEnum.SO_15_ToBufferArea:
+                    if (!OutDoorCheck(MoveInfo.MoveParam))
+                    {
+                        SetWarnMsg($" 存储机构-出库 {MoveInfo.SLog}：出料口有其他料盘，无法放置该料盘[barcode={MoveInfo.MoveParam.PosInfo.barcode},PosSide={MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.SO_16_VerifyBufferState);
+                        LogInfo($"存储机构-出库 {MoveInfo.SLog}：出料口无料盘确认，开始放料[barcode={MoveInfo.MoveParam.PosInfo.barcode}][{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    }
+                    break;
+                case StepEnum.SO_16_VerifyBufferState:
+                    MoveInfo.NextMoveStep(StepEnum.SI_04_InOutToBuff);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：移栽X轴到进出料暂存区取放点P2[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    XAxis_To_P2();
+                    break;
+                case StepEnum.SO_17_InOutToBuff:
+                    MoveInfo.NextMoveStep(StepEnum.SO_18_PutReel);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：放料盘，移栽升降轴到下暂存区放料低点P5/P11，移栽压紧轴到压紧前点P2");
+                    if (CheckASide())
+                    {
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5, Config.Updown_P5_Speed);
+                        ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
+                    }
+                    else
+                    {
+                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P11, Config.Updown_P11_Speed);
+                        ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed);
+                    }
+                    break;
+                case StepEnum.SO_18_PutReel:
+                    MoveInfo.NextMoveStep(StepEnum.SO_19_InOutBackFromBuff);
+                    LogInfo($"存储机构-出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}]出库完成,移栽X轴到待机点P1[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    //出库料盘放置成功，将料盘信息写入对应出料口
+                    SetReelInfoToBuff();
+                    XAxis_To_P1();
+                    SetBoxStatus(DeviceStatus.OutStoreBoxEnd, RunStatus.Busy);
+                    break;
+                case StepEnum.SO_19_InOutBackFromBuff:
+                    if (MoveInfo.MoveParam.PosInfoBack == null)
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.SO_20_Finish);
+                        LogInfo($"存储机构-出库 {MoveInfo.SLog}：另一面料叉无料，出库结束[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
+                        LogInfo($"存储机构-出库 {MoveInfo.SLog}：另一面料叉有料，开始出库[{MoveInfo.MoveParam.PosInfo.PosSide}面]");
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                        MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
+                        MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfoBack.PosId);
+                        MoveInfo.MoveParam.PosInfoBack = null;
+                    }
+                    break;
+                case StepEnum.SO_20_Finish:
+                    SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
+                    MoveInfo.EndMove();
+                    AutoInout.InOutEndProcess(this, MoveType.OutStore);
+                    break;
+            }
+        }
+        #endregion
+
+    }
+}

source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs

-using CodeLibrary; 
+using CodeLibrary;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
@@ -16,19 +16,246 @@ namespace OnlineStore.DeviceLibrary
     partial class BoxEquip
     {
         protected override bool CheckWaitResult(DeviceMoveInfo moveInfo, WaitResultInfo wait)
-        { 
+        {
+            return false;
+        }
+        /// <summary>
+        /// 检查当前面是否A面
+        /// </summary>
+        /// <returns></returns>
+        private bool CheckASide()
+        {
+            if (MoveInfo.MoveParam.PosInfo.PosSide.Equals("A"))
+                return true;
             return false;
         }
+        /// <summary>
+        /// 检查当前面是否A面
+        /// </summary>
+        /// <param name="param"></param>
+        /// <returns></returns>
+        private bool CheckASide(InOutParam param)
+        {
+            if (param.PosInfo.PosSide.Equals("A"))
+                return true;
+            return false;
+        }
+        #region 料屉抽取
+        /// <summary>
+        /// 料斗拉取进出轴到料屉库位点P3/P5
+        /// </summary>
+        private void PullAxis_Inout_To_P3_P5()
+        {
+            if (CheckASide())
+            {
+                PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P3_P5, Config.PullAxis_Inout_P3_Speed);
+            }
+            else
+            {
+                PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P3_P5, Config.PullAxis_Inout_P5_Speed);
+            }
+        }
+        private void UpdownAxisToP7_P13()
+        {
+            if (CheckASide())
+            {
+                UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P7_P13, Config.Updown_P7_Speed);
+            }
+            else
+            {
+                UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P7_P13, Config.Updown_P13_Speed);
+            }
+        }
+        /// <summary>
+        /// 到抽屉提取点，料斗拉取进出轴到P2（A/B面料屉提取点）
+        /// </summary>
+        private void ToTray()
+        {
+            if (CheckASide())
+            {
+                PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P2_Speed);
+            }
+            else
+            {
+                PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P2_P4, Config.PullAxis_Inout_P4_Speed);
+            }
+        }
+        /// <summary>
+        /// AB移栽压紧轴到压紧前点P2
+        /// </summary>
+        private void ComAxis_To_P2()
+        {
+            if (CheckASide())
+            {
+                ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
+            }
+            else
+            {
+                ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed);
+            }
+        }
+        /// <summary>
+        /// AB移栽压紧轴到压紧点P3
+        /// </summary>
+        private void ComAxis_To_P3()
+        {
+            if (CheckASide())
+            {
+                ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_A_P3_Speed);
+            }
+            else
+            {
+                ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_B_P3_Speed);
+            }
+        }
+        /// <summary>
+        /// 提升抽屉，料斗拉取升降轴到料屉提取高点P3
+        /// </summary>
+        private void PullAxis_UpdownToP3()
+        {
+            PullAxis_Updown.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Updown_P3, Config.PullAxis_Updown_P3_Speed);
+        }
+        /// <summary>
+        /// 移栽升降轴到料屉上方过渡点P6/P12
+        /// </summary>
+        private void UpdownAxisTo_P6_P12()
+        {
+            if (CheckASide())
+            {
+                UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P6_P12, Config.Updown_P6_Speed);
+            }
+            else
+            {
+                UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.Updown_P6_P12, Config.Updown_P12_Speed);
+            }
+        }
+        /// <summary>
+        /// AB面移栽旋转轴到料屉库位垂直取放料点P3
+        /// </summary>
+        private void MiddleAxis_To_P3()
+        {
+            if (CheckASide())
+            {
+                MiddleAxis_A.AbsMove(MoveInfo, Config.MiddleAxis_A_P3, Config.MiddleAxis_A_P3_Speed);
+            }
+            else
+            {
+                MiddleAxis_B.AbsMove(MoveInfo, Config.MiddleAxis_B_P3, Config.MiddleAxis_B_P3_Speed);
+            }
+        }
+        /// <summary>
+        /// AB面移栽X轴到进出料暂存区取放点P2
+        /// </summary>
+        private void XAxis_To_P2()
+        {
+            if (CheckASide())
+            {
+                XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_A_P2_Speed);
+            }
+            else
+            {
+                XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P2, Config.XAxis_B_P2_Speed);
+            }
+        }
+        /// <summary>
+        /// AB面移栽X轴到料屉库位取放料点P3
+        /// </summary>
+        private void XAxis_To_P3()
+        {
+            if (CheckASide())
+            {
+                XAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_A_P3_Speed);
+            }
+            else
+            {
+                XAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_B_P3_Speed);
+            }
+        }
+        /// <summary>
+        /// AB面移栽X轴到待机点
+        /// </summary>
+        private void XAxis_To_P1()
+        {
+            if (CheckASide())
+            {
+                XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed);
+            }
+            else
+            {
+                XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P1, Config.XAxis_B_P3_Speed);
+            }
+        }
+        #endregion
+        /// <summary>
+        /// 设置料仓状态
+        ///1=设备联机（正常就绪）（入库后，BOX恢复原始状态）（出库后，移载装置恢复原始状态），
+        ///2=急停，3=故障，4=警告，5=调试
+        ///  6=入库执行中,7=入仓完成，8=入仓失败
+        /// 9=出库执行，10=出仓完成，11=出库失败
+        /// </summary>
+        private void SetBoxStatus(DeviceStatus deviceStatus,RunStatus runStatus)
+        {
+            this.deviceStatus = deviceStatus;
+            this.runStatus = runStatus;
+        }
+        private void PullAxisToP1(string InOutType = "入库")
+        {
+            if (!PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P1))
+            {
+                PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed);
+            }
+            if (!PullAxis_Inout.IsInPosition(Config.PullAxis_Inout_P1))
+            {
+                PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_P1, Config.PullAxis_Inout_P1_Speed);
+            }
+            LogInfo($"存储机构-{InOutType} {MoveInfo.SLog}：料屉拉取升降轴、料屉拉取进出轴到待机点P1");
+        }
 
         #region 入库
-         
+        private DateTime startInStoreTime = DateTime.Now;
         public override bool StartInstore(InOutParam param)
         {
-          
+            if (isInSuddenDown || isNoAirpressure_Check ||
+           (!runStatus.Equals(RunStatus.Runing))
+           || (!MoveInfo.MoveType.Equals(MoveType.None)))
+            {
+                LogUtil.error(Name + " 启动入库出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirpressure_Check=" + isNoAirpressure_Check);
+                return false;
+            }
+            if(!PreInStoreCheck(param))
+            {
+                return false;
+            }
+            startInStoreTime = DateTime.Now;
+            LogInfo(" 启动入库【" + param.PosInfo.ToStr() + "】 ");
+            param.MoveP = new LineMoveP(Config, param.PosInfo.PosId);
+            LogInfo("LoadInoutParam:" + JsonHelper.SerializeObject(param.MoveP));
+            MoveInfo.NewMove(MoveType.InStore, param);
+            SetBoxStatus(DeviceStatus.InStoreExecute, RunStatus.Busy);
+            MoveInfo.NextMoveStep(StepEnum.SI_00_StartInstore);
+            return true;
+        }
+      
+        private bool InDoorCheck(InOutParam param)
+        {
+            if(CheckASide(param))
+            {
+                if (IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.HIGH) && param.PosInfo != null)
+                {
+                    return true;
+                }
+            }
+            else
+            {
+                if (IOValue(IO_Type.UpperArea_Check_B).Equals(IO_VALUE.HIGH) && param.PosInfo != null)
+                {
+                    return true;
+                }
+            }
+
             return false;
         }
 
-      
         protected override void InstoreProcess()
         {
             if (MoveInfo.IsInWait)
@@ -38,16 +265,113 @@ namespace OnlineStore.DeviceLibrary
             if (MoveInfo.IsInWait)
             {
                 return;
-            } 
+            }
+            InstoreExecute();
         }
-
         #endregion
 
         #region 出库
-        public override bool StartOutstore(InOutParam param)
+        /// <summary>
+        /// 出库前验证
+        /// </summary>
+        /// <param name="param"></param>
+        /// <returns></returns>
+        private bool OutDoorCheck(InOutParam param)
         {
+            if(param.PosInfo.PosSide.Equals("A"))//A面
+            {
+                if (CheckAOutDoor())
+                {
+                    return true;
+                }
+            }
+            else if(param.PosInfo.PosSide.Equals("B"))//B面
+            {
+                if (CheckBOutDoor())
+                {
+                    return true;
+                }
+            }
+
+            return false;
+        }
+        /// <summary>
+        /// 检查A出料口状态
+        /// </summary>
+        /// <returns>true:A口可以出料</returns>
+        private bool CheckAOutDoor()
+        {
+            if (BufferDataManager.AOutStoreInfo == null && IOValue(IO_Type.UnderArea_Check_A).Equals(IO_VALUE.LOW))
+            {
+                return true;
+            }
+            return false;
+        }
+        /// <summary>
+        /// 检查B出料口状态
+        /// </summary>
+        /// <returns>true:B口可以出料</returns>
+        private bool CheckBOutDoor()
+        {
+            if (BufferDataManager.BOutStoreInfo == null && IOValue(IO_Type.UnderArea_Check_B).Equals(IO_VALUE.LOW))
+            {
+                return true;
+            }
             return false;
         }
+        public void StartExecuctOut(InOutParam param)
+        {
+            bool result = false;
+            if (OutDoorCheck(param))
+            {
+                result = StartOutstore(param);
+            }
+            if (!result)
+            {
+                lock (waitOutStoreList)
+                {
+                    LogInfo(" 执行出库【" + param.PosInfo.ToStr() + "】失败，加入等待队列");
+                    if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.MoveParam.PosInfo.PosId.Equals(param.PosInfo.PosId))
+                    {
+                        LogUtil.error(Name + " 出库命令【" + param.PosInfo.ToStr() + "】重复，【" + MoveInfo.MoveParam.PosInfo.PosId + "】出库执行中");
+                        return;
+                    }
+
+                    List<InOutParam> reviceList = new List<InOutParam>(waitOutStoreList);
+                    reviceList = (from m in reviceList where m.PosInfo.PosId.Equals(param.PosInfo.PosId) select m).ToList<InOutParam>();
+                    if (reviceList.Count == 0)
+                    {
+                        waitOutStoreList.Enqueue(param);
+                    }
+                }
+            }
+        }
+        private DateTime startOutStoreTime = DateTime.Now;
+        public override bool StartOutstore(InOutParam param)
+        {
+            if (isInSuddenDown || isNoAirpressure_Check
+                || !runStatus.Equals(RunStatus.Runing)
+                || !MoveInfo.MoveType.Equals(MoveType.None))
+            {
+                SetWarnMsg(Name + " 启动出库【" + param.PosInfo.ToStr() + "】失败，忙碌或报警中 ，storeStatus：" + runStatus + ",MoveType：" + MoveInfo.MoveType + ",isInSuddenDown：" + isInSuddenDown + ",isNoAirCheck：" + isNoAirpressure_Check);
+                return false;
+            }
+
+            if (!param.PosInfo.CheckPosition())
+            {
+                SetWarnMsg(Name + " 启动出库【" + param.PosInfo.ToStr() + "】出错，找不到库位信息");
+                return false;
+            }
+            startOutStoreTime = DateTime.Now;
+            param.MoveP = new LineMoveP(Config, param.PosInfo.PosId);
+            SetBoxStatus(DeviceStatus.OutStoreExecute, RunStatus.Busy);
+            MoveInfo.NewMove(MoveType.OutStore, param);
+            LogInfo("启动出库【" + param.PosInfo.ToStr() + "】  ");
+            LogInfo("LoadInoutParam:" + JsonHelper.SerializeObject(param.MoveP));
+            MoveInfo.NextMoveStep(StepEnum.SI_01_PullAxis_Ready);
+
+            return true;
+        }
 
         protected override void OutstoreProcess()
         {
@@ -59,6 +383,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 return;
             }
+            OutstoreExecute();
         }
         #endregion
 

source/LoadCVSLibrary/position/BoxPosition.cs

@@ -16,6 +16,11 @@ namespace OnlineStore.LoadCSVLibrary
         public int StoreId { get; set; }
 
         /// <summary>
+        /// PRO,0,行走机构_存储库位取放点位P3,MoveAxis_P3,100,,,,,,,,,,,,
+        /// </summary>
+        [CSVAttribute("存储库位取放点位P3")]
+        public int MoveAxis_P3 { get; set; }
+        /// <summary>
         /// 料斗进出轴料屉提取点
         /// P2 对应 A面
         /// P4 对应 B面
@@ -72,7 +77,7 @@ namespace OnlineStore.LoadCSVLibrary
         [CSVAttribute("AB移栽压紧轴压紧点P3")]
         public int ComAxis_AB_P3 { get; set; }
 
-        public static bool CheckPosition(XLRPosition position, BoxEquip_Config Config)
+        public static bool CheckPosition(BoxPosition position, BoxEquip_Config Config)
         { 
             try
             {

source/LoadCVSLibrary/storeConfig/config/BoxEquip_Config.cs

@@ -92,39 +92,10 @@ namespace OnlineStore.LoadCSVLibrary
         public int MoveAxis_P2 { get; set; }
 
         /// <summary>
-        /// PRO,0,行走机构_存储库位取放点位P3,MoveAxis_P3,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("MoveAxis_P3")]
-        public int MoveAxis_P3 { get; set; }
-
-        /// <summary>
         ///  PRO,0,料斗拉取进出轴_待机点P1,PullAxis_Inout_P1,100,,,,,,,,,,,,
         /// </summary>
         [ConfigProAttribute("PullAxis_Inout_P1")]
         public int PullAxis_Inout_P1 { get; set; }
-        /// <summary>
-        ///  PRO,0,料斗拉取进出轴_A面料屉提取点P2,PullAxis_Inout_P2,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("PullAxis_Inout_P2")]
-        public int PullAxis_Inout_P2 { get; set; }
-
-        /// <summary>
-        /// PRO,0,料斗拉取进出轴_A面料屉库位点P3,PullAxis_Inout_P3,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("PullAxis_Inout_P3")]
-        public int PullAxis_Inout_P3 { get; set; }
-
-        /// <summary>
-        /// PRO,0,料斗拉取进出轴_B面料屉提取点P4,PullAxis_Inout_P4,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("PullAxis_Inout_P4")]
-        public int PullAxis_Inout_P4 { get; set; }
-
-        /// <summary>
-        ///PRO,0,料斗拉取进出轴_B面料屉库位点P5,PullAxis_Inout_P5,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("PullAxis_Inout_P5")]
-        public int PullAxis_Inout_P5 { get; set; }
 
         /// <summary>
         ///  PRO,0,移栽升降轴_待机点P1,Updown_P1,100,,,,,,,,,,,,
@@ -157,18 +128,6 @@ namespace OnlineStore.LoadCSVLibrary
         public int Updown_P5 { get; set; }
 
         /// <summary>
-        ///  PRO,0,移栽升降轴_A面料屉上方过渡点P6,Updown_P6,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("Updown_P6")]
-        public int Updown_P6 { get; set; }
-
-        /// <summary>
-        /// PRO,0,移栽升降轴_A面料屉取放点P7,Updown_P7,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("Updown_P7")]
-        public int Updown_P7 { get; set; }
-
-        /// <summary>
         ///  PRO,0,移栽升降轴_B上暂存区取料高点P8,Updown_P8,100,,,,,,,,,,,,
         /// </summary>
         [ConfigProAttribute("Updown_P8")]
@@ -193,18 +152,6 @@ namespace OnlineStore.LoadCSVLibrary
         public int Updown_P11 { get; set; }
 
         /// <summary>
-        ///  PRO,0,移栽升降轴_B面料屉上方过渡点P12,Updown_P12,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("Updown_P12")]
-        public int Updown_P12 { get; set; }
-
-        /// <summary>
-        ///  PRO,0,移栽升降轴_B面料屉取放点P13,Updown_P13,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("Updown_P13")]
-        public int Updown_P13 { get; set; }
-
-        /// <summary>
         ///  PRO,0,料斗拉取升降轴_待机点P1,PullAxis_Updown_P1,100,,,,,,,,,,,,
         /// </summary>
         [ConfigProAttribute("PullAxis_Updown_P1")]
@@ -217,18 +164,6 @@ namespace OnlineStore.LoadCSVLibrary
         public int PullAxis_Updown_P2 { get; set; }
 
         /// <summary>
-        ///  PRO,0,料斗拉取升降轴_料屉提取高点P3,PullAxis_Updown_P3,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("PullAxis_Updown_P3")]
-        public int PullAxis_Updown_P3 { get; set; }
-
-        /// <summary>
-        ///  PRO,0,料斗拉取升降轴_料屉提取低点P4,PullAxis_Updown_P4,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("PullAxis_Updown_P4")]
-        public int PullAxis_Updown_P4 { get; set; }
-
-        /// <summary>
         ///  PRO,0,A面移栽X轴_待机点P1,XAxis_A_P1,100,,,,,,,,,,,,
         /// </summary>
         [ConfigProAttribute("XAxis_A_P1")]
@@ -241,12 +176,6 @@ namespace OnlineStore.LoadCSVLibrary
         public int XAxis_A_P2 { get; set; }
 
         /// <summary>
-        ///  PRO,0,A面移栽X轴_A面料屉库位取放料点P3,XAxis_A_P3,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("XAxis_A_P3")]
-        public int XAxis_A_P3 { get; set; }
-
-        /// <summary>
         ///  PRO,0,A面移栽旋转轴_待机点P1,MiddleAxis_A_P1,100,,,,,,,,,,,,
         /// </summary>
         [ConfigProAttribute("MiddleAxis_A_P1")]
@@ -269,19 +198,6 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         [ConfigProAttribute("ComAxis_A_P1")]
         public int ComAxis_A_P1 { get; set; }
-
-        /// <summary>
-        ///  PRO,0,A面移栽压紧轴_压紧前点P2,ComAxis_A_P2,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("ComAxis_A_P2")]
-        public int ComAxis_A_P2 { get; set; }
-
-        /// <summary>
-        ///  PRO,0,A面移栽压紧轴_压紧点P3,ComAxis_A_P3,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("ComAxis_A_P3")]
-        public int ComAxis_A_P3 { get; set; }
-
         /// <summary>
         ///  PRO,0,B面移栽X轴_待机点P1,XAxis_B_P1,100,,,,,,,,,,,,
         /// </summary>
@@ -295,12 +211,6 @@ namespace OnlineStore.LoadCSVLibrary
         public int XAxis_B_P2 { get; set; }
 
         /// <summary>
-        /// PRO,0,B面移栽X轴_B面料屉库位取放料点P3,XAxis_B_P3,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("XAxis_B_P3")]
-        public int XAxis_B_P3 { get; set; }
-
-        /// <summary>
         ///  PRO,0,B面移栽旋转轴_待机点P1,MiddleAxis_B_P1,100,,,,,,,,,,,,
         /// </summary>
         [ConfigProAttribute("MiddleAxis_B_P1")]
@@ -324,18 +234,6 @@ namespace OnlineStore.LoadCSVLibrary
         [ConfigProAttribute("ComAxis_B_P1")]
         public int ComAxis_B_P1 { get; set; }
 
-        /// <summary>
-        /// PRO,0,B面移栽压紧轴_压紧前点P2,ComAxis_B_P2,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("ComAxis_B_P2")]
-        public int ComAxis_B_P2 { get; set; }
-
-        /// <summary>
-        ///  PRO,0,B面移栽压紧轴_压紧点P3,ComAxis_B_P3,100,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("ComAxis_B_P3")]
-        public int ComAxComAxis_B_P3is_B_P1 { get; set; }
-
         #endregion
 
         #region 轴移动速度信息

source/XLRStoreClient/App.config

@@ -19,7 +19,7 @@
     <add key="ConfigPath_XLRStore" value="\Config\Config_Store.csv" />
     <add key="ConfigPath_Input" value="\Config\Config_InputEquip.csv" />
     <add key="ConfigPath_Box" value="\Config\Config_BoxEquip.csv" />
-
+    <add key="ConfigPath_BoxPosition" value="\Config\linePositions.csv" />
     <add key="ConfigPath_TrayList" value="\LineConfig\TrayList.data"  />
     <add key="Line_CID" value="so827" />
     <!--end one store config--> 

source/XLRStoreClient/FrmBase.Designer.cs

 namespace OnlineStore.XLRStore
 {
-    partial class FrmBase
+    internal partial class FrmBase
     {
         /// <summary>
         /// Required designer variable.
@@ -26,7 +26,7 @@
         /// Required method for Designer support - do not modify
         /// the contents of this method with the code editor.
         /// </summary>
-        private void InitializeComponent()
+        internal void InitializeComponent()
         {
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FrmBase));
             this.SuspendLayout();

source/XLRStoreClient/FrmXLRStore.Designer.cs

@@ -449,7 +449,7 @@
             this.MainMenuStrip = this.menuStrip1;
             this.Name = "FrmXLRStore";
             this.Opacity = 0.1D;
-            this.Text = "流水线系统";
+            this.Text = "方仓系统";
             this.WindowState = System.Windows.Forms.FormWindowState.Maximized;
             this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.FrmMain_FormClosing);
             this.FormClosed += new System.Windows.Forms.FormClosedEventHandler(this.FrmLineStore_FormClosed);

source/XLRStoreClient/Properties/AssemblyInfo.cs

@@ -5,11 +5,11 @@ using System.Runtime.InteropServices;
 // 有关程序集的常规信息通过以下
 // 特性集控制。更改这些特性值可修改
 // 与程序集关联的信息。
-[assembly: AssemblyTitle("AssemblyLine")]
+[assembly: AssemblyTitle("XLRStore")]
 [assembly: AssemblyDescription("")]
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("AssemblyLine")]
+[assembly: AssemblyProduct("XLRStore")]
 [assembly: AssemblyCopyright("Copyright ©  2017")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]

source/XLRStoreClient/XLRStore.csproj

@@ -88,6 +88,12 @@
     </Reference>
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="boxForm\FrmAxisMove.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="boxForm\FrmAxisMove.Designer.cs">
+      <DependentUpon>FrmAxisMove.cs</DependentUpon>
+    </Compile>
     <Compile Include="FrmBase.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -169,6 +175,9 @@
     <Compile Include="useControl\EquipControl.Designer.cs">
       <DependentUpon>EquipControl.cs</DependentUpon>
     </Compile>
+    <EmbeddedResource Include="boxForm\FrmAxisMove.resx">
+      <DependentUpon>FrmAxisMove.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="FrmBase.resx">
       <DependentUpon>FrmBase.cs</DependentUpon>
     </EmbeddedResource>

source/XLRStoreClient/boxForm/FrmAxisDebug.Designer.cs

+namespace OnlineStore.XLRStore
+{
+    partial class FrmAxisDebug
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.components = new System.ComponentModel.Container();
+            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FrmAxisDebug));
+            this.label1 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.btnMiddleMove = new System.Windows.Forms.Button();
+            this.txtMiddleSpeed = new System.Windows.Forms.TextBox();
+            this.txtUpDownSpeed = new System.Windows.Forms.TextBox();
+            this.txtInOutSpeed = new System.Windows.Forms.TextBox();
+            this.btnUpDownMove = new System.Windows.Forms.Button();
+            this.btnInOutMove = new System.Windows.Forms.Button();
+            this.btnInOutMovej = new System.Windows.Forms.Button();
+            this.btnUpDownMovej = new System.Windows.Forms.Button();
+            this.btnMiddleMovej = new System.Windows.Forms.Button();
+            this.button1 = new System.Windows.Forms.Button();
+            this.txtInOutPosition = new System.Windows.Forms.TextBox();
+            this.txtUpdownPosition = new System.Windows.Forms.TextBox();
+            this.txtMiddlePosition = new System.Windows.Forms.TextBox();
+            this.label5 = new System.Windows.Forms.Label();
+            this.label6 = new System.Windows.Forms.Label();
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
+            this.txtComPosition = new System.Windows.Forms.TextBox();
+            this.btnComMovej = new System.Windows.Forms.Button();
+            this.btnComMove = new System.Windows.Forms.Button();
+            this.txtComSpeed = new System.Windows.Forms.TextBox();
+            this.label4 = new System.Windows.Forms.Label();
+            this.lblSpeed = new System.Windows.Forms.Label();
+            this.trackBar1 = new System.Windows.Forms.TrackBar();
+            this.btnMCopy = new System.Windows.Forms.Button();
+            this.btnUCopy = new System.Windows.Forms.Button();
+            this.btnICopy = new System.Windows.Forms.Button();
+            this.btnCCopy = new System.Windows.Forms.Button();
+            ((System.ComponentModel.ISupportInitialize)(this.trackBar1)).BeginInit();
+            this.SuspendLayout();
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Location = new System.Drawing.Point(39, 79);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(92, 17);
+            this.label1.TabIndex = 0;
+            this.label1.Text = "（轴一）旋转轴";
+            // 
+            // label2
+            // 
+            this.label2.AutoSize = true;
+            this.label2.Location = new System.Drawing.Point(39, 136);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(92, 17);
+            this.label2.TabIndex = 1;
+            this.label2.Text = "（轴二）升降轴";
+            // 
+            // label3
+            // 
+            this.label3.AutoSize = true;
+            this.label3.Location = new System.Drawing.Point(39, 194);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(92, 17);
+            this.label3.TabIndex = 2;
+            this.label3.Text = "（轴三）进出轴";
+            // 
+            // btnMiddleMove
+            // 
+            this.btnMiddleMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnMiddleMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnMiddleMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnMiddleMove.Location = new System.Drawing.Point(246, 65);
+            this.btnMiddleMove.Name = "btnMiddleMove";
+            this.btnMiddleMove.Size = new System.Drawing.Size(140, 45);
+            this.btnMiddleMove.TabIndex = 4;
+            this.btnMiddleMove.Text = "旋转轴+(顺时针)";
+            this.btnMiddleMove.UseVisualStyleBackColor = false;
+            this.btnMiddleMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnMiddleMove_MouseDown);
+            this.btnMiddleMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnMiddleMove_MouseUp);
+            // 
+            // txtMiddleSpeed
+            // 
+            this.txtMiddleSpeed.Enabled = false;
+            this.txtMiddleSpeed.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtMiddleSpeed.Location = new System.Drawing.Point(140, 74);
+            this.txtMiddleSpeed.MaxLength = 10;
+            this.txtMiddleSpeed.Name = "txtMiddleSpeed";
+            this.txtMiddleSpeed.Size = new System.Drawing.Size(97, 26);
+            this.txtMiddleSpeed.TabIndex = 5;
+            // 
+            // txtUpDownSpeed
+            // 
+            this.txtUpDownSpeed.Enabled = false;
+            this.txtUpDownSpeed.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtUpDownSpeed.Location = new System.Drawing.Point(140, 131);
+            this.txtUpDownSpeed.MaxLength = 10;
+            this.txtUpDownSpeed.Name = "txtUpDownSpeed";
+            this.txtUpDownSpeed.Size = new System.Drawing.Size(97, 26);
+            this.txtUpDownSpeed.TabIndex = 6;
+            // 
+            // txtInOutSpeed
+            // 
+            this.txtInOutSpeed.Enabled = false;
+            this.txtInOutSpeed.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtInOutSpeed.Location = new System.Drawing.Point(140, 189);
+            this.txtInOutSpeed.MaxLength = 10;
+            this.txtInOutSpeed.Name = "txtInOutSpeed";
+            this.txtInOutSpeed.Size = new System.Drawing.Size(97, 26);
+            this.txtInOutSpeed.TabIndex = 7;
+            // 
+            // btnUpDownMove
+            // 
+            this.btnUpDownMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnUpDownMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnUpDownMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnUpDownMove.Location = new System.Drawing.Point(246, 122);
+            this.btnUpDownMove.Name = "btnUpDownMove";
+            this.btnUpDownMove.Size = new System.Drawing.Size(140, 45);
+            this.btnUpDownMove.TabIndex = 9;
+            this.btnUpDownMove.Text = "升降轴+(上升)";
+            this.btnUpDownMove.UseVisualStyleBackColor = false;
+            this.btnUpDownMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnUpDownMove_MouseDown);
+            this.btnUpDownMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnUpDownMove_MouseUp);
+            // 
+            // btnInOutMove
+            // 
+            this.btnInOutMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnInOutMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnInOutMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnInOutMove.Location = new System.Drawing.Point(246, 180);
+            this.btnInOutMove.Name = "btnInOutMove";
+            this.btnInOutMove.Size = new System.Drawing.Size(140, 45);
+            this.btnInOutMove.TabIndex = 10;
+            this.btnInOutMove.Text = "进出轴+(前进)";
+            this.btnInOutMove.UseVisualStyleBackColor = false;
+            this.btnInOutMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnInOutMove_MouseDown);
+            this.btnInOutMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnInOutMove_MouseUp);
+            // 
+            // btnInOutMovej
+            // 
+            this.btnInOutMovej.BackColor = System.Drawing.SystemColors.Control;
+            this.btnInOutMovej.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnInOutMovej.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnInOutMovej.Location = new System.Drawing.Point(395, 180);
+            this.btnInOutMovej.Name = "btnInOutMovej";
+            this.btnInOutMovej.Size = new System.Drawing.Size(140, 45);
+            this.btnInOutMovej.TabIndex = 14;
+            this.btnInOutMovej.Text = "进出轴-(后退)";
+            this.btnInOutMovej.UseVisualStyleBackColor = false;
+            this.btnInOutMovej.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnInOutMovej_MouseDown);
+            this.btnInOutMovej.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnInOutMovej_MouseUp);
+            // 
+            // btnUpDownMovej
+            // 
+            this.btnUpDownMovej.BackColor = System.Drawing.SystemColors.Control;
+            this.btnUpDownMovej.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnUpDownMovej.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnUpDownMovej.Location = new System.Drawing.Point(395, 122);
+            this.btnUpDownMovej.Name = "btnUpDownMovej";
+            this.btnUpDownMovej.Size = new System.Drawing.Size(140, 45);
+            this.btnUpDownMovej.TabIndex = 13;
+            this.btnUpDownMovej.Text = "升降轴-(下降)";
+            this.btnUpDownMovej.UseVisualStyleBackColor = false;
+            this.btnUpDownMovej.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnUpDownMovej_MouseDown);
+            this.btnUpDownMovej.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnUpDownMovej_MouseUp);
+            // 
+            // btnMiddleMovej
+            // 
+            this.btnMiddleMovej.BackColor = System.Drawing.SystemColors.Control;
+            this.btnMiddleMovej.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnMiddleMovej.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnMiddleMovej.Location = new System.Drawing.Point(395, 65);
+            this.btnMiddleMovej.Name = "btnMiddleMovej";
+            this.btnMiddleMovej.Size = new System.Drawing.Size(140, 45);
+            this.btnMiddleMovej.TabIndex = 12;
+            this.btnMiddleMovej.Text = "旋转轴-(逆时针)";
+            this.btnMiddleMovej.UseVisualStyleBackColor = false;
+            this.btnMiddleMovej.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnMiddleMovej_MouseDown);
+            this.btnMiddleMovej.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnMiddleMovej_MouseUp);
+            // 
+            // button1
+            // 
+            this.button1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.button1.Location = new System.Drawing.Point(569, 347);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(126, 37);
+            this.button1.TabIndex = 16;
+            this.button1.Text = "关闭";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click);
+            // 
+            // txtInOutPosition
+            // 
+            this.txtInOutPosition.Enabled = false;
+            this.txtInOutPosition.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtInOutPosition.Location = new System.Drawing.Point(544, 189);
+            this.txtInOutPosition.MaxLength = 20;
+            this.txtInOutPosition.Name = "txtInOutPosition";
+            this.txtInOutPosition.Size = new System.Drawing.Size(108, 26);
+            this.txtInOutPosition.TabIndex = 19;
+            // 
+            // txtUpdownPosition
+            // 
+            this.txtUpdownPosition.Enabled = false;
+            this.txtUpdownPosition.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtUpdownPosition.Location = new System.Drawing.Point(544, 131);
+            this.txtUpdownPosition.MaxLength = 20;
+            this.txtUpdownPosition.Name = "txtUpdownPosition";
+            this.txtUpdownPosition.Size = new System.Drawing.Size(108, 26);
+            this.txtUpdownPosition.TabIndex = 18;
+            // 
+            // txtMiddlePosition
+            // 
+            this.txtMiddlePosition.Enabled = false;
+            this.txtMiddlePosition.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtMiddlePosition.Location = new System.Drawing.Point(544, 74);
+            this.txtMiddlePosition.MaxLength = 20;
+            this.txtMiddlePosition.Name = "txtMiddlePosition";
+            this.txtMiddlePosition.Size = new System.Drawing.Size(108, 26);
+            this.txtMiddlePosition.TabIndex = 17;
+            // 
+            // label5
+            // 
+            this.label5.AutoSize = true;
+            this.label5.Location = new System.Drawing.Point(172, 31);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(56, 17);
+            this.label5.TabIndex = 20;
+            this.label5.Text = "点动速度";
+            // 
+            // label6
+            // 
+            this.label6.AutoSize = true;
+            this.label6.Location = new System.Drawing.Point(566, 31);
+            this.label6.Name = "label6";
+            this.label6.Size = new System.Drawing.Size(56, 17);
+            this.label6.TabIndex = 21;
+            this.label6.Text = "实时坐标";
+            // 
+            // timer1
+            // 
+            this.timer1.Interval = 2000;
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            // 
+            // txtComPosition
+            // 
+            this.txtComPosition.Enabled = false;
+            this.txtComPosition.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtComPosition.Location = new System.Drawing.Point(544, 249);
+            this.txtComPosition.MaxLength = 20;
+            this.txtComPosition.Name = "txtComPosition";
+            this.txtComPosition.Size = new System.Drawing.Size(108, 26);
+            this.txtComPosition.TabIndex = 26;
+            // 
+            // btnComMovej
+            // 
+            this.btnComMovej.BackColor = System.Drawing.SystemColors.Control;
+            this.btnComMovej.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnComMovej.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnComMovej.Location = new System.Drawing.Point(395, 240);
+            this.btnComMovej.Name = "btnComMovej";
+            this.btnComMovej.Size = new System.Drawing.Size(140, 45);
+            this.btnComMovej.TabIndex = 25;
+            this.btnComMovej.Text = "压紧轴-(向上)";
+            this.btnComMovej.UseVisualStyleBackColor = false;
+            this.btnComMovej.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnComMovej_MouseDown);
+            this.btnComMovej.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnComMovej_MouseUp);
+            // 
+            // btnComMove
+            // 
+            this.btnComMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnComMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnComMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnComMove.Location = new System.Drawing.Point(246, 240);
+            this.btnComMove.Name = "btnComMove";
+            this.btnComMove.Size = new System.Drawing.Size(140, 45);
+            this.btnComMove.TabIndex = 24;
+            this.btnComMove.Text = "压紧轴+(向下)";
+            this.btnComMove.UseVisualStyleBackColor = false;
+            this.btnComMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnComMove_MouseDown);
+            this.btnComMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnComMove_MouseUp);
+            // 
+            // txtComSpeed
+            // 
+            this.txtComSpeed.Enabled = false;
+            this.txtComSpeed.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtComSpeed.Location = new System.Drawing.Point(140, 249);
+            this.txtComSpeed.MaxLength = 10;
+            this.txtComSpeed.Name = "txtComSpeed";
+            this.txtComSpeed.Size = new System.Drawing.Size(97, 26);
+            this.txtComSpeed.TabIndex = 23;
+            // 
+            // label4
+            // 
+            this.label4.AutoSize = true;
+            this.label4.Location = new System.Drawing.Point(39, 254);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(92, 17);
+            this.label4.TabIndex = 22;
+            this.label4.Text = "（轴四）压紧轴";
+            // 
+            // lblSpeed
+            // 
+            this.lblSpeed.AutoSize = true;
+            this.lblSpeed.Location = new System.Drawing.Point(313, 377);
+            this.lblSpeed.Name = "lblSpeed";
+            this.lblSpeed.Size = new System.Drawing.Size(142, 17);
+            this.lblSpeed.TabIndex = 30;
+            this.lblSpeed.Text = "点动速度=0.2倍目标速度";
+            // 
+            // trackBar1
+            // 
+            this.trackBar1.LargeChange = 2;
+            this.trackBar1.Location = new System.Drawing.Point(42, 328);
+            this.trackBar1.Minimum = 1;
+            this.trackBar1.Name = "trackBar1";
+            this.trackBar1.Size = new System.Drawing.Size(366, 45);
+            this.trackBar1.TabIndex = 29;
+            this.trackBar1.Value = 2;
+            this.trackBar1.ValueChanged += new System.EventHandler(this.trackBar1_ValueChanged);
+            // 
+            // btnMCopy
+            // 
+            this.btnMCopy.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnMCopy.Location = new System.Drawing.Point(661, 73);
+            this.btnMCopy.Name = "btnMCopy";
+            this.btnMCopy.Size = new System.Drawing.Size(69, 28);
+            this.btnMCopy.TabIndex = 31;
+            this.btnMCopy.Text = "复制";
+            this.btnMCopy.UseVisualStyleBackColor = true;
+            this.btnMCopy.Click += new System.EventHandler(this.btnMCopy_Click);
+            // 
+            // btnUCopy
+            // 
+            this.btnUCopy.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnUCopy.Location = new System.Drawing.Point(661, 130);
+            this.btnUCopy.Name = "btnUCopy";
+            this.btnUCopy.Size = new System.Drawing.Size(69, 28);
+            this.btnUCopy.TabIndex = 32;
+            this.btnUCopy.Text = "复制";
+            this.btnUCopy.UseVisualStyleBackColor = true;
+            this.btnUCopy.Click += new System.EventHandler(this.btnUCopy_Click);
+            // 
+            // btnICopy
+            // 
+            this.btnICopy.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnICopy.Location = new System.Drawing.Point(661, 188);
+            this.btnICopy.Name = "btnICopy";
+            this.btnICopy.Size = new System.Drawing.Size(69, 28);
+            this.btnICopy.TabIndex = 33;
+            this.btnICopy.Text = "复制";
+            this.btnICopy.UseVisualStyleBackColor = true;
+            this.btnICopy.Click += new System.EventHandler(this.btnICopy_Click);
+            // 
+            // btnCCopy
+            // 
+            this.btnCCopy.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnCCopy.Location = new System.Drawing.Point(661, 248);
+            this.btnCCopy.Name = "btnCCopy";
+            this.btnCCopy.Size = new System.Drawing.Size(69, 28);
+            this.btnCCopy.TabIndex = 34;
+            this.btnCCopy.Text = "复制";
+            this.btnCCopy.UseVisualStyleBackColor = true;
+            this.btnCCopy.Click += new System.EventHandler(this.btnCCopy_Click);
+            // 
+            // FrmAxisDebug
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(805, 442);
+            this.Controls.Add(this.btnCCopy);
+            this.Controls.Add(this.btnICopy);
+            this.Controls.Add(this.btnUCopy);
+            this.Controls.Add(this.btnMCopy);
+            this.Controls.Add(this.lblSpeed);
+            this.Controls.Add(this.trackBar1);
+            this.Controls.Add(this.txtComPosition);
+            this.Controls.Add(this.btnComMovej);
+            this.Controls.Add(this.btnComMove);
+            this.Controls.Add(this.txtComSpeed);
+            this.Controls.Add(this.label4);
+            this.Controls.Add(this.label6);
+            this.Controls.Add(this.label5);
+            this.Controls.Add(this.txtInOutPosition);
+            this.Controls.Add(this.txtUpdownPosition);
+            this.Controls.Add(this.txtMiddlePosition);
+            this.Controls.Add(this.button1);
+            this.Controls.Add(this.btnInOutMovej);
+            this.Controls.Add(this.btnUpDownMovej);
+            this.Controls.Add(this.btnMiddleMovej);
+            this.Controls.Add(this.btnInOutMove);
+            this.Controls.Add(this.btnUpDownMove);
+            this.Controls.Add(this.txtInOutSpeed);
+            this.Controls.Add(this.txtUpDownSpeed);
+            this.Controls.Add(this.txtMiddleSpeed);
+            this.Controls.Add(this.btnMiddleMove);
+            this.Controls.Add(this.label3);
+            this.Controls.Add(this.label2);
+            this.Controls.Add(this.label1);
+            this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "FrmAxisDebug";
+            this.Text = "运动轴调试";
+            this.Load += new System.EventHandler(this.FrmAxisDebug_Load);
+            this.Shown += new System.EventHandler(this.FrmAxisDebug_Shown);
+            ((System.ComponentModel.ISupportInitialize)(this.trackBar1)).EndInit();
+            this.ResumeLayout(false);
+            this.PerformLayout();
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Button btnMiddleMove;
+        private System.Windows.Forms.TextBox txtMiddleSpeed;
+        private System.Windows.Forms.TextBox txtUpDownSpeed;
+        private System.Windows.Forms.TextBox txtInOutSpeed;
+        private System.Windows.Forms.Button btnUpDownMove;
+        private System.Windows.Forms.Button btnInOutMove;
+        private System.Windows.Forms.Button btnInOutMovej;
+        private System.Windows.Forms.Button btnUpDownMovej;
+        private System.Windows.Forms.Button btnMiddleMovej;
+        private System.Windows.Forms.Button button1;
+        private System.Windows.Forms.TextBox txtInOutPosition;
+        private System.Windows.Forms.TextBox txtUpdownPosition;
+        private System.Windows.Forms.TextBox txtMiddlePosition;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.Label label6;
+        private System.Windows.Forms.Timer timer1;
+        private System.Windows.Forms.TextBox txtComPosition;
+        private System.Windows.Forms.Button btnComMovej;
+        private System.Windows.Forms.Button btnComMove;
+        private System.Windows.Forms.TextBox txtComSpeed;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.Label lblSpeed;
+        private System.Windows.Forms.TrackBar trackBar1;
+        private System.Windows.Forms.Button btnMCopy;
+        private System.Windows.Forms.Button btnUCopy;
+        private System.Windows.Forms.Button btnICopy;
+        private System.Windows.Forms.Button btnCCopy;
+    }
+}
\ No newline at end of file

source/XLRStoreClient/boxForm/FrmAxisDebug.cs

+using log4net;
+using OnlineStore.Common;
+using OnlineStore.DeviceLibrary;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace OnlineStore.XLRStore
+{
+
+    internal partial class FrmAxisDebug : FrmBase
+    {
+        /// <summary>
+        /// 行走机构
+        /// </summary>
+        private ConfigMoveAxis MoveAxis = null;
+        /// <summary>
+        /// 料屉拉取进出轴
+        /// </summary>
+        private ConfigMoveAxis PullAxis_Inout = null;
+        /// <summary>
+        /// 移栽升降轴
+        /// </summary>
+        private ConfigMoveAxis UpdownAxis = null;
+        /// <summary>
+        /// A面移栽X轴
+        /// </summary>
+        private ConfigMoveAxis XAxis_A = null;
+        /// <summary>
+        /// A面移栽旋转轴
+        /// </summary>
+        private ConfigMoveAxis MiddleAxis_A = null;
+        /// <summary>
+        /// A面移栽压紧轴
+        /// </summary>
+        private ConfigMoveAxis ComAxis_A = null;
+        /// <summary>
+        /// 料屉拉取升降轴
+        /// </summary>
+        private ConfigMoveAxis PullAxis_Updown = null;
+        /// <summary>
+        /// B面移栽X轴
+        /// </summary>
+        private ConfigMoveAxis XAxis_B = null;
+        /// <summary>
+        /// B面移栽旋转轴
+        /// </summary>
+        private ConfigMoveAxis MiddleAxis_B = null;
+        /// <summary>
+        /// B面移栽压紧轴
+        /// </summary>
+        private ConfigMoveAxis ComAxis_B = null;
+        private BoxEquip boxBean = null; 
+        public FrmAxisDebug(BoxEquip boxBean)
+        {
+            MoveAxis = boxBean.Config.MoveAxis;
+            PullAxis_Inout = boxBean.Config.PullAxis_Inout;
+            UpdownAxis = boxBean.Config.UpdownAxis;
+            XAxis_A = boxBean.Config.XAxis_A;
+            MiddleAxis_A = boxBean.Config.MiddleAxis_A;
+            ComAxis_A = boxBean.Config.ComAxis_A;
+            PullAxis_Updown = boxBean.Config.PullAxis_Updown;
+            XAxis_B = boxBean.Config.XAxis_B;
+            MiddleAxis_B = boxBean.Config.MiddleAxis_B;
+            ComAxis_B = boxBean.Config.ComAxis_B;
+
+            this.boxBean = boxBean;
+            InitializeComponent();
+           
+            this.Text = boxBean.Name + "_轴点动调试";
+        }
+
+        private void AxisMove(ConfigMoveAxis axis, int speed)
+        {
+            LogUtil.debug( "点动：deviceName=" + axis.DeviceName + "，axis=" + axis.GetAxisValue() + "，speed=" + speed);
+            AxisManager.instance.SpeedMove(axis.DeviceName, axis.GetAxisValue(), speed);
+
+        }
+        private void FrmAxisDebug_Load(object sender, EventArgs e)
+        { 
+            txtMiddleSpeed.Text = (middle.TargetSpeed / 5).ToString();
+            txtInOutSpeed.Text = (inout.TargetSpeed / 5).ToString();
+            txtUpDownSpeed.Text = (updown.TargetSpeed / 5).ToString();
+            txtComSpeed.Text = (comp.TargetSpeed/5).ToString();
+            timer1.Start();
+        } 
+        private bool InOutIsIsP1()
+        {
+            int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition);
+         
+            int currValue = AxisManager.instance.GetActualtPosition(inout.DeviceName, inout.GetAxisValue()); 
+            if (currValue <= InOutDefaultPosition)
+            {
+                return true;
+            }
+            MessageBox.Show("叉子不在待机位，请先将叉子退回待机位(" + InOutDefaultPosition + ")", "警告（叉子在待机位时，才能移动升降轴和旋转轴） ", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
+            return false;
+        }
+        private void btnMiddleMove_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (!InOutIsIsP1())
+            {
+                return;
+            }
+          
+            if (btnMiddleMove.BackColor.Equals(System.Drawing.SystemColors.Control))
+            {
+                int speed = FormUtil.GetIntValue(txtMiddleSpeed);
+                if (speed <= 0)
+                {
+                    MessageBox.Show("提示", "请先输入正确的速度");
+                    return;
+                }
+                btnMiddleMove.BackColor = Color.Green;
+                AxisMove(middle, speed);
+            }
+        }
+
+        private void btnMiddleMove_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (btnMiddleMove.BackColor == Color.Green)
+            {
+                btnMiddleMove.BackColor = System.Drawing.SystemColors.Control;
+                AxisManager.instance.SuddenStop(middle.DeviceName, middle.GetAxisValue());
+                UpdateMiddlePosition();
+            }
+        }
+
+        private void btnUpDownMove_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (!InOutIsIsP1())
+            {
+                return;
+            }
+            if (btnUpDownMove.BackColor.Equals(System.Drawing.SystemColors.Control))
+            {
+                int speed = FormUtil.GetIntValue(txtUpDownSpeed);
+                if (speed <= 0)
+                {
+                    MessageBox.Show("提示", "请先输入正确的速度");
+                    return;
+                }
+                btnUpDownMove.BackColor = Color.Green;
+                AxisMove(updown, speed);
+            }
+        }
+
+        private void btnUpDownMove_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (btnUpDownMove.BackColor == Color.Green)
+            {
+                btnUpDownMove.BackColor = System.Drawing.SystemColors.Control;
+                AxisManager.instance.SuddenStop(updown.DeviceName, updown.GetAxisValue());
+                UpdateUpdownPosition();
+            }
+        }
+
+        private void btnInOutMove_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (this.btnInOutMove.BackColor .Equals(System.Drawing.SystemColors.Control))
+            { 
+                int speed = FormUtil.GetIntValue(txtInOutSpeed);
+                if (speed <= 0)
+                {
+                    MessageBox.Show("提示", "请先输入正确的速度");
+                    return;
+                }
+                this.btnInOutMove.BackColor = Color.Green;
+                AxisMove(inout, speed);
+            }
+        }
+
+        private void btnInOutMove_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (this.btnInOutMove.BackColor == Color.Green)
+            {
+                btnInOutMove.BackColor = System.Drawing.SystemColors.Control;
+                AxisManager.instance.SuddenStop(inout.DeviceName, inout.GetAxisValue());
+                UpdateInOutPosition();
+            }
+        } 
+        private void btnMiddleMovej_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (!InOutIsIsP1())
+            {
+                return;
+            }
+            if (btnMiddleMovej.BackColor.Equals(System.Drawing.SystemColors.Control))
+            {
+                int speed = FormUtil.GetIntValue(txtMiddleSpeed);
+                if (speed <= 0)
+                {
+                    MessageBox.Show("提示", "请先输入正确的速度");
+                    return;
+                }
+                this.btnMiddleMovej.BackColor = Color.Green;
+                AxisMove(middle, -speed);
+            }
+        }
+
+        private void btnMiddleMovej_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (btnMiddleMovej.BackColor == Color.Green)
+            {
+                btnMiddleMovej.BackColor = System.Drawing.SystemColors.Control;
+                AxisManager.instance.SuddenStop(middle.DeviceName, middle.GetAxisValue());
+                UpdateMiddlePosition();
+            }
+        }
+
+        private void btnUpDownMovej_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (!InOutIsIsP1())
+            {
+                return;
+            }
+            if (btnUpDownMovej.BackColor .Equals( System.Drawing.SystemColors.Control))
+            {
+                int speed = FormUtil.GetIntValue(txtUpDownSpeed);
+                if (speed <= 0)
+                {
+                    MessageBox.Show("提示", "请先输入正确的速度");
+                    return;
+                }
+                btnUpDownMovej.BackColor = Color.Green;
+                AxisMove(updown, -speed);
+            }
+        }
+
+        private void btnUpDownMovej_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (btnUpDownMovej.BackColor == Color.Green)
+            {
+                btnUpDownMovej.BackColor = System.Drawing.SystemColors.Control;
+                AxisManager.instance.SuddenStop(updown.DeviceName, updown.GetAxisValue());
+                UpdateUpdownPosition();
+            }
+        }
+
+        private void btnInOutMovej_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (btnInOutMovej.BackColor.Equals(System.Drawing.SystemColors.Control))
+            { 
+                int speed = FormUtil.GetIntValue(txtInOutSpeed);
+                if (speed <= 0)
+                {
+                    MessageBox.Show("提示", "请先输入正确的速度");
+                    return;
+                }
+                this.btnInOutMovej.BackColor = Color.Green;
+                AxisMove(inout, -speed);
+            }
+        }
+
+        private void btnInOutMovej_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (btnInOutMovej.BackColor.Equals(Color.Green))
+            {
+                btnInOutMovej.BackColor = System.Drawing.SystemColors.Control;
+                AxisManager.instance.SuddenStop(inout.DeviceName, inout.GetAxisValue());
+                UpdateInOutPosition();
+            } 
+        }
+        private void btnComMove_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (btnComMove.BackColor.Equals(System.Drawing.SystemColors.Control))
+            {
+                int speed = FormUtil.GetIntValue(txtComSpeed);
+                if (speed <= 0)
+                {
+                    MessageBox.Show("提示", "请先输入正确的速度");
+                    return;
+                }
+                this.btnComMove.BackColor = Color.Green;
+                AxisMove(comp, speed); 
+            }
+        }
+
+        private void btnComMove_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (this.btnComMove.BackColor == Color.Green)
+            {
+                btnComMove.BackColor = System.Drawing.SystemColors.Control;
+                AxisManager.instance.SuddenStop(comp.DeviceName, comp.GetAxisValue());
+                UpdateCompPosition();
+            }
+        }
+        private void btnComMovej_MouseDown(object sender, MouseEventArgs e)
+        {
+            int speed = FormUtil.GetIntValue(txtComSpeed);
+            if (speed <= 0)
+            {
+                MessageBox.Show("提示", "请先输入正确的速度");
+                return;
+            }
+            this.btnComMovej.BackColor = Color.Green; 
+            AxisMove(comp, -speed);
+        }
+
+        private void btnComMovej_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (btnComMovej.BackColor.Equals(Color.Green))
+            {
+                btnComMovej.BackColor = System.Drawing.SystemColors.Control;
+                AxisManager.instance.SuddenStop(comp.DeviceName,comp.GetAxisValue());
+                UpdateCompPosition();
+            }
+        }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+            this.Close();
+        }
+         
+
+        private void FrmAxisDebug_Shown(object sender, EventArgs e)
+        {  
+        }
+
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            if (this.Visible)
+            {
+                UpdateMiddlePosition();
+                UpdateInOutPosition();
+                UpdateUpdownPosition();
+                UpdateCompPosition();
+              //  txtComPosition.Text = ShuoKeControls.GetLastPosition(compress_Slv).ToString();
+            }
+        }
+        private void UpdateCompPosition()
+        {
+            int compPosition = AxisManager.instance.GetTargetPosition(comp.DeviceName, comp.GetAxisValue());
+            if (!txtComPosition.Text.Equals(compPosition.ToString()))
+            {
+                txtComPosition.Text = compPosition.ToString();
+            }
+        }
+        private void UpdateUpdownPosition()
+        {
+            int updownPosition = AxisManager.instance.GetTargetPosition(updown.DeviceName, updown.GetAxisValue());
+            if (!txtUpdownPosition.Text.Equals(updownPosition.ToString()))
+            {
+                txtUpdownPosition.Text = updownPosition.ToString();
+            }
+        }
+
+        private void UpdateMiddlePosition()
+        {
+            int middlePosition = AxisManager.instance.GetTargetPosition(middle.DeviceName, middle.GetAxisValue());
+            if (!txtMiddlePosition.Text.Equals(middlePosition.ToString()))
+            {
+                txtMiddlePosition.Text = middlePosition.ToString();
+            }
+        }
+
+        private void UpdateInOutPosition()
+        {
+            int inoutPosition = AxisManager.instance.GetTargetPosition(inout.DeviceName, inout.GetAxisValue());
+            if (!txtInOutPosition.Text.Equals(inoutPosition.ToString()))
+            {
+                txtInOutPosition.Text = inoutPosition.ToString();
+            }
+        }
+
+        private void trackBar1_ValueChanged(object sender, EventArgs e)
+        {
+            int value = trackBar1.Value;
+            lblSpeed.Text = "点动速度=" +  (value  / 10f) + "倍目标速度"; 
+            txtMiddleSpeed.Text = (middle.TargetSpeed * value / 10).ToString();
+            txtInOutSpeed.Text = (inout.TargetSpeed * value / 10).ToString();
+            txtUpDownSpeed.Text = (updown.TargetSpeed * value / 10).ToString();
+            txtComSpeed.Text = (comp.TargetSpeed * value / 10).ToString();
+        }
+
+        private void trackBar1_Scroll(object sender, EventArgs e)
+        {
+
+        }
+        private void btnMCopy_Click(object sender, EventArgs e)
+        {
+            Clipboard.SetDataObject(txtMiddlePosition.Text, true);
+        }
+
+        private void btnUCopy_Click(object sender, EventArgs e)
+        {
+            Clipboard.SetDataObject(txtUpdownPosition.Text, true);
+        }
+
+        private void btnICopy_Click(object sender, EventArgs e)
+        {
+            Clipboard.SetDataObject(txtInOutPosition.Text, true);
+        }
+
+        private void btnCCopy_Click(object sender, EventArgs e)
+        {
+            Clipboard.SetDataObject(txtComPosition.Text, true);
+        }
+    }
+}

source/XLRStoreClient/boxForm/FrmAxisDebug.resx

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+    
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+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
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+    value   : The object must be serialized into a byte array 
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+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
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+          </xsd:element>
+          <xsd:element name="data">
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+</root>
\ No newline at end of file

source/XLRStoreClient/boxForm/FrmAxisMove.Designer.cs

+namespace OnlineStore.XLRStore
+{
+    partial class FrmAxisMove
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.components = new System.ComponentModel.Container();
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
+            this.groupBox4 = new System.Windows.Forms.GroupBox();
+            this.txtUpdown_P11 = new System.Windows.Forms.TextBox();
+            this.txtUpdown_P10 = new System.Windows.Forms.TextBox();
+            this.txtUpdown_P9 = new System.Windows.Forms.TextBox();
+            this.txtUpdown_P8 = new System.Windows.Forms.TextBox();
+            this.txtUpdown_P5 = new System.Windows.Forms.TextBox();
+            this.txtUpdown_P4 = new System.Windows.Forms.TextBox();
+            this.txtUpdown_P3 = new System.Windows.Forms.TextBox();
+            this.txtUpdown_P2 = new System.Windows.Forms.TextBox();
+            this.txtUpdown_P1 = new System.Windows.Forms.TextBox();
+            this.btnUpdown_P9 = new System.Windows.Forms.Button();
+            this.btnUpdown_P4 = new System.Windows.Forms.Button();
+            this.btnUpdown_P3 = new System.Windows.Forms.Button();
+            this.btnUpdown_P1 = new System.Windows.Forms.Button();
+            this.btnUpdown_P11 = new System.Windows.Forms.Button();
+            this.btnUpdown_P10 = new System.Windows.Forms.Button();
+            this.btnUpdown_P8 = new System.Windows.Forms.Button();
+            this.btnUpdown_P5 = new System.Windows.Forms.Button();
+            this.btnUpdown_P2 = new System.Windows.Forms.Button();
+            this.groupBox5 = new System.Windows.Forms.GroupBox();
+            this.btnPullAxis_Updown_P2 = new System.Windows.Forms.Button();
+            this.btnPullAxis_Updown_P1 = new System.Windows.Forms.Button();
+            this.txtPullAxis_Updown_P2 = new System.Windows.Forms.TextBox();
+            this.txtPullAxis_Updown_P1 = new System.Windows.Forms.TextBox();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.txtMoveAxis_P2 = new System.Windows.Forms.TextBox();
+            this.txtMoveAxis_P1 = new System.Windows.Forms.TextBox();
+            this.btnMoveAxis_P2 = new System.Windows.Forms.Button();
+            this.btnMoveAxis_P1 = new System.Windows.Forms.Button();
+            this.groupBox3 = new System.Windows.Forms.GroupBox();
+            this.txtPullAxis_Inout_P1 = new System.Windows.Forms.TextBox();
+            this.btnPullAxis_Inout_P1 = new System.Windows.Forms.Button();
+            this.groupBox6 = new System.Windows.Forms.GroupBox();
+            this.btnXAxis_A_P1 = new System.Windows.Forms.Button();
+            this.txtXAxis_A_P2 = new System.Windows.Forms.TextBox();
+            this.btnXAxis_A_P2 = new System.Windows.Forms.Button();
+            this.txtXAxis_A_P1 = new System.Windows.Forms.TextBox();
+            this.groupBox8 = new System.Windows.Forms.GroupBox();
+            this.txtComAxis_A_P1 = new System.Windows.Forms.TextBox();
+            this.btnComAxis_A_P1 = new System.Windows.Forms.Button();
+            this.groupBox7 = new System.Windows.Forms.GroupBox();
+            this.txtMiddleAxis_A_P3 = new System.Windows.Forms.TextBox();
+            this.txtMiddleAxis_A_P2 = new System.Windows.Forms.TextBox();
+            this.txtMiddleAxis_A_P1 = new System.Windows.Forms.TextBox();
+            this.btnMiddleAxis_A_P1 = new System.Windows.Forms.Button();
+            this.btnMiddleAxis_A_P3 = new System.Windows.Forms.Button();
+            this.btnMiddleAxis_A_P2 = new System.Windows.Forms.Button();
+            this.groupBox9 = new System.Windows.Forms.GroupBox();
+            this.btnXAxis_B_P1 = new System.Windows.Forms.Button();
+            this.txtXAxis_B_P2 = new System.Windows.Forms.TextBox();
+            this.btnXAxis_B_P2 = new System.Windows.Forms.Button();
+            this.txtXAxis_B_P1 = new System.Windows.Forms.TextBox();
+            this.groupBox10 = new System.Windows.Forms.GroupBox();
+            this.txtMiddleAxis_B_P3 = new System.Windows.Forms.TextBox();
+            this.txtMiddleAxis_B_P2 = new System.Windows.Forms.TextBox();
+            this.txtMiddleAxis_B_P1 = new System.Windows.Forms.TextBox();
+            this.btnMiddleAxis_B_P1 = new System.Windows.Forms.Button();
+            this.btnMiddleAxis_B_P3 = new System.Windows.Forms.Button();
+            this.btnMiddleAxis_B_P2 = new System.Windows.Forms.Button();
+            this.groupBox11 = new System.Windows.Forms.GroupBox();
+            this.txtComAxis_B_P1 = new System.Windows.Forms.TextBox();
+            this.btnComAxis_B_P1 = new System.Windows.Forms.Button();
+            this.groupBox12 = new System.Windows.Forms.GroupBox();
+            this.label3 = new System.Windows.Forms.Label();
+            this.btnSavePoints = new System.Windows.Forms.Button();
+            this.groupBox13 = new System.Windows.Forms.GroupBox();
+            this.flowLayoutPanel2 = new System.Windows.Forms.FlowLayoutPanel();
+            this.groupBox18 = new System.Windows.Forms.GroupBox();
+            this.label2 = new System.Windows.Forms.Label();
+            this.btnSavePosIds = new System.Windows.Forms.Button();
+            this.label1 = new System.Windows.Forms.Label();
+            this.combBoxPosIds = new System.Windows.Forms.ComboBox();
+            this.groupBox14 = new System.Windows.Forms.GroupBox();
+            this.txtUpdown_P7_P13 = new System.Windows.Forms.TextBox();
+            this.txtUpdown_P6_P12 = new System.Windows.Forms.TextBox();
+            this.btnUpdown_P6_P12 = new System.Windows.Forms.Button();
+            this.btnUpdown_P7_P13 = new System.Windows.Forms.Button();
+            this.groupBox15 = new System.Windows.Forms.GroupBox();
+            this.txtMoveAxis_P3 = new System.Windows.Forms.TextBox();
+            this.btnMoveAxis_P3 = new System.Windows.Forms.Button();
+            this.groupBox19 = new System.Windows.Forms.GroupBox();
+            this.txtXAxis_AB_P3 = new System.Windows.Forms.TextBox();
+            this.btnXAxis_AB_P3 = new System.Windows.Forms.Button();
+            this.groupBox16 = new System.Windows.Forms.GroupBox();
+            this.txtPullAxis_Inout_P3_P5 = new System.Windows.Forms.TextBox();
+            this.btnPullAxis_Inout_P3_P5 = new System.Windows.Forms.Button();
+            this.txtPullAxis_Inout_P2_P4 = new System.Windows.Forms.TextBox();
+            this.btnPullAxis_Inout_P2_P4 = new System.Windows.Forms.Button();
+            this.groupBox17 = new System.Windows.Forms.GroupBox();
+            this.btnPullAxis_Updown_P4 = new System.Windows.Forms.Button();
+            this.btnPullAxis_Updown_P3 = new System.Windows.Forms.Button();
+            this.txtPullAxis_Updown_P4 = new System.Windows.Forms.TextBox();
+            this.txtPullAxis_Updown_P3 = new System.Windows.Forms.TextBox();
+            this.groupBox24 = new System.Windows.Forms.GroupBox();
+            this.txtComAxis_AB_P3 = new System.Windows.Forms.TextBox();
+            this.btnComAxis_AB_P3 = new System.Windows.Forms.Button();
+            this.txtComAxis_AB_P2 = new System.Windows.Forms.TextBox();
+            this.btnComAxis_AB_P2 = new System.Windows.Forms.Button();
+            this.tabControl1 = new System.Windows.Forms.TabControl();
+            this.tabPage1 = new System.Windows.Forms.TabPage();
+            this.tabPage2 = new System.Windows.Forms.TabPage();
+            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
+            this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
+            this.axisMoveControl1 = new OnlineStore.XLRStore.AxisMoveControl();
+            this.tableLayoutPanel3 = new System.Windows.Forms.TableLayoutPanel();
+            this.groupBox22 = new System.Windows.Forms.GroupBox();
+            this.Row_Check_6 = new System.Windows.Forms.Label();
+            this.Row_Check_5 = new System.Windows.Forms.Label();
+            this.Row_Check_4 = new System.Windows.Forms.Label();
+            this.Row_Check_3 = new System.Windows.Forms.Label();
+            this.Row_Check_2 = new System.Windows.Forms.Label();
+            this.Row_Check_1 = new System.Windows.Forms.Label();
+            this.Row_Check_13 = new System.Windows.Forms.Label();
+            this.Row_Check_14 = new System.Windows.Forms.Label();
+            this.Row_Check_15 = new System.Windows.Forms.Label();
+            this.Row_Check_11 = new System.Windows.Forms.Label();
+            this.Row_Check_12 = new System.Windows.Forms.Label();
+            this.Row_Check_9 = new System.Windows.Forms.Label();
+            this.Row_Check_10 = new System.Windows.Forms.Label();
+            this.Row_Check_7 = new System.Windows.Forms.Label();
+            this.Row_Check_8 = new System.Windows.Forms.Label();
+            this.groupBox21 = new System.Windows.Forms.GroupBox();
+            this.Column_Check_B2 = new System.Windows.Forms.Label();
+            this.Column_Check_B3 = new System.Windows.Forms.Label();
+            this.Column_Check_B4 = new System.Windows.Forms.Label();
+            this.Column_Check_B5 = new System.Windows.Forms.Label();
+            this.Column_Check_B6 = new System.Windows.Forms.Label();
+            this.Column_Check_B1 = new System.Windows.Forms.Label();
+            this.BHorizontal_Check = new System.Windows.Forms.Label();
+            this.groupBox20 = new System.Windows.Forms.GroupBox();
+            this.AHorizontal_Check = new System.Windows.Forms.Label();
+            this.Column_Check_A2 = new System.Windows.Forms.Label();
+            this.Column_Check_A3 = new System.Windows.Forms.Label();
+            this.Column_Check_A4 = new System.Windows.Forms.Label();
+            this.Column_Check_A5 = new System.Windows.Forms.Label();
+            this.Column_Check_A6 = new System.Windows.Forms.Label();
+            this.Column_Check_A1 = new System.Windows.Forms.Label();
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
+            this.groupBox1.SuspendLayout();
+            this.flowLayoutPanel1.SuspendLayout();
+            this.groupBox4.SuspendLayout();
+            this.groupBox5.SuspendLayout();
+            this.groupBox2.SuspendLayout();
+            this.groupBox3.SuspendLayout();
+            this.groupBox6.SuspendLayout();
+            this.groupBox8.SuspendLayout();
+            this.groupBox7.SuspendLayout();
+            this.groupBox9.SuspendLayout();
+            this.groupBox10.SuspendLayout();
+            this.groupBox11.SuspendLayout();
+            this.groupBox12.SuspendLayout();
+            this.groupBox13.SuspendLayout();
+            this.flowLayoutPanel2.SuspendLayout();
+            this.groupBox18.SuspendLayout();
+            this.groupBox14.SuspendLayout();
+            this.groupBox15.SuspendLayout();
+            this.groupBox19.SuspendLayout();
+            this.groupBox16.SuspendLayout();
+            this.groupBox17.SuspendLayout();
+            this.groupBox24.SuspendLayout();
+            this.tabControl1.SuspendLayout();
+            this.tabPage1.SuspendLayout();
+            this.tabPage2.SuspendLayout();
+            this.tableLayoutPanel1.SuspendLayout();
+            this.tableLayoutPanel2.SuspendLayout();
+            this.tableLayoutPanel3.SuspendLayout();
+            this.groupBox22.SuspendLayout();
+            this.groupBox21.SuspendLayout();
+            this.groupBox20.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // groupBox1
+            // 
+            this.groupBox1.Controls.Add(this.flowLayoutPanel1);
+            this.groupBox1.Location = new System.Drawing.Point(6, 6);
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.Size = new System.Drawing.Size(1651, 402);
+            this.groupBox1.TabIndex = 1;
+            this.groupBox1.TabStop = false;
+            this.groupBox1.Text = "存储机构位置信息";
+            // 
+            // flowLayoutPanel1
+            // 
+            this.flowLayoutPanel1.Controls.Add(this.groupBox4);
+            this.flowLayoutPanel1.Controls.Add(this.groupBox5);
+            this.flowLayoutPanel1.Controls.Add(this.groupBox2);
+            this.flowLayoutPanel1.Controls.Add(this.groupBox3);
+            this.flowLayoutPanel1.Controls.Add(this.groupBox6);
+            this.flowLayoutPanel1.Controls.Add(this.groupBox8);
+            this.flowLayoutPanel1.Controls.Add(this.groupBox7);
+            this.flowLayoutPanel1.Controls.Add(this.groupBox9);
+            this.flowLayoutPanel1.Controls.Add(this.groupBox10);
+            this.flowLayoutPanel1.Controls.Add(this.groupBox11);
+            this.flowLayoutPanel1.Controls.Add(this.groupBox12);
+            this.flowLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.flowLayoutPanel1.FlowDirection = System.Windows.Forms.FlowDirection.TopDown;
+            this.flowLayoutPanel1.Location = new System.Drawing.Point(3, 19);
+            this.flowLayoutPanel1.Name = "flowLayoutPanel1";
+            this.flowLayoutPanel1.Size = new System.Drawing.Size(1645, 380);
+            this.flowLayoutPanel1.TabIndex = 0;
+            // 
+            // groupBox4
+            // 
+            this.groupBox4.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
+            this.groupBox4.Controls.Add(this.txtUpdown_P11);
+            this.groupBox4.Controls.Add(this.txtUpdown_P10);
+            this.groupBox4.Controls.Add(this.txtUpdown_P9);
+            this.groupBox4.Controls.Add(this.txtUpdown_P8);
+            this.groupBox4.Controls.Add(this.txtUpdown_P5);
+            this.groupBox4.Controls.Add(this.txtUpdown_P4);
+            this.groupBox4.Controls.Add(this.txtUpdown_P3);
+            this.groupBox4.Controls.Add(this.txtUpdown_P2);
+            this.groupBox4.Controls.Add(this.txtUpdown_P1);
+            this.groupBox4.Controls.Add(this.btnUpdown_P9);
+            this.groupBox4.Controls.Add(this.btnUpdown_P4);
+            this.groupBox4.Controls.Add(this.btnUpdown_P3);
+            this.groupBox4.Controls.Add(this.btnUpdown_P1);
+            this.groupBox4.Controls.Add(this.btnUpdown_P11);
+            this.groupBox4.Controls.Add(this.btnUpdown_P10);
+            this.groupBox4.Controls.Add(this.btnUpdown_P8);
+            this.groupBox4.Controls.Add(this.btnUpdown_P5);
+            this.groupBox4.Controls.Add(this.btnUpdown_P2);
+            this.groupBox4.Location = new System.Drawing.Point(3, 3);
+            this.groupBox4.Name = "groupBox4";
+            this.groupBox4.Size = new System.Drawing.Size(298, 355);
+            this.groupBox4.TabIndex = 2;
+            this.groupBox4.TabStop = false;
+            this.groupBox4.Text = "移栽升降轴";
+            // 
+            // txtUpdown_P11
+            // 
+            this.txtUpdown_P11.Location = new System.Drawing.Point(154, 316);
+            this.txtUpdown_P11.Name = "txtUpdown_P11";
+            this.txtUpdown_P11.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P11.TabIndex = 22;
+            // 
+            // txtUpdown_P10
+            // 
+            this.txtUpdown_P10.Location = new System.Drawing.Point(154, 280);
+            this.txtUpdown_P10.Name = "txtUpdown_P10";
+            this.txtUpdown_P10.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P10.TabIndex = 21;
+            // 
+            // txtUpdown_P9
+            // 
+            this.txtUpdown_P9.Location = new System.Drawing.Point(154, 244);
+            this.txtUpdown_P9.Name = "txtUpdown_P9";
+            this.txtUpdown_P9.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P9.TabIndex = 20;
+            // 
+            // txtUpdown_P8
+            // 
+            this.txtUpdown_P8.Location = new System.Drawing.Point(154, 208);
+            this.txtUpdown_P8.Name = "txtUpdown_P8";
+            this.txtUpdown_P8.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P8.TabIndex = 19;
+            // 
+            // txtUpdown_P5
+            // 
+            this.txtUpdown_P5.Location = new System.Drawing.Point(154, 172);
+            this.txtUpdown_P5.Name = "txtUpdown_P5";
+            this.txtUpdown_P5.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P5.TabIndex = 18;
+            // 
+            // txtUpdown_P4
+            // 
+            this.txtUpdown_P4.Location = new System.Drawing.Point(154, 136);
+            this.txtUpdown_P4.Name = "txtUpdown_P4";
+            this.txtUpdown_P4.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P4.TabIndex = 17;
+            // 
+            // txtUpdown_P3
+            // 
+            this.txtUpdown_P3.Location = new System.Drawing.Point(154, 100);
+            this.txtUpdown_P3.Name = "txtUpdown_P3";
+            this.txtUpdown_P3.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P3.TabIndex = 16;
+            // 
+            // txtUpdown_P2
+            // 
+            this.txtUpdown_P2.Location = new System.Drawing.Point(154, 64);
+            this.txtUpdown_P2.Name = "txtUpdown_P2";
+            this.txtUpdown_P2.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P2.TabIndex = 15;
+            // 
+            // txtUpdown_P1
+            // 
+            this.txtUpdown_P1.Location = new System.Drawing.Point(154, 28);
+            this.txtUpdown_P1.Name = "txtUpdown_P1";
+            this.txtUpdown_P1.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P1.TabIndex = 14;
+            // 
+            // btnUpdown_P9
+            // 
+            this.btnUpdown_P9.Location = new System.Drawing.Point(2, 239);
+            this.btnUpdown_P9.Name = "btnUpdown_P9";
+            this.btnUpdown_P9.Size = new System.Drawing.Size(146, 32);
+            this.btnUpdown_P9.TabIndex = 13;
+            this.btnUpdown_P9.Text = "B上暂存区取料低点P9";
+            this.btnUpdown_P9.UseVisualStyleBackColor = true;
+            this.btnUpdown_P9.Click += new System.EventHandler(this.btnUpdown_P9_Click);
+            // 
+            // btnUpdown_P4
+            // 
+            this.btnUpdown_P4.Location = new System.Drawing.Point(2, 131);
+            this.btnUpdown_P4.Name = "btnUpdown_P4";
+            this.btnUpdown_P4.Size = new System.Drawing.Size(146, 32);
+            this.btnUpdown_P4.TabIndex = 12;
+            this.btnUpdown_P4.Text = "A下暂存区放料高点P4";
+            this.btnUpdown_P4.UseVisualStyleBackColor = true;
+            this.btnUpdown_P4.Click += new System.EventHandler(this.btnUpdown_P4_Click);
+            // 
+            // btnUpdown_P3
+            // 
+            this.btnUpdown_P3.Location = new System.Drawing.Point(2, 95);
+            this.btnUpdown_P3.Name = "btnUpdown_P3";
+            this.btnUpdown_P3.Size = new System.Drawing.Size(146, 32);
+            this.btnUpdown_P3.TabIndex = 11;
+            this.btnUpdown_P3.Text = "A上暂存区取料低点P3";
+            this.btnUpdown_P3.UseVisualStyleBackColor = true;
+            this.btnUpdown_P3.Click += new System.EventHandler(this.btnUpdown_P3_Click);
+            // 
+            // btnUpdown_P1
+            // 
+            this.btnUpdown_P1.Location = new System.Drawing.Point(2, 23);
+            this.btnUpdown_P1.Name = "btnUpdown_P1";
+            this.btnUpdown_P1.Size = new System.Drawing.Size(146, 32);
+            this.btnUpdown_P1.TabIndex = 10;
+            this.btnUpdown_P1.Text = "待机点P1";
+            this.btnUpdown_P1.UseVisualStyleBackColor = true;
+            this.btnUpdown_P1.Click += new System.EventHandler(this.btnUpdown_P1_Click);
+            // 
+            // btnUpdown_P11
+            // 
+            this.btnUpdown_P11.Location = new System.Drawing.Point(2, 311);
+            this.btnUpdown_P11.Name = "btnUpdown_P11";
+            this.btnUpdown_P11.Size = new System.Drawing.Size(146, 32);
+            this.btnUpdown_P11.TabIndex = 6;
+            this.btnUpdown_P11.Text = "B下暂存区取料低点P11";
+            this.btnUpdown_P11.UseVisualStyleBackColor = true;
+            this.btnUpdown_P11.Click += new System.EventHandler(this.btnUpdown_P11_Click);
+            // 
+            // btnUpdown_P10
+            // 
+            this.btnUpdown_P10.Location = new System.Drawing.Point(2, 275);
+            this.btnUpdown_P10.Name = "btnUpdown_P10";
+            this.btnUpdown_P10.Size = new System.Drawing.Size(146, 32);
+            this.btnUpdown_P10.TabIndex = 5;
+            this.btnUpdown_P10.Text = "B下暂存区取料高点P10";
+            this.btnUpdown_P10.UseVisualStyleBackColor = true;
+            this.btnUpdown_P10.Click += new System.EventHandler(this.btnUpdown_P10_Click);
+            // 
+            // btnUpdown_P8
+            // 
+            this.btnUpdown_P8.Location = new System.Drawing.Point(2, 203);
+            this.btnUpdown_P8.Name = "btnUpdown_P8";
+            this.btnUpdown_P8.Size = new System.Drawing.Size(146, 32);
+            this.btnUpdown_P8.TabIndex = 4;
+            this.btnUpdown_P8.Text = "B上暂存区取料高点P8";
+            this.btnUpdown_P8.UseVisualStyleBackColor = true;
+            this.btnUpdown_P8.Click += new System.EventHandler(this.btnUpdown_P8_Click);
+            // 
+            // btnUpdown_P5
+            // 
+            this.btnUpdown_P5.Location = new System.Drawing.Point(2, 167);
+            this.btnUpdown_P5.Name = "btnUpdown_P5";
+            this.btnUpdown_P5.Size = new System.Drawing.Size(146, 32);
+            this.btnUpdown_P5.TabIndex = 3;
+            this.btnUpdown_P5.Text = "A下暂存区放料低点P5";
+            this.btnUpdown_P5.UseVisualStyleBackColor = true;
+            this.btnUpdown_P5.Click += new System.EventHandler(this.btnUpdown_P5_Click);
+            // 
+            // btnUpdown_P2
+            // 
+            this.btnUpdown_P2.Location = new System.Drawing.Point(2, 59);
+            this.btnUpdown_P2.Name = "btnUpdown_P2";
+            this.btnUpdown_P2.Size = new System.Drawing.Size(146, 32);
+            this.btnUpdown_P2.TabIndex = 2;
+            this.btnUpdown_P2.Text = "A上暂存区取料高点P2";
+            this.btnUpdown_P2.UseVisualStyleBackColor = true;
+            this.btnUpdown_P2.Click += new System.EventHandler(this.btnUpdown_P2_Click);
+            // 
+            // groupBox5
+            // 
+            this.groupBox5.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
+            this.groupBox5.Controls.Add(this.btnPullAxis_Updown_P2);
+            this.groupBox5.Controls.Add(this.btnPullAxis_Updown_P1);
+            this.groupBox5.Controls.Add(this.txtPullAxis_Updown_P2);
+            this.groupBox5.Controls.Add(this.txtPullAxis_Updown_P1);
+            this.groupBox5.Location = new System.Drawing.Point(307, 3);
+            this.groupBox5.Name = "groupBox5";
+            this.groupBox5.Size = new System.Drawing.Size(294, 100);
+            this.groupBox5.TabIndex = 3;
+            this.groupBox5.TabStop = false;
+            this.groupBox5.Text = "料斗拉取升降轴";
+            // 
+            // btnPullAxis_Updown_P2
+            // 
+            this.btnPullAxis_Updown_P2.Location = new System.Drawing.Point(6, 55);
+            this.btnPullAxis_Updown_P2.Name = "btnPullAxis_Updown_P2";
+            this.btnPullAxis_Updown_P2.Size = new System.Drawing.Size(132, 32);
+            this.btnPullAxis_Updown_P2.TabIndex = 3;
+            this.btnPullAxis_Updown_P2.Text = "料屉提取水平点P2";
+            this.btnPullAxis_Updown_P2.UseVisualStyleBackColor = true;
+            this.btnPullAxis_Updown_P2.Click += new System.EventHandler(this.btnPullAxis_Updown_P2_Click);
+            // 
+            // btnPullAxis_Updown_P1
+            // 
+            this.btnPullAxis_Updown_P1.Location = new System.Drawing.Point(6, 17);
+            this.btnPullAxis_Updown_P1.Name = "btnPullAxis_Updown_P1";
+            this.btnPullAxis_Updown_P1.Size = new System.Drawing.Size(132, 32);
+            this.btnPullAxis_Updown_P1.TabIndex = 2;
+            this.btnPullAxis_Updown_P1.Text = "待机点P1";
+            this.btnPullAxis_Updown_P1.UseVisualStyleBackColor = true;
+            this.btnPullAxis_Updown_P1.Click += new System.EventHandler(this.btnPullAxis_Updown_P1_Click);
+            // 
+            // txtPullAxis_Updown_P2
+            // 
+            this.txtPullAxis_Updown_P2.Location = new System.Drawing.Point(144, 60);
+            this.txtPullAxis_Updown_P2.Name = "txtPullAxis_Updown_P2";
+            this.txtPullAxis_Updown_P2.Size = new System.Drawing.Size(134, 23);
+            this.txtPullAxis_Updown_P2.TabIndex = 8;
+            // 
+            // txtPullAxis_Updown_P1
+            // 
+            this.txtPullAxis_Updown_P1.Location = new System.Drawing.Point(144, 22);
+            this.txtPullAxis_Updown_P1.Name = "txtPullAxis_Updown_P1";
+            this.txtPullAxis_Updown_P1.Size = new System.Drawing.Size(134, 23);
+            this.txtPullAxis_Updown_P1.TabIndex = 9;
+            // 
+            // groupBox2
+            // 
+            this.groupBox2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(224)))), ((int)(((byte)(192)))));
+            this.groupBox2.Controls.Add(this.txtMoveAxis_P2);
+            this.groupBox2.Controls.Add(this.txtMoveAxis_P1);
+            this.groupBox2.Controls.Add(this.btnMoveAxis_P2);
+            this.groupBox2.Controls.Add(this.btnMoveAxis_P1);
+            this.groupBox2.Location = new System.Drawing.Point(307, 109);
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.Size = new System.Drawing.Size(298, 100);
+            this.groupBox2.TabIndex = 0;
+            this.groupBox2.TabStop = false;
+            this.groupBox2.Text = "行走机构";
+            // 
+            // txtMoveAxis_P2
+            // 
+            this.txtMoveAxis_P2.Location = new System.Drawing.Point(154, 66);
+            this.txtMoveAxis_P2.Name = "txtMoveAxis_P2";
+            this.txtMoveAxis_P2.Size = new System.Drawing.Size(134, 23);
+            this.txtMoveAxis_P2.TabIndex = 4;
+            // 
+            // txtMoveAxis_P1
+            // 
+            this.txtMoveAxis_P1.Location = new System.Drawing.Point(154, 27);
+            this.txtMoveAxis_P1.Name = "txtMoveAxis_P1";
+            this.txtMoveAxis_P1.Size = new System.Drawing.Size(134, 23);
+            this.txtMoveAxis_P1.TabIndex = 3;
+            // 
+            // btnMoveAxis_P2
+            // 
+            this.btnMoveAxis_P2.Location = new System.Drawing.Point(6, 60);
+            this.btnMoveAxis_P2.Name = "btnMoveAxis_P2";
+            this.btnMoveAxis_P2.Size = new System.Drawing.Size(142, 32);
+            this.btnMoveAxis_P2.TabIndex = 1;
+            this.btnMoveAxis_P2.Text = "进出料机构取放点位P2";
+            this.btnMoveAxis_P2.UseVisualStyleBackColor = true;
+            this.btnMoveAxis_P2.Click += new System.EventHandler(this.btnMoveAxis_P2_Click);
+            // 
+            // btnMoveAxis_P1
+            // 
+            this.btnMoveAxis_P1.Location = new System.Drawing.Point(6, 22);
+            this.btnMoveAxis_P1.Name = "btnMoveAxis_P1";
+            this.btnMoveAxis_P1.Size = new System.Drawing.Size(142, 32);
+            this.btnMoveAxis_P1.TabIndex = 0;
+            this.btnMoveAxis_P1.Text = "待机点P1";
+            this.btnMoveAxis_P1.UseVisualStyleBackColor = true;
+            this.btnMoveAxis_P1.Click += new System.EventHandler(this.btnMoveAxis_P1_Click);
+            // 
+            // groupBox3
+            // 
+            this.groupBox3.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
+            this.groupBox3.Controls.Add(this.txtPullAxis_Inout_P1);
+            this.groupBox3.Controls.Add(this.btnPullAxis_Inout_P1);
+            this.groupBox3.Location = new System.Drawing.Point(307, 215);
+            this.groupBox3.Name = "groupBox3";
+            this.groupBox3.Size = new System.Drawing.Size(298, 66);
+            this.groupBox3.TabIndex = 1;
+            this.groupBox3.TabStop = false;
+            this.groupBox3.Text = "料斗拉取进出轴";
+            // 
+            // txtPullAxis_Inout_P1
+            // 
+            this.txtPullAxis_Inout_P1.Location = new System.Drawing.Point(144, 27);
+            this.txtPullAxis_Inout_P1.Name = "txtPullAxis_Inout_P1";
+            this.txtPullAxis_Inout_P1.Size = new System.Drawing.Size(134, 23);
+            this.txtPullAxis_Inout_P1.TabIndex = 6;
+            // 
+            // btnPullAxis_Inout_P1
+            // 
+            this.btnPullAxis_Inout_P1.Location = new System.Drawing.Point(6, 22);
+            this.btnPullAxis_Inout_P1.Name = "btnPullAxis_Inout_P1";
+            this.btnPullAxis_Inout_P1.Size = new System.Drawing.Size(132, 32);
+            this.btnPullAxis_Inout_P1.TabIndex = 1;
+            this.btnPullAxis_Inout_P1.Text = "待机点P1";
+            this.btnPullAxis_Inout_P1.UseVisualStyleBackColor = true;
+            this.btnPullAxis_Inout_P1.Click += new System.EventHandler(this.btnPullAxis_Inout_P1_Click);
+            // 
+            // groupBox6
+            // 
+            this.groupBox6.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
+            this.groupBox6.Controls.Add(this.btnXAxis_A_P1);
+            this.groupBox6.Controls.Add(this.txtXAxis_A_P2);
+            this.groupBox6.Controls.Add(this.btnXAxis_A_P2);
+            this.groupBox6.Controls.Add(this.txtXAxis_A_P1);
+            this.groupBox6.Location = new System.Drawing.Point(611, 3);
+            this.groupBox6.Name = "groupBox6";
+            this.groupBox6.Size = new System.Drawing.Size(323, 100);
+            this.groupBox6.TabIndex = 4;
+            this.groupBox6.TabStop = false;
+            this.groupBox6.Text = "A面移栽X轴";
+            // 
+            // btnXAxis_A_P1
+            // 
+            this.btnXAxis_A_P1.Location = new System.Drawing.Point(6, 22);
+            this.btnXAxis_A_P1.Name = "btnXAxis_A_P1";
+            this.btnXAxis_A_P1.Size = new System.Drawing.Size(164, 32);
+            this.btnXAxis_A_P1.TabIndex = 4;
+            this.btnXAxis_A_P1.Text = "待机点P1";
+            this.btnXAxis_A_P1.UseVisualStyleBackColor = true;
+            this.btnXAxis_A_P1.Click += new System.EventHandler(this.btnXAxis_A_P1_Click);
+            // 
+            // txtXAxis_A_P2
+            // 
+            this.txtXAxis_A_P2.Location = new System.Drawing.Point(176, 65);
+            this.txtXAxis_A_P2.Name = "txtXAxis_A_P2";
+            this.txtXAxis_A_P2.Size = new System.Drawing.Size(134, 23);
+            this.txtXAxis_A_P2.TabIndex = 10;
+            // 
+            // btnXAxis_A_P2
+            // 
+            this.btnXAxis_A_P2.Location = new System.Drawing.Point(6, 60);
+            this.btnXAxis_A_P2.Name = "btnXAxis_A_P2";
+            this.btnXAxis_A_P2.Size = new System.Drawing.Size(164, 32);
+            this.btnXAxis_A_P2.TabIndex = 5;
+            this.btnXAxis_A_P2.Text = "A进出料暂存区取放料点P2";
+            this.btnXAxis_A_P2.UseVisualStyleBackColor = true;
+            this.btnXAxis_A_P2.Click += new System.EventHandler(this.btnXAxis_A_P2_Click);
+            // 
+            // txtXAxis_A_P1
+            // 
+            this.txtXAxis_A_P1.Location = new System.Drawing.Point(176, 28);
+            this.txtXAxis_A_P1.Name = "txtXAxis_A_P1";
+            this.txtXAxis_A_P1.Size = new System.Drawing.Size(134, 23);
+            this.txtXAxis_A_P1.TabIndex = 7;
+            // 
+            // groupBox8
+            // 
+            this.groupBox8.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
+            this.groupBox8.Controls.Add(this.txtComAxis_A_P1);
+            this.groupBox8.Controls.Add(this.btnComAxis_A_P1);
+            this.groupBox8.Location = new System.Drawing.Point(611, 109);
+            this.groupBox8.Name = "groupBox8";
+            this.groupBox8.Size = new System.Drawing.Size(323, 63);
+            this.groupBox8.TabIndex = 6;
+            this.groupBox8.TabStop = false;
+            this.groupBox8.Text = "A面移栽压紧轴";
+            // 
+            // txtComAxis_A_P1
+            // 
+            this.txtComAxis_A_P1.Location = new System.Drawing.Point(144, 32);
+            this.txtComAxis_A_P1.Name = "txtComAxis_A_P1";
+            this.txtComAxis_A_P1.Size = new System.Drawing.Size(134, 23);
+            this.txtComAxis_A_P1.TabIndex = 30;
+            // 
+            // btnComAxis_A_P1
+            // 
+            this.btnComAxis_A_P1.Location = new System.Drawing.Point(6, 27);
+            this.btnComAxis_A_P1.Name = "btnComAxis_A_P1";
+            this.btnComAxis_A_P1.Size = new System.Drawing.Size(132, 32);
+            this.btnComAxis_A_P1.TabIndex = 29;
+            this.btnComAxis_A_P1.Text = "待机点P1";
+            this.btnComAxis_A_P1.UseVisualStyleBackColor = true;
+            this.btnComAxis_A_P1.Click += new System.EventHandler(this.btnComAxis_A_P1_Click);
+            // 
+            // groupBox7
+            // 
+            this.groupBox7.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
+            this.groupBox7.Controls.Add(this.txtMiddleAxis_A_P3);
+            this.groupBox7.Controls.Add(this.txtMiddleAxis_A_P2);
+            this.groupBox7.Controls.Add(this.txtMiddleAxis_A_P1);
+            this.groupBox7.Controls.Add(this.btnMiddleAxis_A_P1);
+            this.groupBox7.Controls.Add(this.btnMiddleAxis_A_P3);
+            this.groupBox7.Controls.Add(this.btnMiddleAxis_A_P2);
+            this.groupBox7.Location = new System.Drawing.Point(611, 178);
+            this.groupBox7.Name = "groupBox7";
+            this.groupBox7.Size = new System.Drawing.Size(335, 132);
+            this.groupBox7.TabIndex = 5;
+            this.groupBox7.TabStop = false;
+            this.groupBox7.Text = "A面移栽旋转轴";
+            // 
+            // txtMiddleAxis_A_P3
+            // 
+            this.txtMiddleAxis_A_P3.Location = new System.Drawing.Point(195, 93);
+            this.txtMiddleAxis_A_P3.Name = "txtMiddleAxis_A_P3";
+            this.txtMiddleAxis_A_P3.Size = new System.Drawing.Size(134, 23);
+            this.txtMiddleAxis_A_P3.TabIndex = 28;
+            // 
+            // txtMiddleAxis_A_P2
+            // 
+            this.txtMiddleAxis_A_P2.Location = new System.Drawing.Point(195, 57);
+            this.txtMiddleAxis_A_P2.Name = "txtMiddleAxis_A_P2";
+            this.txtMiddleAxis_A_P2.Size = new System.Drawing.Size(134, 23);
+            this.txtMiddleAxis_A_P2.TabIndex = 27;
+            // 
+            // txtMiddleAxis_A_P1
+            // 
+            this.txtMiddleAxis_A_P1.Location = new System.Drawing.Point(195, 21);
+            this.txtMiddleAxis_A_P1.Name = "txtMiddleAxis_A_P1";
+            this.txtMiddleAxis_A_P1.Size = new System.Drawing.Size(134, 23);
+            this.txtMiddleAxis_A_P1.TabIndex = 26;
+            // 
+            // btnMiddleAxis_A_P1
+            // 
+            this.btnMiddleAxis_A_P1.Location = new System.Drawing.Point(6, 16);
+            this.btnMiddleAxis_A_P1.Name = "btnMiddleAxis_A_P1";
+            this.btnMiddleAxis_A_P1.Size = new System.Drawing.Size(184, 32);
+            this.btnMiddleAxis_A_P1.TabIndex = 25;
+            this.btnMiddleAxis_A_P1.Text = "待机点P1";
+            this.btnMiddleAxis_A_P1.UseVisualStyleBackColor = true;
+            this.btnMiddleAxis_A_P1.Click += new System.EventHandler(this.btnMiddleAxis_A_P1_Click);
+            // 
+            // btnMiddleAxis_A_P3
+            // 
+            this.btnMiddleAxis_A_P3.Location = new System.Drawing.Point(6, 88);
+            this.btnMiddleAxis_A_P3.Name = "btnMiddleAxis_A_P3";
+            this.btnMiddleAxis_A_P3.Size = new System.Drawing.Size(184, 32);
+            this.btnMiddleAxis_A_P3.TabIndex = 24;
+            this.btnMiddleAxis_A_P3.Text = "A面料屉库位垂直取放料点P3";
+            this.btnMiddleAxis_A_P3.UseVisualStyleBackColor = true;
+            this.btnMiddleAxis_A_P3.Click += new System.EventHandler(this.btnMiddleAxis_A_P3_Click);
+            // 
+            // btnMiddleAxis_A_P2
+            // 
+            this.btnMiddleAxis_A_P2.Location = new System.Drawing.Point(6, 52);
+            this.btnMiddleAxis_A_P2.Name = "btnMiddleAxis_A_P2";
+            this.btnMiddleAxis_A_P2.Size = new System.Drawing.Size(184, 32);
+            this.btnMiddleAxis_A_P2.TabIndex = 23;
+            this.btnMiddleAxis_A_P2.Text = "A进出料暂存区取放料水平点P2";
+            this.btnMiddleAxis_A_P2.UseVisualStyleBackColor = true;
+            this.btnMiddleAxis_A_P2.Click += new System.EventHandler(this.btnMiddleAxis_A_P2_Click);
+            // 
+            // groupBox9
+            // 
+            this.groupBox9.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
+            this.groupBox9.Controls.Add(this.btnXAxis_B_P1);
+            this.groupBox9.Controls.Add(this.txtXAxis_B_P2);
+            this.groupBox9.Controls.Add(this.btnXAxis_B_P2);
+            this.groupBox9.Controls.Add(this.txtXAxis_B_P1);
+            this.groupBox9.Location = new System.Drawing.Point(952, 3);
+            this.groupBox9.Name = "groupBox9";
+            this.groupBox9.Size = new System.Drawing.Size(335, 100);
+            this.groupBox9.TabIndex = 7;
+            this.groupBox9.TabStop = false;
+            this.groupBox9.Text = "B面移栽X轴";
+            // 
+            // btnXAxis_B_P1
+            // 
+            this.btnXAxis_B_P1.Location = new System.Drawing.Point(6, 24);
+            this.btnXAxis_B_P1.Name = "btnXAxis_B_P1";
+            this.btnXAxis_B_P1.Size = new System.Drawing.Size(132, 32);
+            this.btnXAxis_B_P1.TabIndex = 11;
+            this.btnXAxis_B_P1.Text = "待机点P1";
+            this.btnXAxis_B_P1.UseVisualStyleBackColor = true;
+            this.btnXAxis_B_P1.Click += new System.EventHandler(this.btnXAxis_B_P1_Click);
+            // 
+            // txtXAxis_B_P2
+            // 
+            this.txtXAxis_B_P2.Location = new System.Drawing.Point(144, 67);
+            this.txtXAxis_B_P2.Name = "txtXAxis_B_P2";
+            this.txtXAxis_B_P2.Size = new System.Drawing.Size(134, 23);
+            this.txtXAxis_B_P2.TabIndex = 14;
+            // 
+            // btnXAxis_B_P2
+            // 
+            this.btnXAxis_B_P2.Location = new System.Drawing.Point(6, 62);
+            this.btnXAxis_B_P2.Name = "btnXAxis_B_P2";
+            this.btnXAxis_B_P2.Size = new System.Drawing.Size(132, 32);
+            this.btnXAxis_B_P2.TabIndex = 12;
+            this.btnXAxis_B_P2.Text = "B进出料暂存区取放料点P2";
+            this.btnXAxis_B_P2.UseVisualStyleBackColor = true;
+            this.btnXAxis_B_P2.Click += new System.EventHandler(this.btnXAxis_B_P2_Click);
+            // 
+            // txtXAxis_B_P1
+            // 
+            this.txtXAxis_B_P1.Location = new System.Drawing.Point(144, 33);
+            this.txtXAxis_B_P1.Name = "txtXAxis_B_P1";
+            this.txtXAxis_B_P1.Size = new System.Drawing.Size(134, 23);
+            this.txtXAxis_B_P1.TabIndex = 13;
+            // 
+            // groupBox10
+            // 
+            this.groupBox10.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(128)))));
+            this.groupBox10.Controls.Add(this.txtMiddleAxis_B_P3);
+            this.groupBox10.Controls.Add(this.txtMiddleAxis_B_P2);
+            this.groupBox10.Controls.Add(this.txtMiddleAxis_B_P1);
+            this.groupBox10.Controls.Add(this.btnMiddleAxis_B_P1);
+            this.groupBox10.Controls.Add(this.btnMiddleAxis_B_P3);
+            this.groupBox10.Controls.Add(this.btnMiddleAxis_B_P2);
+            this.groupBox10.Location = new System.Drawing.Point(952, 109);
+            this.groupBox10.Name = "groupBox10";
+            this.groupBox10.Size = new System.Drawing.Size(335, 143);
+            this.groupBox10.TabIndex = 8;
+            this.groupBox10.TabStop = false;
+            this.groupBox10.Text = "B面移栽旋转轴";
+            // 
+            // txtMiddleAxis_B_P3
+            // 
+            this.txtMiddleAxis_B_P3.Location = new System.Drawing.Point(195, 99);
+            this.txtMiddleAxis_B_P3.Name = "txtMiddleAxis_B_P3";
+            this.txtMiddleAxis_B_P3.Size = new System.Drawing.Size(134, 23);
+            this.txtMiddleAxis_B_P3.TabIndex = 34;
+            // 
+            // txtMiddleAxis_B_P2
+            // 
+            this.txtMiddleAxis_B_P2.Location = new System.Drawing.Point(195, 63);
+            this.txtMiddleAxis_B_P2.Name = "txtMiddleAxis_B_P2";
+            this.txtMiddleAxis_B_P2.Size = new System.Drawing.Size(134, 23);
+            this.txtMiddleAxis_B_P2.TabIndex = 33;
+            // 
+            // txtMiddleAxis_B_P1
+            // 
+            this.txtMiddleAxis_B_P1.Location = new System.Drawing.Point(195, 27);
+            this.txtMiddleAxis_B_P1.Name = "txtMiddleAxis_B_P1";
+            this.txtMiddleAxis_B_P1.Size = new System.Drawing.Size(134, 23);
+            this.txtMiddleAxis_B_P1.TabIndex = 32;
+            // 
+            // btnMiddleAxis_B_P1
+            // 
+            this.btnMiddleAxis_B_P1.Location = new System.Drawing.Point(6, 22);
+            this.btnMiddleAxis_B_P1.Name = "btnMiddleAxis_B_P1";
+            this.btnMiddleAxis_B_P1.Size = new System.Drawing.Size(183, 32);
+            this.btnMiddleAxis_B_P1.TabIndex = 31;
+            this.btnMiddleAxis_B_P1.Text = "待机点P1";
+            this.btnMiddleAxis_B_P1.UseVisualStyleBackColor = true;
+            this.btnMiddleAxis_B_P1.Click += new System.EventHandler(this.btnMiddleAxis_B_P1_Click);
+            // 
+            // btnMiddleAxis_B_P3
+            // 
+            this.btnMiddleAxis_B_P3.Location = new System.Drawing.Point(6, 94);
+            this.btnMiddleAxis_B_P3.Name = "btnMiddleAxis_B_P3";
+            this.btnMiddleAxis_B_P3.Size = new System.Drawing.Size(184, 32);
+            this.btnMiddleAxis_B_P3.TabIndex = 30;
+            this.btnMiddleAxis_B_P3.Text = "B面料屉库位垂直取放料点P3";
+            this.btnMiddleAxis_B_P3.UseVisualStyleBackColor = true;
+            this.btnMiddleAxis_B_P3.Click += new System.EventHandler(this.btnMiddleAxis_B_P3_Click);
+            // 
+            // btnMiddleAxis_B_P2
+            // 
+            this.btnMiddleAxis_B_P2.Location = new System.Drawing.Point(6, 58);
+            this.btnMiddleAxis_B_P2.Name = "btnMiddleAxis_B_P2";
+            this.btnMiddleAxis_B_P2.Size = new System.Drawing.Size(183, 32);
+            this.btnMiddleAxis_B_P2.TabIndex = 29;
+            this.btnMiddleAxis_B_P2.Text = "B进出料暂存区取放料水平点P2";
+            this.btnMiddleAxis_B_P2.UseVisualStyleBackColor = true;
+            this.btnMiddleAxis_B_P2.Click += new System.EventHandler(this.btnMiddleAxis_B_P2_Click);
+            // 
+            // groupBox11
+            // 
+            this.groupBox11.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(128)))));
+            this.groupBox11.Controls.Add(this.txtComAxis_B_P1);
+            this.groupBox11.Controls.Add(this.btnComAxis_B_P1);
+            this.groupBox11.Location = new System.Drawing.Point(952, 258);
+            this.groupBox11.Name = "groupBox11";
+            this.groupBox11.Size = new System.Drawing.Size(335, 64);
+            this.groupBox11.TabIndex = 9;
+            this.groupBox11.TabStop = false;
+            this.groupBox11.Text = "B面移栽压紧轴";
+            // 
+            // txtComAxis_B_P1
+            // 
+            this.txtComAxis_B_P1.Location = new System.Drawing.Point(144, 27);
+            this.txtComAxis_B_P1.Name = "txtComAxis_B_P1";
+            this.txtComAxis_B_P1.Size = new System.Drawing.Size(134, 23);
+            this.txtComAxis_B_P1.TabIndex = 32;
+            // 
+            // btnComAxis_B_P1
+            // 
+            this.btnComAxis_B_P1.Location = new System.Drawing.Point(6, 22);
+            this.btnComAxis_B_P1.Name = "btnComAxis_B_P1";
+            this.btnComAxis_B_P1.Size = new System.Drawing.Size(132, 32);
+            this.btnComAxis_B_P1.TabIndex = 31;
+            this.btnComAxis_B_P1.Text = "待机点P1";
+            this.btnComAxis_B_P1.UseVisualStyleBackColor = true;
+            this.btnComAxis_B_P1.Click += new System.EventHandler(this.btnComAxis_B_P1_Click);
+            // 
+            // groupBox12
+            // 
+            this.groupBox12.Controls.Add(this.label3);
+            this.groupBox12.Controls.Add(this.btnSavePoints);
+            this.groupBox12.Location = new System.Drawing.Point(1293, 3);
+            this.groupBox12.Name = "groupBox12";
+            this.groupBox12.Size = new System.Drawing.Size(335, 130);
+            this.groupBox12.TabIndex = 10;
+            this.groupBox12.TabStop = false;
+            this.groupBox12.Text = "操作";
+            // 
+            // label3
+            // 
+            this.label3.AutoSize = true;
+            this.label3.Location = new System.Drawing.Point(92, 83);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(0, 17);
+            this.label3.TabIndex = 13;
+            // 
+            // btnSavePoints
+            // 
+            this.btnSavePoints.Location = new System.Drawing.Point(95, 33);
+            this.btnSavePoints.Name = "btnSavePoints";
+            this.btnSavePoints.Size = new System.Drawing.Size(136, 32);
+            this.btnSavePoints.TabIndex = 12;
+            this.btnSavePoints.Text = "保存位置";
+            this.btnSavePoints.UseVisualStyleBackColor = true;
+            this.btnSavePoints.Click += new System.EventHandler(this.btnSavePoints_Click);
+            // 
+            // groupBox13
+            // 
+            this.groupBox13.Controls.Add(this.flowLayoutPanel2);
+            this.groupBox13.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.groupBox13.Location = new System.Drawing.Point(3, 3);
+            this.groupBox13.Name = "groupBox13";
+            this.groupBox13.Size = new System.Drawing.Size(1702, 382);
+            this.groupBox13.TabIndex = 2;
+            this.groupBox13.TabStop = false;
+            this.groupBox13.Text = "库位位置信息";
+            // 
+            // flowLayoutPanel2
+            // 
+            this.flowLayoutPanel2.Controls.Add(this.groupBox18);
+            this.flowLayoutPanel2.Controls.Add(this.groupBox14);
+            this.flowLayoutPanel2.Controls.Add(this.groupBox15);
+            this.flowLayoutPanel2.Controls.Add(this.groupBox19);
+            this.flowLayoutPanel2.Controls.Add(this.groupBox16);
+            this.flowLayoutPanel2.Controls.Add(this.groupBox17);
+            this.flowLayoutPanel2.Controls.Add(this.groupBox24);
+            this.flowLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.flowLayoutPanel2.Location = new System.Drawing.Point(3, 19);
+            this.flowLayoutPanel2.Name = "flowLayoutPanel2";
+            this.flowLayoutPanel2.Size = new System.Drawing.Size(1696, 360);
+            this.flowLayoutPanel2.TabIndex = 0;
+            // 
+            // groupBox18
+            // 
+            this.groupBox18.Controls.Add(this.label2);
+            this.groupBox18.Controls.Add(this.btnSavePosIds);
+            this.groupBox18.Controls.Add(this.label1);
+            this.groupBox18.Controls.Add(this.combBoxPosIds);
+            this.groupBox18.Location = new System.Drawing.Point(3, 3);
+            this.groupBox18.Name = "groupBox18";
+            this.groupBox18.Size = new System.Drawing.Size(499, 107);
+            this.groupBox18.TabIndex = 10;
+            this.groupBox18.TabStop = false;
+            this.groupBox18.Text = "操作";
+            // 
+            // label2
+            // 
+            this.label2.AutoSize = true;
+            this.label2.Location = new System.Drawing.Point(56, 66);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(0, 17);
+            this.label2.TabIndex = 12;
+            // 
+            // btnSavePosIds
+            // 
+            this.btnSavePosIds.Location = new System.Drawing.Point(245, 17);
+            this.btnSavePosIds.Name = "btnSavePosIds";
+            this.btnSavePosIds.Size = new System.Drawing.Size(136, 32);
+            this.btnSavePosIds.TabIndex = 11;
+            this.btnSavePosIds.Text = "保存位置";
+            this.btnSavePosIds.UseVisualStyleBackColor = true;
+            this.btnSavePosIds.Click += new System.EventHandler(this.btnSavePosIds_Click);
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Location = new System.Drawing.Point(6, 28);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(44, 17);
+            this.label1.TabIndex = 1;
+            this.label1.Text = "库位：";
+            // 
+            // combBoxPosIds
+            // 
+            this.combBoxPosIds.FormattingEnabled = true;
+            this.combBoxPosIds.Location = new System.Drawing.Point(56, 22);
+            this.combBoxPosIds.Name = "combBoxPosIds";
+            this.combBoxPosIds.Size = new System.Drawing.Size(155, 25);
+            this.combBoxPosIds.TabIndex = 0;
+            this.combBoxPosIds.SelectedIndexChanged += new System.EventHandler(this.CombBoxPosIds_SelectedIndexChanged);
+            // 
+            // groupBox14
+            // 
+            this.groupBox14.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
+            this.groupBox14.Controls.Add(this.txtUpdown_P7_P13);
+            this.groupBox14.Controls.Add(this.txtUpdown_P6_P12);
+            this.groupBox14.Controls.Add(this.btnUpdown_P6_P12);
+            this.groupBox14.Controls.Add(this.btnUpdown_P7_P13);
+            this.groupBox14.Location = new System.Drawing.Point(508, 3);
+            this.groupBox14.Name = "groupBox14";
+            this.groupBox14.Size = new System.Drawing.Size(499, 107);
+            this.groupBox14.TabIndex = 2;
+            this.groupBox14.TabStop = false;
+            this.groupBox14.Text = "移栽升降轴";
+            // 
+            // txtUpdown_P7_P13
+            // 
+            this.txtUpdown_P7_P13.Location = new System.Drawing.Point(187, 66);
+            this.txtUpdown_P7_P13.Name = "txtUpdown_P7_P13";
+            this.txtUpdown_P7_P13.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P7_P13.TabIndex = 15;
+            // 
+            // txtUpdown_P6_P12
+            // 
+            this.txtUpdown_P6_P12.Location = new System.Drawing.Point(187, 28);
+            this.txtUpdown_P6_P12.Name = "txtUpdown_P6_P12";
+            this.txtUpdown_P6_P12.Size = new System.Drawing.Size(134, 23);
+            this.txtUpdown_P6_P12.TabIndex = 14;
+            // 
+            // btnUpdown_P6_P12
+            // 
+            this.btnUpdown_P6_P12.Location = new System.Drawing.Point(2, 23);
+            this.btnUpdown_P6_P12.Name = "btnUpdown_P6_P12";
+            this.btnUpdown_P6_P12.Size = new System.Drawing.Size(156, 32);
+            this.btnUpdown_P6_P12.TabIndex = 10;
+            this.btnUpdown_P6_P12.Text = "料屉上方过渡点";
+            this.btnUpdown_P6_P12.UseVisualStyleBackColor = true;
+            this.btnUpdown_P6_P12.Click += new System.EventHandler(this.btnUpdown_P6_P12_Click);
+            // 
+            // btnUpdown_P7_P13
+            // 
+            this.btnUpdown_P7_P13.Location = new System.Drawing.Point(2, 61);
+            this.btnUpdown_P7_P13.Name = "btnUpdown_P7_P13";
+            this.btnUpdown_P7_P13.Size = new System.Drawing.Size(156, 32);
+            this.btnUpdown_P7_P13.TabIndex = 2;
+            this.btnUpdown_P7_P13.Text = "料屉取放点";
+            this.btnUpdown_P7_P13.UseVisualStyleBackColor = true;
+            this.btnUpdown_P7_P13.Click += new System.EventHandler(this.btnUpdown_P7_P13_Click);
+            // 
+            // groupBox15
+            // 
+            this.groupBox15.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(224)))), ((int)(((byte)(192)))));
+            this.groupBox15.Controls.Add(this.txtMoveAxis_P3);
+            this.groupBox15.Controls.Add(this.btnMoveAxis_P3);
+            this.groupBox15.Location = new System.Drawing.Point(1013, 3);
+            this.groupBox15.Name = "groupBox15";
+            this.groupBox15.Size = new System.Drawing.Size(499, 107);
+            this.groupBox15.TabIndex = 0;
+            this.groupBox15.TabStop = false;
+            this.groupBox15.Text = "行走机构";
+            // 
+            // txtMoveAxis_P3
+            // 
+            this.txtMoveAxis_P3.Location = new System.Drawing.Point(187, 27);
+            this.txtMoveAxis_P3.Name = "txtMoveAxis_P3";
+            this.txtMoveAxis_P3.Size = new System.Drawing.Size(134, 23);
+            this.txtMoveAxis_P3.TabIndex = 3;
+            // 
+            // btnMoveAxis_P3
+            // 
+            this.btnMoveAxis_P3.Location = new System.Drawing.Point(6, 22);
+            this.btnMoveAxis_P3.Name = "btnMoveAxis_P3";
+            this.btnMoveAxis_P3.Size = new System.Drawing.Size(152, 32);
+            this.btnMoveAxis_P3.TabIndex = 0;
+            this.btnMoveAxis_P3.Text = "料屉提取点";
+            this.btnMoveAxis_P3.UseVisualStyleBackColor = true;
+            this.btnMoveAxis_P3.Click += new System.EventHandler(this.btnMoveAxis_P3_Click);
+            // 
+            // groupBox19
+            // 
+            this.groupBox19.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
+            this.groupBox19.Controls.Add(this.txtXAxis_AB_P3);
+            this.groupBox19.Controls.Add(this.btnXAxis_AB_P3);
+            this.groupBox19.Location = new System.Drawing.Point(3, 116);
+            this.groupBox19.Name = "groupBox19";
+            this.groupBox19.Size = new System.Drawing.Size(499, 107);
+            this.groupBox19.TabIndex = 4;
+            this.groupBox19.TabStop = false;
+            this.groupBox19.Text = "A面移栽X轴";
+            // 
+            // txtXAxis_AB_P3
+            // 
+            this.txtXAxis_AB_P3.Location = new System.Drawing.Point(176, 28);
+            this.txtXAxis_AB_P3.Name = "txtXAxis_AB_P3";
+            this.txtXAxis_AB_P3.Size = new System.Drawing.Size(134, 23);
+            this.txtXAxis_AB_P3.TabIndex = 10;
+            // 
+            // btnXAxis_AB_P3
+            // 
+            this.btnXAxis_AB_P3.Location = new System.Drawing.Point(6, 23);
+            this.btnXAxis_AB_P3.Name = "btnXAxis_AB_P3";
+            this.btnXAxis_AB_P3.Size = new System.Drawing.Size(164, 32);
+            this.btnXAxis_AB_P3.TabIndex = 5;
+            this.btnXAxis_AB_P3.Text = "料屉库位取放料点P3";
+            this.btnXAxis_AB_P3.UseVisualStyleBackColor = true;
+            this.btnXAxis_AB_P3.Click += new System.EventHandler(this.btnXAxis_AB_P3_Click);
+            // 
+            // groupBox16
+            // 
+            this.groupBox16.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
+            this.groupBox16.Controls.Add(this.txtPullAxis_Inout_P3_P5);
+            this.groupBox16.Controls.Add(this.btnPullAxis_Inout_P3_P5);
+            this.groupBox16.Controls.Add(this.txtPullAxis_Inout_P2_P4);
+            this.groupBox16.Controls.Add(this.btnPullAxis_Inout_P2_P4);
+            this.groupBox16.Location = new System.Drawing.Point(508, 116);
+            this.groupBox16.Name = "groupBox16";
+            this.groupBox16.Size = new System.Drawing.Size(499, 107);
+            this.groupBox16.TabIndex = 1;
+            this.groupBox16.TabStop = false;
+            this.groupBox16.Text = "料斗拉取进出轴";
+            // 
+            // txtPullAxis_Inout_P3_P5
+            // 
+            this.txtPullAxis_Inout_P3_P5.Location = new System.Drawing.Point(187, 65);
+            this.txtPullAxis_Inout_P3_P5.Name = "txtPullAxis_Inout_P3_P5";
+            this.txtPullAxis_Inout_P3_P5.Size = new System.Drawing.Size(134, 23);
+            this.txtPullAxis_Inout_P3_P5.TabIndex = 8;
+            // 
+            // btnPullAxis_Inout_P3_P5
+            // 
+            this.btnPullAxis_Inout_P3_P5.Location = new System.Drawing.Point(6, 60);
+            this.btnPullAxis_Inout_P3_P5.Name = "btnPullAxis_Inout_P3_P5";
+            this.btnPullAxis_Inout_P3_P5.Size = new System.Drawing.Size(152, 32);
+            this.btnPullAxis_Inout_P3_P5.TabIndex = 7;
+            this.btnPullAxis_Inout_P3_P5.Text = "料屉库位点";
+            this.btnPullAxis_Inout_P3_P5.UseVisualStyleBackColor = true;
+            this.btnPullAxis_Inout_P3_P5.Click += new System.EventHandler(this.btnPullAxis_Inout_P3_P5_Click);
+            // 
+            // txtPullAxis_Inout_P2_P4
+            // 
+            this.txtPullAxis_Inout_P2_P4.Location = new System.Drawing.Point(187, 27);
+            this.txtPullAxis_Inout_P2_P4.Name = "txtPullAxis_Inout_P2_P4";
+            this.txtPullAxis_Inout_P2_P4.Size = new System.Drawing.Size(134, 23);
+            this.txtPullAxis_Inout_P2_P4.TabIndex = 6;
+            // 
+            // btnPullAxis_Inout_P2_P4
+            // 
+            this.btnPullAxis_Inout_P2_P4.Location = new System.Drawing.Point(6, 22);
+            this.btnPullAxis_Inout_P2_P4.Name = "btnPullAxis_Inout_P2_P4";
+            this.btnPullAxis_Inout_P2_P4.Size = new System.Drawing.Size(152, 32);
+            this.btnPullAxis_Inout_P2_P4.TabIndex = 1;
+            this.btnPullAxis_Inout_P2_P4.Text = "料屉提取点";
+            this.btnPullAxis_Inout_P2_P4.UseVisualStyleBackColor = true;
+            this.btnPullAxis_Inout_P2_P4.Click += new System.EventHandler(this.btnPullAxis_Inout_P2_P4_Click);
+            // 
+            // groupBox17
+            // 
+            this.groupBox17.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
+            this.groupBox17.Controls.Add(this.btnPullAxis_Updown_P4);
+            this.groupBox17.Controls.Add(this.btnPullAxis_Updown_P3);
+            this.groupBox17.Controls.Add(this.txtPullAxis_Updown_P4);
+            this.groupBox17.Controls.Add(this.txtPullAxis_Updown_P3);
+            this.groupBox17.Location = new System.Drawing.Point(1013, 116);
+            this.groupBox17.Name = "groupBox17";
+            this.groupBox17.Size = new System.Drawing.Size(499, 107);
+            this.groupBox17.TabIndex = 3;
+            this.groupBox17.TabStop = false;
+            this.groupBox17.Text = "料斗拉取升降轴";
+            // 
+            // btnPullAxis_Updown_P4
+            // 
+            this.btnPullAxis_Updown_P4.Location = new System.Drawing.Point(6, 55);
+            this.btnPullAxis_Updown_P4.Name = "btnPullAxis_Updown_P4";
+            this.btnPullAxis_Updown_P4.Size = new System.Drawing.Size(132, 32);
+            this.btnPullAxis_Updown_P4.TabIndex = 3;
+            this.btnPullAxis_Updown_P4.Text = "料屉提取低点P4";
+            this.btnPullAxis_Updown_P4.UseVisualStyleBackColor = true;
+            this.btnPullAxis_Updown_P4.Click += new System.EventHandler(this.btnPullAxis_Updown_P4_Click);
+            // 
+            // btnPullAxis_Updown_P3
+            // 
+            this.btnPullAxis_Updown_P3.Location = new System.Drawing.Point(6, 17);
+            this.btnPullAxis_Updown_P3.Name = "btnPullAxis_Updown_P3";
+            this.btnPullAxis_Updown_P3.Size = new System.Drawing.Size(132, 32);
+            this.btnPullAxis_Updown_P3.TabIndex = 2;
+            this.btnPullAxis_Updown_P3.Text = "料屉提取高点P3";
+            this.btnPullAxis_Updown_P3.UseVisualStyleBackColor = true;
+            this.btnPullAxis_Updown_P3.Click += new System.EventHandler(this.btnPullAxis_Updown_P3_Click);
+            // 
+            // txtPullAxis_Updown_P4
+            // 
+            this.txtPullAxis_Updown_P4.Location = new System.Drawing.Point(144, 60);
+            this.txtPullAxis_Updown_P4.Name = "txtPullAxis_Updown_P4";
+            this.txtPullAxis_Updown_P4.Size = new System.Drawing.Size(134, 23);
+            this.txtPullAxis_Updown_P4.TabIndex = 8;
+            // 
+            // txtPullAxis_Updown_P3
+            // 
+            this.txtPullAxis_Updown_P3.Location = new System.Drawing.Point(144, 22);
+            this.txtPullAxis_Updown_P3.Name = "txtPullAxis_Updown_P3";
+            this.txtPullAxis_Updown_P3.Size = new System.Drawing.Size(134, 23);
+            this.txtPullAxis_Updown_P3.TabIndex = 9;
+            // 
+            // groupBox24
+            // 
+            this.groupBox24.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(128)))));
+            this.groupBox24.Controls.Add(this.txtComAxis_AB_P3);
+            this.groupBox24.Controls.Add(this.btnComAxis_AB_P3);
+            this.groupBox24.Controls.Add(this.txtComAxis_AB_P2);
+            this.groupBox24.Controls.Add(this.btnComAxis_AB_P2);
+            this.groupBox24.Location = new System.Drawing.Point(3, 229);
+            this.groupBox24.Name = "groupBox24";
+            this.groupBox24.Size = new System.Drawing.Size(499, 107);
+            this.groupBox24.TabIndex = 9;
+            this.groupBox24.TabStop = false;
+            this.groupBox24.Text = "A面移栽压紧轴";
+            // 
+            // txtComAxis_AB_P3
+            // 
+            this.txtComAxis_AB_P3.Location = new System.Drawing.Point(345, 27);
+            this.txtComAxis_AB_P3.Name = "txtComAxis_AB_P3";
+            this.txtComAxis_AB_P3.Size = new System.Drawing.Size(134, 23);
+            this.txtComAxis_AB_P3.TabIndex = 34;
+            // 
+            // btnComAxis_AB_P3
+            // 
+            this.btnComAxis_AB_P3.Location = new System.Drawing.Point(245, 22);
+            this.btnComAxis_AB_P3.Name = "btnComAxis_AB_P3";
+            this.btnComAxis_AB_P3.Size = new System.Drawing.Size(93, 32);
+            this.btnComAxis_AB_P3.TabIndex = 33;
+            this.btnComAxis_AB_P3.Text = "压紧点P3";
+            this.btnComAxis_AB_P3.UseVisualStyleBackColor = true;
+            this.btnComAxis_AB_P3.Click += new System.EventHandler(this.btnComAxis_AB_P3_Click);
+            // 
+            // txtComAxis_AB_P2
+            // 
+            this.txtComAxis_AB_P2.Location = new System.Drawing.Point(105, 27);
+            this.txtComAxis_AB_P2.Name = "txtComAxis_AB_P2";
+            this.txtComAxis_AB_P2.Size = new System.Drawing.Size(134, 23);
+            this.txtComAxis_AB_P2.TabIndex = 32;
+            // 
+            // btnComAxis_AB_P2
+            // 
+            this.btnComAxis_AB_P2.Location = new System.Drawing.Point(6, 22);
+            this.btnComAxis_AB_P2.Name = "btnComAxis_AB_P2";
+            this.btnComAxis_AB_P2.Size = new System.Drawing.Size(93, 32);
+            this.btnComAxis_AB_P2.TabIndex = 31;
+            this.btnComAxis_AB_P2.Text = "压紧前点P2";
+            this.btnComAxis_AB_P2.UseVisualStyleBackColor = true;
+            this.btnComAxis_AB_P2.Click += new System.EventHandler(this.btnComAxis_AB_P2_Click);
+            // 
+            // tabControl1
+            // 
+            this.tabControl1.Controls.Add(this.tabPage1);
+            this.tabControl1.Controls.Add(this.tabPage2);
+            this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tabControl1.Location = new System.Drawing.Point(3, 421);
+            this.tabControl1.Name = "tabControl1";
+            this.tabControl1.SelectedIndex = 0;
+            this.tabControl1.Size = new System.Drawing.Size(1716, 418);
+            this.tabControl1.TabIndex = 3;
+            // 
+            // tabPage1
+            // 
+            this.tabPage1.Controls.Add(this.groupBox1);
+            this.tabPage1.Location = new System.Drawing.Point(4, 26);
+            this.tabPage1.Name = "tabPage1";
+            this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
+            this.tabPage1.Size = new System.Drawing.Size(1708, 388);
+            this.tabPage1.TabIndex = 0;
+            this.tabPage1.Text = "位置信息";
+            this.tabPage1.UseVisualStyleBackColor = true;
+            // 
+            // tabPage2
+            // 
+            this.tabPage2.Controls.Add(this.groupBox13);
+            this.tabPage2.Location = new System.Drawing.Point(4, 26);
+            this.tabPage2.Name = "tabPage2";
+            this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
+            this.tabPage2.Size = new System.Drawing.Size(1708, 388);
+            this.tabPage2.TabIndex = 1;
+            this.tabPage2.Text = "库位信息";
+            this.tabPage2.UseVisualStyleBackColor = true;
+            // 
+            // tableLayoutPanel1
+            // 
+            this.tableLayoutPanel1.ColumnCount = 1;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel1.Controls.Add(this.tabControl1, 0, 1);
+            this.tableLayoutPanel1.Controls.Add(this.tableLayoutPanel2, 0, 0);
+            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 0);
+            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
+            this.tableLayoutPanel1.RowCount = 2;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 49.64371F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50.35629F));
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(1722, 842);
+            this.tableLayoutPanel1.TabIndex = 4;
+            // 
+            // tableLayoutPanel2
+            // 
+            this.tableLayoutPanel2.ColumnCount = 2;
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 29.31236F));
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 70.68764F));
+            this.tableLayoutPanel2.Controls.Add(this.axisMoveControl1, 0, 0);
+            this.tableLayoutPanel2.Controls.Add(this.tableLayoutPanel3, 1, 0);
+            this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel2.Location = new System.Drawing.Point(3, 3);
+            this.tableLayoutPanel2.Name = "tableLayoutPanel2";
+            this.tableLayoutPanel2.RowCount = 1;
+            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tableLayoutPanel2.Size = new System.Drawing.Size(1716, 412);
+            this.tableLayoutPanel2.TabIndex = 4;
+            // 
+            // axisMoveControl1
+            // 
+            this.axisMoveControl1.Location = new System.Drawing.Point(3, 3);
+            this.axisMoveControl1.Name = "axisMoveControl1";
+            this.axisMoveControl1.Size = new System.Drawing.Size(495, 406);
+            this.axisMoveControl1.TabIndex = 5;
+            // 
+            // tableLayoutPanel3
+            // 
+            this.tableLayoutPanel3.ColumnCount = 1;
+            this.tableLayoutPanel3.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel3.Controls.Add(this.groupBox22, 0, 2);
+            this.tableLayoutPanel3.Controls.Add(this.groupBox21, 0, 1);
+            this.tableLayoutPanel3.Controls.Add(this.groupBox20, 0, 0);
+            this.tableLayoutPanel3.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel3.Location = new System.Drawing.Point(506, 3);
+            this.tableLayoutPanel3.Name = "tableLayoutPanel3";
+            this.tableLayoutPanel3.RowCount = 3;
+            this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
+            this.tableLayoutPanel3.Size = new System.Drawing.Size(1207, 406);
+            this.tableLayoutPanel3.TabIndex = 6;
+            // 
+            // groupBox22
+            // 
+            this.groupBox22.Controls.Add(this.Row_Check_6);
+            this.groupBox22.Controls.Add(this.Row_Check_5);
+            this.groupBox22.Controls.Add(this.Row_Check_4);
+            this.groupBox22.Controls.Add(this.Row_Check_3);
+            this.groupBox22.Controls.Add(this.Row_Check_2);
+            this.groupBox22.Controls.Add(this.Row_Check_1);
+            this.groupBox22.Controls.Add(this.Row_Check_13);
+            this.groupBox22.Controls.Add(this.Row_Check_14);
+            this.groupBox22.Controls.Add(this.Row_Check_15);
+            this.groupBox22.Controls.Add(this.Row_Check_11);
+            this.groupBox22.Controls.Add(this.Row_Check_12);
+            this.groupBox22.Controls.Add(this.Row_Check_9);
+            this.groupBox22.Controls.Add(this.Row_Check_10);
+            this.groupBox22.Controls.Add(this.Row_Check_7);
+            this.groupBox22.Controls.Add(this.Row_Check_8);
+            this.groupBox22.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.groupBox22.Location = new System.Drawing.Point(3, 273);
+            this.groupBox22.Name = "groupBox22";
+            this.groupBox22.Size = new System.Drawing.Size(1201, 130);
+            this.groupBox22.TabIndex = 2;
+            this.groupBox22.TabStop = false;
+            this.groupBox22.Text = "层信号";
+            // 
+            // Row_Check_6
+            // 
+            this.Row_Check_6.AutoSize = true;
+            this.Row_Check_6.Location = new System.Drawing.Point(1081, 24);
+            this.Row_Check_6.Name = "Row_Check_6";
+            this.Row_Check_6.Size = new System.Drawing.Size(111, 17);
+            this.Row_Check_6.TabIndex = 25;
+            this.Row_Check_6.Text = "料屉第6层检测信号";
+            // 
+            // Row_Check_5
+            // 
+            this.Row_Check_5.AutoSize = true;
+            this.Row_Check_5.Location = new System.Drawing.Point(867, 24);
+            this.Row_Check_5.Name = "Row_Check_5";
+            this.Row_Check_5.Size = new System.Drawing.Size(111, 17);
+            this.Row_Check_5.TabIndex = 24;
+            this.Row_Check_5.Text = "料屉第5层检测信号";
+            // 
+            // Row_Check_4
+            // 
+            this.Row_Check_4.AutoSize = true;
+            this.Row_Check_4.Location = new System.Drawing.Point(653, 24);
+            this.Row_Check_4.Name = "Row_Check_4";
+            this.Row_Check_4.Size = new System.Drawing.Size(111, 17);
+            this.Row_Check_4.TabIndex = 23;
+            this.Row_Check_4.Text = "料屉第4层检测信号";
+            // 
+            // Row_Check_3
+            // 
+            this.Row_Check_3.AutoSize = true;
+            this.Row_Check_3.Location = new System.Drawing.Point(439, 24);
+            this.Row_Check_3.Name = "Row_Check_3";
+            this.Row_Check_3.Size = new System.Drawing.Size(111, 17);
+            this.Row_Check_3.TabIndex = 22;
+            this.Row_Check_3.Text = "料屉第3层检测信号";
+            // 
+            // Row_Check_2
+            // 
+            this.Row_Check_2.AutoSize = true;
+            this.Row_Check_2.Location = new System.Drawing.Point(225, 24);
+            this.Row_Check_2.Name = "Row_Check_2";
+            this.Row_Check_2.Size = new System.Drawing.Size(111, 17);
+            this.Row_Check_2.TabIndex = 21;
+            this.Row_Check_2.Text = "料屉第2层检测信号";
+            // 
+            // Row_Check_1
+            // 
+            this.Row_Check_1.AutoSize = true;
+            this.Row_Check_1.Location = new System.Drawing.Point(11, 24);
+            this.Row_Check_1.Name = "Row_Check_1";
+            this.Row_Check_1.Size = new System.Drawing.Size(111, 17);
+            this.Row_Check_1.TabIndex = 20;
+            this.Row_Check_1.Text = "料屉第1层检测信号";
+            // 
+            // Row_Check_13
+            // 
+            this.Row_Check_13.AutoSize = true;
+            this.Row_Check_13.Location = new System.Drawing.Point(6, 93);
+            this.Row_Check_13.Name = "Row_Check_13";
+            this.Row_Check_13.Size = new System.Drawing.Size(118, 17);
+            this.Row_Check_13.TabIndex = 19;
+            this.Row_Check_13.Text = "料屉第13层检测信号";
+            // 
+            // Row_Check_14
+            // 
+            this.Row_Check_14.AutoSize = true;
+            this.Row_Check_14.Location = new System.Drawing.Point(217, 93);
+            this.Row_Check_14.Name = "Row_Check_14";
+            this.Row_Check_14.Size = new System.Drawing.Size(118, 17);
+            this.Row_Check_14.TabIndex = 18;
+            this.Row_Check_14.Text = "料屉第14层检测信号";
+            // 
+            // Row_Check_15
+            // 
+            this.Row_Check_15.AutoSize = true;
+            this.Row_Check_15.Location = new System.Drawing.Point(428, 93);
+            this.Row_Check_15.Name = "Row_Check_15";
+            this.Row_Check_15.Size = new System.Drawing.Size(118, 17);
+            this.Row_Check_15.TabIndex = 17;
+            this.Row_Check_15.Text = "料屉第15层检测信号";
+            // 
+            // Row_Check_11
+            // 
+            this.Row_Check_11.AutoSize = true;
+            this.Row_Check_11.Location = new System.Drawing.Point(858, 57);
+            this.Row_Check_11.Name = "Row_Check_11";
+            this.Row_Check_11.Size = new System.Drawing.Size(118, 17);
+            this.Row_Check_11.TabIndex = 16;
+            this.Row_Check_11.Text = "料屉第11层检测信号";
+            // 
+            // Row_Check_12
+            // 
+            this.Row_Check_12.AutoSize = true;
+            this.Row_Check_12.Location = new System.Drawing.Point(1075, 57);
+            this.Row_Check_12.Name = "Row_Check_12";
+            this.Row_Check_12.Size = new System.Drawing.Size(118, 17);
+            this.Row_Check_12.TabIndex = 15;
+            this.Row_Check_12.Text = "料屉第12层检测信号";
+            // 
+            // Row_Check_9
+            // 
+            this.Row_Check_9.AutoSize = true;
+            this.Row_Check_9.Location = new System.Drawing.Point(431, 57);
+            this.Row_Check_9.Name = "Row_Check_9";
+            this.Row_Check_9.Size = new System.Drawing.Size(111, 17);
+            this.Row_Check_9.TabIndex = 14;
+            this.Row_Check_9.Text = "料屉第9层检测信号";
+            // 
+            // Row_Check_10
+            // 
+            this.Row_Check_10.AutoSize = true;
+            this.Row_Check_10.Location = new System.Drawing.Point(641, 57);
+            this.Row_Check_10.Name = "Row_Check_10";
+            this.Row_Check_10.Size = new System.Drawing.Size(118, 17);
+            this.Row_Check_10.TabIndex = 13;
+            this.Row_Check_10.Text = "料屉第10层检测信号";
+            // 
+            // Row_Check_7
+            // 
+            this.Row_Check_7.AutoSize = true;
+            this.Row_Check_7.Location = new System.Drawing.Point(11, 57);
+            this.Row_Check_7.Name = "Row_Check_7";
+            this.Row_Check_7.Size = new System.Drawing.Size(111, 17);
+            this.Row_Check_7.TabIndex = 12;
+            this.Row_Check_7.Text = "料屉第7层检测信号";
+            // 
+            // Row_Check_8
+            // 
+            this.Row_Check_8.AutoSize = true;
+            this.Row_Check_8.Location = new System.Drawing.Point(221, 57);
+            this.Row_Check_8.Name = "Row_Check_8";
+            this.Row_Check_8.Size = new System.Drawing.Size(111, 17);
+            this.Row_Check_8.TabIndex = 11;
+            this.Row_Check_8.Text = "料屉第8层检测信号";
+            // 
+            // groupBox21
+            // 
+            this.groupBox21.Controls.Add(this.Column_Check_B2);
+            this.groupBox21.Controls.Add(this.Column_Check_B3);
+            this.groupBox21.Controls.Add(this.Column_Check_B4);
+            this.groupBox21.Controls.Add(this.Column_Check_B5);
+            this.groupBox21.Controls.Add(this.Column_Check_B6);
+            this.groupBox21.Controls.Add(this.Column_Check_B1);
+            this.groupBox21.Controls.Add(this.BHorizontal_Check);
+            this.groupBox21.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.groupBox21.Location = new System.Drawing.Point(3, 138);
+            this.groupBox21.Name = "groupBox21";
+            this.groupBox21.Size = new System.Drawing.Size(1201, 129);
+            this.groupBox21.TabIndex = 1;
+            this.groupBox21.TabStop = false;
+            this.groupBox21.Text = "B面信号";
+            // 
+            // Column_Check_B2
+            // 
+            this.Column_Check_B2.AutoSize = true;
+            this.Column_Check_B2.Location = new System.Drawing.Point(221, 39);
+            this.Column_Check_B2.Name = "Column_Check_B2";
+            this.Column_Check_B2.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_B2.TabIndex = 18;
+            this.Column_Check_B2.Text = "第2列料屉检测信号";
+            // 
+            // Column_Check_B3
+            // 
+            this.Column_Check_B3.AutoSize = true;
+            this.Column_Check_B3.Location = new System.Drawing.Point(436, 39);
+            this.Column_Check_B3.Name = "Column_Check_B3";
+            this.Column_Check_B3.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_B3.TabIndex = 17;
+            this.Column_Check_B3.Text = "第3列料屉检测信号";
+            // 
+            // Column_Check_B4
+            // 
+            this.Column_Check_B4.AutoSize = true;
+            this.Column_Check_B4.Location = new System.Drawing.Point(651, 39);
+            this.Column_Check_B4.Name = "Column_Check_B4";
+            this.Column_Check_B4.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_B4.TabIndex = 16;
+            this.Column_Check_B4.Text = "第4列料屉检测信号";
+            // 
+            // Column_Check_B5
+            // 
+            this.Column_Check_B5.AutoSize = true;
+            this.Column_Check_B5.Location = new System.Drawing.Point(866, 39);
+            this.Column_Check_B5.Name = "Column_Check_B5";
+            this.Column_Check_B5.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_B5.TabIndex = 15;
+            this.Column_Check_B5.Text = "第5列料屉检测信号";
+            // 
+            // Column_Check_B6
+            // 
+            this.Column_Check_B6.AutoSize = true;
+            this.Column_Check_B6.Location = new System.Drawing.Point(1081, 39);
+            this.Column_Check_B6.Name = "Column_Check_B6";
+            this.Column_Check_B6.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_B6.TabIndex = 14;
+            this.Column_Check_B6.Text = "第6列料屉检测信号";
+            // 
+            // Column_Check_B1
+            // 
+            this.Column_Check_B1.AutoSize = true;
+            this.Column_Check_B1.Location = new System.Drawing.Point(6, 39);
+            this.Column_Check_B1.Name = "Column_Check_B1";
+            this.Column_Check_B1.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_B1.TabIndex = 13;
+            this.Column_Check_B1.Text = "第1列料屉检测信号";
+            // 
+            // BHorizontal_Check
+            // 
+            this.BHorizontal_Check.AutoSize = true;
+            this.BHorizontal_Check.Location = new System.Drawing.Point(452, 86);
+            this.BHorizontal_Check.Name = "BHorizontal_Check";
+            this.BHorizontal_Check.Size = new System.Drawing.Size(136, 17);
+            this.BHorizontal_Check.TabIndex = 12;
+            this.BHorizontal_Check.Text = "B面移栽旋转轴水平检测";
+            // 
+            // groupBox20
+            // 
+            this.groupBox20.Controls.Add(this.AHorizontal_Check);
+            this.groupBox20.Controls.Add(this.Column_Check_A2);
+            this.groupBox20.Controls.Add(this.Column_Check_A3);
+            this.groupBox20.Controls.Add(this.Column_Check_A4);
+            this.groupBox20.Controls.Add(this.Column_Check_A5);
+            this.groupBox20.Controls.Add(this.Column_Check_A6);
+            this.groupBox20.Controls.Add(this.Column_Check_A1);
+            this.groupBox20.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.groupBox20.Location = new System.Drawing.Point(3, 3);
+            this.groupBox20.Name = "groupBox20";
+            this.groupBox20.Size = new System.Drawing.Size(1201, 129);
+            this.groupBox20.TabIndex = 0;
+            this.groupBox20.TabStop = false;
+            this.groupBox20.Text = "A面信号";
+            // 
+            // AHorizontal_Check
+            // 
+            this.AHorizontal_Check.AutoSize = true;
+            this.AHorizontal_Check.Location = new System.Drawing.Point(458, 87);
+            this.AHorizontal_Check.Name = "AHorizontal_Check";
+            this.AHorizontal_Check.Size = new System.Drawing.Size(136, 17);
+            this.AHorizontal_Check.TabIndex = 11;
+            this.AHorizontal_Check.Text = "A面移栽旋转轴水平检测";
+            // 
+            // Column_Check_A2
+            // 
+            this.Column_Check_A2.AutoSize = true;
+            this.Column_Check_A2.Location = new System.Drawing.Point(221, 42);
+            this.Column_Check_A2.Name = "Column_Check_A2";
+            this.Column_Check_A2.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_A2.TabIndex = 5;
+            this.Column_Check_A2.Text = "第2列料屉检测信号";
+            // 
+            // Column_Check_A3
+            // 
+            this.Column_Check_A3.AutoSize = true;
+            this.Column_Check_A3.Location = new System.Drawing.Point(436, 42);
+            this.Column_Check_A3.Name = "Column_Check_A3";
+            this.Column_Check_A3.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_A3.TabIndex = 4;
+            this.Column_Check_A3.Text = "第3列料屉检测信号";
+            // 
+            // Column_Check_A4
+            // 
+            this.Column_Check_A4.AutoSize = true;
+            this.Column_Check_A4.Location = new System.Drawing.Point(651, 42);
+            this.Column_Check_A4.Name = "Column_Check_A4";
+            this.Column_Check_A4.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_A4.TabIndex = 3;
+            this.Column_Check_A4.Text = "第4列料屉检测信号";
+            // 
+            // Column_Check_A5
+            // 
+            this.Column_Check_A5.AutoSize = true;
+            this.Column_Check_A5.Location = new System.Drawing.Point(866, 42);
+            this.Column_Check_A5.Name = "Column_Check_A5";
+            this.Column_Check_A5.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_A5.TabIndex = 2;
+            this.Column_Check_A5.Text = "第5列料屉检测信号";
+            // 
+            // Column_Check_A6
+            // 
+            this.Column_Check_A6.AutoSize = true;
+            this.Column_Check_A6.Location = new System.Drawing.Point(1081, 42);
+            this.Column_Check_A6.Name = "Column_Check_A6";
+            this.Column_Check_A6.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_A6.TabIndex = 1;
+            this.Column_Check_A6.Text = "第6列料屉检测信号";
+            // 
+            // Column_Check_A1
+            // 
+            this.Column_Check_A1.AutoSize = true;
+            this.Column_Check_A1.Location = new System.Drawing.Point(6, 42);
+            this.Column_Check_A1.Name = "Column_Check_A1";
+            this.Column_Check_A1.Size = new System.Drawing.Size(111, 17);
+            this.Column_Check_A1.TabIndex = 0;
+            this.Column_Check_A1.Text = "第1列料屉检测信号";
+            // 
+            // timer1
+            // 
+            this.timer1.Interval = 1000;
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            // 
+            // FrmAxisMove
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(1722, 842);
+            this.Controls.Add(this.tableLayoutPanel1);
+            this.Name = "FrmAxisMove";
+            this.Text = "伺服调试";
+            this.Load += new System.EventHandler(this.FrmAxisMove_Load);
+            this.Shown += new System.EventHandler(this.FrmLineIO_Shown);
+            this.groupBox1.ResumeLayout(false);
+            this.flowLayoutPanel1.ResumeLayout(false);
+            this.groupBox4.ResumeLayout(false);
+            this.groupBox4.PerformLayout();
+            this.groupBox5.ResumeLayout(false);
+            this.groupBox5.PerformLayout();
+            this.groupBox2.ResumeLayout(false);
+            this.groupBox2.PerformLayout();
+            this.groupBox3.ResumeLayout(false);
+            this.groupBox3.PerformLayout();
+            this.groupBox6.ResumeLayout(false);
+            this.groupBox6.PerformLayout();
+            this.groupBox8.ResumeLayout(false);
+            this.groupBox8.PerformLayout();
+            this.groupBox7.ResumeLayout(false);
+            this.groupBox7.PerformLayout();
+            this.groupBox9.ResumeLayout(false);
+            this.groupBox9.PerformLayout();
+            this.groupBox10.ResumeLayout(false);
+            this.groupBox10.PerformLayout();
+            this.groupBox11.ResumeLayout(false);
+            this.groupBox11.PerformLayout();
+            this.groupBox12.ResumeLayout(false);
+            this.groupBox12.PerformLayout();
+            this.groupBox13.ResumeLayout(false);
+            this.flowLayoutPanel2.ResumeLayout(false);
+            this.groupBox18.ResumeLayout(false);
+            this.groupBox18.PerformLayout();
+            this.groupBox14.ResumeLayout(false);
+            this.groupBox14.PerformLayout();
+            this.groupBox15.ResumeLayout(false);
+            this.groupBox15.PerformLayout();
+            this.groupBox19.ResumeLayout(false);
+            this.groupBox19.PerformLayout();
+            this.groupBox16.ResumeLayout(false);
+            this.groupBox16.PerformLayout();
+            this.groupBox17.ResumeLayout(false);
+            this.groupBox17.PerformLayout();
+            this.groupBox24.ResumeLayout(false);
+            this.groupBox24.PerformLayout();
+            this.tabControl1.ResumeLayout(false);
+            this.tabPage1.ResumeLayout(false);
+            this.tabPage2.ResumeLayout(false);
+            this.tableLayoutPanel1.ResumeLayout(false);
+            this.tableLayoutPanel2.ResumeLayout(false);
+            this.tableLayoutPanel3.ResumeLayout(false);
+            this.groupBox22.ResumeLayout(false);
+            this.groupBox22.PerformLayout();
+            this.groupBox21.ResumeLayout(false);
+            this.groupBox21.PerformLayout();
+            this.groupBox20.ResumeLayout(false);
+            this.groupBox20.PerformLayout();
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.FlowLayoutPanel flowLayoutPanel1;
+        private System.Windows.Forms.GroupBox groupBox4;
+        private System.Windows.Forms.TextBox txtUpdown_P11;
+        private System.Windows.Forms.TextBox txtUpdown_P10;
+        private System.Windows.Forms.TextBox txtUpdown_P9;
+        private System.Windows.Forms.TextBox txtUpdown_P8;
+        private System.Windows.Forms.TextBox txtUpdown_P5;
+        private System.Windows.Forms.TextBox txtUpdown_P4;
+        private System.Windows.Forms.TextBox txtUpdown_P3;
+        private System.Windows.Forms.TextBox txtUpdown_P2;
+        private System.Windows.Forms.TextBox txtUpdown_P1;
+        private System.Windows.Forms.Button btnUpdown_P9;
+        private System.Windows.Forms.Button btnUpdown_P4;
+        private System.Windows.Forms.Button btnUpdown_P3;
+        private System.Windows.Forms.Button btnUpdown_P1;
+        private System.Windows.Forms.Button btnUpdown_P11;
+        private System.Windows.Forms.Button btnUpdown_P10;
+        private System.Windows.Forms.Button btnUpdown_P8;
+        private System.Windows.Forms.Button btnUpdown_P5;
+        private System.Windows.Forms.Button btnUpdown_P2;
+        private System.Windows.Forms.GroupBox groupBox5;
+        private System.Windows.Forms.Button btnPullAxis_Updown_P2;
+        private System.Windows.Forms.Button btnPullAxis_Updown_P1;
+        private System.Windows.Forms.TextBox txtPullAxis_Updown_P2;
+        private System.Windows.Forms.TextBox txtPullAxis_Updown_P1;
+        private System.Windows.Forms.GroupBox groupBox2;
+        private System.Windows.Forms.TextBox txtMoveAxis_P2;
+        private System.Windows.Forms.TextBox txtMoveAxis_P1;
+        private System.Windows.Forms.Button btnMoveAxis_P2;
+        private System.Windows.Forms.Button btnMoveAxis_P1;
+        private System.Windows.Forms.GroupBox groupBox3;
+        private System.Windows.Forms.TextBox txtPullAxis_Inout_P1;
+        private System.Windows.Forms.Button btnPullAxis_Inout_P1;
+        private System.Windows.Forms.GroupBox groupBox6;
+        private System.Windows.Forms.Button btnXAxis_A_P1;
+        private System.Windows.Forms.TextBox txtXAxis_A_P2;
+        private System.Windows.Forms.Button btnXAxis_A_P2;
+        private System.Windows.Forms.TextBox txtXAxis_A_P1;
+        private System.Windows.Forms.GroupBox groupBox8;
+        private System.Windows.Forms.TextBox txtComAxis_A_P1;
+        private System.Windows.Forms.Button btnComAxis_A_P1;
+        private System.Windows.Forms.GroupBox groupBox7;
+        private System.Windows.Forms.TextBox txtMiddleAxis_A_P3;
+        private System.Windows.Forms.TextBox txtMiddleAxis_A_P2;
+        private System.Windows.Forms.TextBox txtMiddleAxis_A_P1;
+        private System.Windows.Forms.Button btnMiddleAxis_A_P1;
+        private System.Windows.Forms.Button btnMiddleAxis_A_P3;
+        private System.Windows.Forms.Button btnMiddleAxis_A_P2;
+        private System.Windows.Forms.GroupBox groupBox9;
+        private System.Windows.Forms.Button btnXAxis_B_P1;
+        private System.Windows.Forms.TextBox txtXAxis_B_P2;
+        private System.Windows.Forms.Button btnXAxis_B_P2;
+        private System.Windows.Forms.TextBox txtXAxis_B_P1;
+        private System.Windows.Forms.GroupBox groupBox10;
+        private System.Windows.Forms.TextBox txtMiddleAxis_B_P3;
+        private System.Windows.Forms.TextBox txtMiddleAxis_B_P2;
+        private System.Windows.Forms.TextBox txtMiddleAxis_B_P1;
+        private System.Windows.Forms.Button btnMiddleAxis_B_P1;
+        private System.Windows.Forms.Button btnMiddleAxis_B_P3;
+        private System.Windows.Forms.Button btnMiddleAxis_B_P2;
+        private System.Windows.Forms.GroupBox groupBox11;
+        private System.Windows.Forms.TextBox txtComAxis_B_P1;
+        private System.Windows.Forms.Button btnComAxis_B_P1;
+        private System.Windows.Forms.GroupBox groupBox12;
+        private System.Windows.Forms.Button btnSavePoints;
+        private System.Windows.Forms.GroupBox groupBox13;
+        private System.Windows.Forms.FlowLayoutPanel flowLayoutPanel2;
+        private System.Windows.Forms.GroupBox groupBox14;
+        private System.Windows.Forms.TextBox txtUpdown_P7_P13;
+        private System.Windows.Forms.TextBox txtUpdown_P6_P12;
+        private System.Windows.Forms.Button btnUpdown_P6_P12;
+        private System.Windows.Forms.Button btnUpdown_P7_P13;
+        private System.Windows.Forms.GroupBox groupBox15;
+        private System.Windows.Forms.TextBox txtMoveAxis_P3;
+        private System.Windows.Forms.Button btnMoveAxis_P3;
+        private System.Windows.Forms.GroupBox groupBox19;
+        private System.Windows.Forms.TextBox txtXAxis_AB_P3;
+        private System.Windows.Forms.Button btnXAxis_AB_P3;
+        private System.Windows.Forms.GroupBox groupBox16;
+        private System.Windows.Forms.TextBox txtPullAxis_Inout_P3_P5;
+        private System.Windows.Forms.Button btnPullAxis_Inout_P3_P5;
+        private System.Windows.Forms.TextBox txtPullAxis_Inout_P2_P4;
+        private System.Windows.Forms.Button btnPullAxis_Inout_P2_P4;
+        private System.Windows.Forms.GroupBox groupBox17;
+        private System.Windows.Forms.Button btnPullAxis_Updown_P4;
+        private System.Windows.Forms.Button btnPullAxis_Updown_P3;
+        private System.Windows.Forms.TextBox txtPullAxis_Updown_P4;
+        private System.Windows.Forms.TextBox txtPullAxis_Updown_P3;
+        private System.Windows.Forms.GroupBox groupBox24;
+        private System.Windows.Forms.TextBox txtComAxis_AB_P3;
+        private System.Windows.Forms.Button btnComAxis_AB_P3;
+        private System.Windows.Forms.TextBox txtComAxis_AB_P2;
+        private System.Windows.Forms.Button btnComAxis_AB_P2;
+        private System.Windows.Forms.GroupBox groupBox18;
+        private System.Windows.Forms.Button btnSavePosIds;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.ComboBox combBoxPosIds;
+        private System.Windows.Forms.TabControl tabControl1;
+        private System.Windows.Forms.TabPage tabPage1;
+        private System.Windows.Forms.TabPage tabPage2;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel2;
+        private AxisMoveControl axisMoveControl1;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel3;
+        private System.Windows.Forms.GroupBox groupBox22;
+        private System.Windows.Forms.GroupBox groupBox21;
+        private System.Windows.Forms.GroupBox groupBox20;
+        private System.Windows.Forms.Label Row_Check_6;
+        private System.Windows.Forms.Label Row_Check_5;
+        private System.Windows.Forms.Label Row_Check_4;
+        private System.Windows.Forms.Label Row_Check_3;
+        private System.Windows.Forms.Label Row_Check_2;
+        private System.Windows.Forms.Label Row_Check_1;
+        private System.Windows.Forms.Label Row_Check_13;
+        private System.Windows.Forms.Label Row_Check_14;
+        private System.Windows.Forms.Label Row_Check_15;
+        private System.Windows.Forms.Label Row_Check_11;
+        private System.Windows.Forms.Label Row_Check_12;
+        private System.Windows.Forms.Label Row_Check_9;
+        private System.Windows.Forms.Label Row_Check_10;
+        private System.Windows.Forms.Label Row_Check_7;
+        private System.Windows.Forms.Label Row_Check_8;
+        private System.Windows.Forms.Label BHorizontal_Check;
+        private System.Windows.Forms.Label AHorizontal_Check;
+        private System.Windows.Forms.Label Column_Check_A2;
+        private System.Windows.Forms.Label Column_Check_A3;
+        private System.Windows.Forms.Label Column_Check_A4;
+        private System.Windows.Forms.Label Column_Check_A5;
+        private System.Windows.Forms.Label Column_Check_A6;
+        private System.Windows.Forms.Label Column_Check_A1;
+        private System.Windows.Forms.Label Column_Check_B2;
+        private System.Windows.Forms.Label Column_Check_B3;
+        private System.Windows.Forms.Label Column_Check_B4;
+        private System.Windows.Forms.Label Column_Check_B5;
+        private System.Windows.Forms.Label Column_Check_B6;
+        private System.Windows.Forms.Label Column_Check_B1;
+        private System.Windows.Forms.Timer timer1;
+    }
+}
\ No newline at end of file

source/XLRStoreClient/boxForm/FrmAxisMove.cs

+using OnlineStore.Common;
+using OnlineStore.DeviceLibrary;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+using OnlineStore.LoadCSVLibrary;
+using System.IO;
+
+namespace OnlineStore.XLRStore
+{
+    internal partial class FrmAxisMove : FrmBase
+    {
+        internal FrmAxisMove(bool isDebug)
+        {
+            Control.CheckForIllegalCrossThreadCalls = false;
+            InitializeComponent();
+            DebugStatus(isDebug);
+        }
+        BoxEquip boxEquip;
+        #region "初始化界面数据"
+        private bool LoadOk = false;
+        private void FrmAxisMove_Load(object sender, EventArgs e)
+        {
+            boxEquip = StoreManager.XLRStore.boxEquip;
+            combBoxPosIds.Items.AddRange(boxEquip.PositionNumList.ToArray());
+            combBoxPosIds.SelectedIndexChanged += CombBoxPosIds_SelectedIndexChanged;
+
+            axisMoveControl1.LoadData(StoreManager.XLRStore.boxEquip, StoreManager.XLRStore.boxEquip.moveAxisArray);
+            LoadConfigPosition();
+            combBoxPosIds.SelectedIndex = 0;
+            LoadOk = true;
+        }
+        string posSide = "";
+        string posId = "";
+        private void CombBoxPosIds_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            this.Invoke(new Action(() =>
+            {
+                ComboBox comboBox = (ComboBox)sender;
+                posId = comboBox.SelectedItem.ToString();
+                BoxPosition ktkPosition = CSVPositionReader<BoxPosition>.GetPositon(posId);
+                LoadBoxPostion(ktkPosition);
+                InOutPosInfo posInfo = new InOutPosInfo();
+                posInfo.PosId = posId;
+                string posSide = posInfo.PosSide;
+                groupBox19.Text = posSide + "面移栽X轴";
+                groupBox24.Text = posSide + "面移栽压紧轴";
+                if (posSide.Equals("A"))
+                {
+                    btnUpdown_P6_P12.Text = "A面料屉上方过渡点P6";
+                    btnUpdown_P7_P13.Text = "A面料屉取放点P7";
+                    btnPullAxis_Inout_P2_P4.Text = "A面料屉提取点P2";
+                    btnPullAxis_Inout_P3_P5.Text = "A面料屉库位点P3";
+                    btnComAxis_AB_P2.Text = "A面压紧轴前点P2";
+                    btnComAxis_AB_P3.Text = "A面压紧轴点P3";
+                    btnXAxis_AB_P3.Text = "A面料屉库位取放料点P3";
+                }
+                else if (posSide.Equals("B"))
+                {
+                    btnUpdown_P6_P12.Text = "B面料屉上方过渡点P12";
+                    btnUpdown_P7_P13.Text = "B面料屉取放点P13";
+                    btnPullAxis_Inout_P2_P4.Text = "B面料屉提取点P2";
+                    btnPullAxis_Inout_P3_P5.Text = "B面料屉库位点P3";
+                    btnComAxis_AB_P2.Text = "B面压紧轴前点P2";
+                    btnComAxis_AB_P3.Text = "B面压紧轴点P3";
+                    btnXAxis_AB_P3.Text = "B面料屉库位取放料点P3";
+                }
+            }));
+
+        }
+
+        private void LoadConfigPosition()
+        {
+            txtComAxis_A_P1.Text = boxEquip.Config.ComAxis_A_P1.ToString();
+            txtComAxis_B_P1.Text = boxEquip.Config.ComAxis_B_P1.ToString();
+            txtMiddleAxis_A_P1.Text = boxEquip.Config.MiddleAxis_A_P1.ToString();
+            txtMiddleAxis_A_P2.Text = boxEquip.Config.MiddleAxis_A_P2.ToString();
+            txtMiddleAxis_A_P3.Text = boxEquip.Config.MiddleAxis_A_P3.ToString();
+            txtMiddleAxis_B_P1.Text = boxEquip.Config.MiddleAxis_B_P1.ToString();
+            txtMiddleAxis_B_P2.Text = boxEquip.Config.MiddleAxis_B_P2.ToString();
+            txtMiddleAxis_B_P3.Text = boxEquip.Config.MiddleAxis_B_P3.ToString();
+            txtMoveAxis_P2.Text = boxEquip.Config.MoveAxis_P2.ToString();
+            txtMoveAxis_P1.Text = boxEquip.Config.MoveAxis_P1.ToString();
+            txtPullAxis_Inout_P1.Text = boxEquip.Config.PullAxis_Inout_P1.ToString();
+            txtPullAxis_Updown_P1.Text = boxEquip.Config.PullAxis_Updown_P1.ToString();
+            txtPullAxis_Updown_P2.Text = boxEquip.Config.PullAxis_Updown_P2.ToString();
+            txtUpdown_P1.Text = boxEquip.Config.Updown_P1.ToString();
+            txtUpdown_P10.Text = boxEquip.Config.Updown_P10.ToString();
+            txtUpdown_P11.Text = boxEquip.Config.Updown_P11.ToString();
+            txtUpdown_P2.Text = boxEquip.Config.Updown_P2.ToString();
+            txtUpdown_P3.Text = boxEquip.Config.Updown_P3.ToString();
+            txtUpdown_P4.Text = boxEquip.Config.Updown_P4.ToString();
+            txtUpdown_P5.Text = boxEquip.Config.Updown_P5.ToString();
+            txtUpdown_P8.Text = boxEquip.Config.Updown_P8.ToString();
+            txtUpdown_P9.Text = boxEquip.Config.Updown_P9.ToString();
+            txtXAxis_A_P1.Text = boxEquip.Config.XAxis_A_P1.ToString();
+            txtXAxis_A_P2.Text = boxEquip.Config.XAxis_A_P2.ToString();
+            txtXAxis_B_P1.Text = boxEquip.Config.XAxis_B_P1.ToString();
+            txtXAxis_B_P2.Text = boxEquip.Config.XAxis_B_P2.ToString();
+        }
+        private void LoadBoxPostion(BoxPosition boxPosition)
+        {
+            txtComAxis_AB_P2.Text = boxPosition.ComAxis_AB_P2.ToString();
+            txtComAxis_AB_P3.Text = boxPosition.ComAxis_AB_P3.ToString();
+            txtMoveAxis_P3.Text = boxPosition.MoveAxis_P3.ToString();
+            txtPullAxis_Inout_P2_P4.Text = boxPosition.PullAxis_Inout_P2_P4.ToString();
+            txtPullAxis_Inout_P3_P5.Text = boxPosition.PullAxis_Inout_P3_P5.ToString();
+            txtPullAxis_Updown_P3.Text = boxPosition.PullAxis_Updown_P3.ToString();
+            txtPullAxis_Updown_P4.Text = boxPosition.PullAxis_Updown_P4.ToString();
+            txtUpdown_P6_P12.Text = boxPosition.Updown_P6_P12.ToString();
+            txtUpdown_P7_P13.Text = boxPosition.Updown_P7_P13.ToString();
+            txtXAxis_AB_P3.Text = boxPosition.XAxis_AB_P3.ToString();       
+        }
+        internal void DebugStatus(bool isDebug)
+        {
+            axisMoveControl1.Enabled = isDebug;
+            tabControl1.Enabled = isDebug;
+        }
+        #endregion
+        /// <summary>
+        /// 判断料屉拉取进出轴是否在P1点
+        /// </summary> 
+        private bool PullAxisInOutIsInP1()
+        {
+            bool res = boxEquip.PullAxis_Inout.IsInPosition(StoreManager.XLRStore.boxEquip.Config.PullAxis_Inout_P1);
+            if (res)
+            {
+                return true;
+            }
+            MessageBox.Show("拉取进出轴不在待机位，请先将拉取轴退回待机位(" + StoreManager.XLRStore.boxEquip.Config.PullAxis_Inout_P1 + ")", "警告（拉取轴在待机位时，才能移动移栽升降轴和行走机构） ", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
+            return false;
+        }
+        private void AxisABSMove(AxisBean moveAxis, TextBox txtValue, int targetSpeed)
+        {
+            int targetPosition = FormUtil.GetIntValue(txtValue);
+            moveAxis.Config.TargetPosition = targetPosition;
+            moveAxis.AbsMove(null, targetPosition, targetSpeed);
+        }
+        #region 手动移动轴
+        private void btnUpdown_P1_Click(object sender, EventArgs e)
+        {
+            if(PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P1, boxEquip.Config.Updown_P1_Speed);
+            }
+        }
+
+        private void btnUpdown_P2_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P2, boxEquip.Config.Updown_P2_Speed);
+            }
+        }
+
+        private void btnUpdown_P3_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P3, boxEquip.Config.Updown_P3_Speed);
+            }
+        }
+
+        private void btnUpdown_P4_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P4, boxEquip.Config.Updown_P4_Speed);
+            }
+        }
+
+        private void btnUpdown_P5_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P5, boxEquip.Config.Updown_P5_Speed);
+            }
+        }
+
+        private void btnUpdown_P8_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P8, boxEquip.Config.Updown_P8_Speed);
+            }
+        }
+
+        private void btnUpdown_P9_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P9, boxEquip.Config.Updown_P9_Speed);
+            }
+        }
+
+        private void btnUpdown_P10_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P10, boxEquip.Config.Updown_P10_Speed);
+            }
+        }
+
+        private void btnUpdown_P11_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P11, boxEquip.Config.Updown_P11_Speed);
+            }
+        }
+
+        private void btnPullAxis_Updown_P1_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.PullAxis_Updown, txtPullAxis_Updown_P1, boxEquip.Config.PullAxis_Updown_P1_Speed);
+            }
+        }
+
+        private void btnPullAxis_Updown_P2_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.PullAxis_Updown, txtPullAxis_Updown_P2, boxEquip.Config.PullAxis_Updown_P2_Speed);
+        }
+
+        private void btnMoveAxis_P1_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.MoveAxis, txtMoveAxis_P1, boxEquip.Config.MoveAxis_P1_Speed);
+            }
+        }
+
+        private void btnMoveAxis_P2_Click(object sender, EventArgs e)
+        {
+            if (PullAxisInOutIsInP1())
+            {
+                AxisABSMove(boxEquip.MoveAxis, txtMoveAxis_P2, boxEquip.Config.MoveAxis_P2_Speed);
+            }
+        }
+
+        private void btnPullAxis_Inout_P1_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.PullAxis_Inout, txtPullAxis_Inout_P1, boxEquip.Config.PullAxis_Inout_P1_Speed);
+        }
+
+        private void btnXAxis_A_P1_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.XAxis_A, txtXAxis_A_P1, boxEquip.Config.XAxis_A_P1_Speed);
+        }
+
+        private void btnXAxis_A_P2_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.XAxis_A, txtXAxis_A_P2, boxEquip.Config.XAxis_A_P2_Speed);
+        }
+
+        private void btnComAxis_A_P1_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.ComAxis_A, txtComAxis_A_P1, boxEquip.Config.ComAxis_A_P1_Speed);
+        }
+
+        private void btnMiddleAxis_A_P1_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.MiddleAxis_A, txtMiddleAxis_A_P1, boxEquip.Config.MiddleAxis_A_P1_Speed);
+        }
+
+        private void btnMiddleAxis_A_P2_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.MiddleAxis_A, txtMiddleAxis_A_P2, boxEquip.Config.MiddleAxis_A_P2_Speed);
+        }
+
+        private void btnMiddleAxis_A_P3_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.MiddleAxis_A, txtMiddleAxis_A_P3, boxEquip.Config.MiddleAxis_A_P3_Speed);
+        }
+
+        private void btnXAxis_B_P1_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.XAxis_B, txtXAxis_B_P1, boxEquip.Config.XAxis_B_P1_Speed);
+        }
+
+        private void btnXAxis_B_P2_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.XAxis_B, txtXAxis_B_P2, boxEquip.Config.XAxis_B_P2_Speed);
+        }
+
+        private void btnMiddleAxis_B_P1_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.MiddleAxis_B, txtMiddleAxis_B_P1, boxEquip.Config.MiddleAxis_B_P1_Speed);
+        }
+
+        private void btnMiddleAxis_B_P2_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.MiddleAxis_B, txtMiddleAxis_B_P2, boxEquip.Config.MiddleAxis_B_P2_Speed);
+        }
+
+        private void btnMiddleAxis_B_P3_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.MiddleAxis_B, txtMiddleAxis_B_P3, boxEquip.Config.MiddleAxis_B_P3_Speed);
+        }
+
+        private void btnComAxis_B_P1_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.ComAxis_B, txtComAxis_B_P1, boxEquip.Config.ComAxis_B_P1_Speed);
+        }
+
+        private void btnXAxis_AB_P3_Click(object sender, EventArgs e)
+        {
+            if (posSide.Equals("A"))
+            {
+                AxisABSMove(boxEquip.XAxis_A, txtXAxis_AB_P3, boxEquip.Config.XAxis_A_P3_Speed);
+            }
+            else if (posSide.Equals("B"))
+            {
+                AxisABSMove(boxEquip.XAxis_B, txtXAxis_AB_P3, boxEquip.Config.XAxis_B_P3_Speed);
+            }
+
+        }
+
+        private void btnComAxis_AB_P2_Click(object sender, EventArgs e)
+        {
+            if (posSide.Equals("A"))
+            {
+                AxisABSMove(boxEquip.ComAxis_A, txtComAxis_AB_P2, boxEquip.Config.ComAxis_A_P2_Speed);
+            }
+            else if (posSide.Equals("B"))
+            {
+                AxisABSMove(boxEquip.ComAxis_B, txtComAxis_AB_P2, boxEquip.Config.ComAxis_B_P2_Speed);
+            }
+        }
+
+        private void btnComAxis_AB_P3_Click(object sender, EventArgs e)
+        {
+            if (posSide.Equals("A"))
+            {
+                AxisABSMove(boxEquip.ComAxis_A, txtComAxis_AB_P3, boxEquip.Config.ComAxis_A_P3_Speed);
+            }
+            else if (posSide.Equals("B"))
+            {
+                AxisABSMove(boxEquip.ComAxis_B, txtComAxis_AB_P3, boxEquip.Config.ComAxis_B_P3_Speed);
+            }
+        }
+
+        private void btnUpdown_P6_P12_Click(object sender, EventArgs e)
+        {
+            if (posSide.Equals("A"))
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P6_P12, boxEquip.Config.Updown_P6_Speed);
+            }
+            else if (posSide.Equals("B"))
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P6_P12, boxEquip.Config.Updown_P12_Speed);
+            }
+        }
+
+        private void btnUpdown_P7_P13_Click(object sender, EventArgs e)
+        {
+            if (posSide.Equals("A"))
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P7_P13, boxEquip.Config.Updown_P7_Speed);
+            }
+            else if (posSide.Equals("B"))
+            {
+                AxisABSMove(boxEquip.UpdownAxis, txtUpdown_P7_P13, boxEquip.Config.Updown_P13_Speed);
+            }
+        }
+
+        private void btnPullAxis_Inout_P2_P4_Click(object sender, EventArgs e)
+        {
+            if (posSide.Equals("A"))
+            {
+                AxisABSMove(boxEquip.PullAxis_Inout, txtPullAxis_Inout_P2_P4, boxEquip.Config.PullAxis_Inout_P2_Speed);
+            }
+            else if (posSide.Equals("B"))
+            {
+                AxisABSMove(boxEquip.PullAxis_Inout, txtPullAxis_Inout_P2_P4, boxEquip.Config.PullAxis_Inout_P4_Speed);
+            }
+        }
+
+        private void btnPullAxis_Inout_P3_P5_Click(object sender, EventArgs e)
+        {
+            if (posSide.Equals("A"))
+            {
+                AxisABSMove(boxEquip.PullAxis_Inout, txtPullAxis_Inout_P3_P5, boxEquip.Config.PullAxis_Inout_P3_Speed);
+            }
+            else if (posSide.Equals("B"))
+            {
+                AxisABSMove(boxEquip.PullAxis_Inout, txtPullAxis_Inout_P3_P5, boxEquip.Config.PullAxis_Inout_P5_Speed);
+            }
+        }
+
+        private void btnMoveAxis_P3_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.MoveAxis, txtMoveAxis_P3, boxEquip.Config.MoveAxis_P3_Speed);
+        }
+
+        private void btnPullAxis_Updown_P3_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.PullAxis_Updown, txtPullAxis_Updown_P3, boxEquip.Config.PullAxis_Updown_P3_Speed);
+        }
+
+        private void btnPullAxis_Updown_P4_Click(object sender, EventArgs e)
+        {
+            AxisABSMove(boxEquip.PullAxis_Updown, txtPullAxis_Updown_P4, boxEquip.Config.PullAxis_Updown_P4_Speed);
+        }
+        #endregion
+        /// <summary>
+        /// 保存点位
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+
+        private void btnSavePoints_Click(object sender, EventArgs e)
+        {
+            bool needUpdate = false;
+            if (boxEquip.Config.ComAxis_B_P1 != FormUtil.GetIntValue(txtComAxis_B_P1))
+            {
+                boxEquip.Config.ComAxis_B_P1 = FormUtil.GetIntValue(txtComAxis_B_P1);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.MiddleAxis_A_P1 != FormUtil.GetIntValue(txtMiddleAxis_A_P1))
+            {
+                boxEquip.Config.MiddleAxis_A_P1 = FormUtil.GetIntValue(txtMiddleAxis_A_P1);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.MiddleAxis_A_P2 != FormUtil.GetIntValue(txtMiddleAxis_A_P2))
+            {
+                boxEquip.Config.MiddleAxis_A_P2 = FormUtil.GetIntValue(txtMiddleAxis_A_P2);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.MiddleAxis_A_P3 != FormUtil.GetIntValue(txtMiddleAxis_A_P3))
+            {
+                boxEquip.Config.MiddleAxis_A_P3 = FormUtil.GetIntValue(txtMiddleAxis_A_P3);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.MiddleAxis_B_P1 != FormUtil.GetIntValue(txtMiddleAxis_B_P1))
+            {
+                boxEquip.Config.MiddleAxis_B_P1 = FormUtil.GetIntValue(txtMiddleAxis_B_P1);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.MiddleAxis_B_P2 != FormUtil.GetIntValue(txtMiddleAxis_B_P2))
+            {
+                boxEquip.Config.MiddleAxis_B_P2 = FormUtil.GetIntValue(txtMiddleAxis_B_P2);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.MiddleAxis_B_P3 != FormUtil.GetIntValue(txtMiddleAxis_B_P3))
+            {
+                boxEquip.Config.MiddleAxis_B_P3 = FormUtil.GetIntValue(txtMiddleAxis_B_P3);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.MoveAxis_P2 != FormUtil.GetIntValue(txtMoveAxis_P2))
+            {
+                boxEquip.Config.MoveAxis_P2 = FormUtil.GetIntValue(txtMoveAxis_P2);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.MoveAxis_P1 != FormUtil.GetIntValue(txtMoveAxis_P1))
+            {
+                boxEquip.Config.MoveAxis_P1 = FormUtil.GetIntValue(txtMoveAxis_P1);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.PullAxis_Inout_P1 != FormUtil.GetIntValue(txtPullAxis_Inout_P1))
+            {
+                boxEquip.Config.PullAxis_Inout_P1 = FormUtil.GetIntValue(txtPullAxis_Inout_P1);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.PullAxis_Updown_P1 != FormUtil.GetIntValue(txtPullAxis_Updown_P1))
+            {
+                boxEquip.Config.PullAxis_Updown_P1 = FormUtil.GetIntValue(txtPullAxis_Updown_P1);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.PullAxis_Updown_P2 != FormUtil.GetIntValue(txtPullAxis_Updown_P2))
+            {
+                boxEquip.Config.PullAxis_Updown_P2 = FormUtil.GetIntValue(txtPullAxis_Updown_P2);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.Updown_P1 != FormUtil.GetIntValue(txtUpdown_P1))
+            {
+                boxEquip.Config.Updown_P1 = FormUtil.GetIntValue(txtUpdown_P1);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.Updown_P10 != FormUtil.GetIntValue(txtUpdown_P10))
+            {
+                boxEquip.Config.Updown_P10 = FormUtil.GetIntValue(txtUpdown_P10);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.Updown_P11 != FormUtil.GetIntValue(txtUpdown_P11))
+            {
+                boxEquip.Config.Updown_P11 = FormUtil.GetIntValue(txtUpdown_P11);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.Updown_P2 != FormUtil.GetIntValue(txtUpdown_P2))
+            {
+                boxEquip.Config.Updown_P2 = FormUtil.GetIntValue(txtUpdown_P2);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.Updown_P3 != FormUtil.GetIntValue(txtUpdown_P3))
+            {
+                boxEquip.Config.Updown_P3 = FormUtil.GetIntValue(txtUpdown_P3);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.Updown_P4 != FormUtil.GetIntValue(txtUpdown_P4))
+            {
+                boxEquip.Config.Updown_P4 = FormUtil.GetIntValue(txtUpdown_P4);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.Updown_P5 != FormUtil.GetIntValue(txtUpdown_P5))
+            {
+                boxEquip.Config.Updown_P5 = FormUtil.GetIntValue(txtUpdown_P5);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.Updown_P8 != FormUtil.GetIntValue(txtUpdown_P8))
+            {
+                boxEquip.Config.Updown_P8 = FormUtil.GetIntValue(txtUpdown_P8);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.Updown_P9 != FormUtil.GetIntValue(txtUpdown_P9))
+            {
+                boxEquip.Config.Updown_P9 = FormUtil.GetIntValue(txtUpdown_P9);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.XAxis_A_P1 != FormUtil.GetIntValue(txtXAxis_A_P1))
+            {
+                boxEquip.Config.XAxis_A_P1 = FormUtil.GetIntValue(txtXAxis_A_P1);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.ComAxis_A_P1 != FormUtil.GetIntValue(txtComAxis_A_P1))
+            {
+                boxEquip.Config.ComAxis_A_P1 = FormUtil.GetIntValue(txtComAxis_A_P1);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.XAxis_B_P2 != FormUtil.GetIntValue(txtXAxis_B_P2))
+            {
+                boxEquip.Config.XAxis_B_P2 = FormUtil.GetIntValue(txtXAxis_B_P2);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.XAxis_B_P1 != FormUtil.GetIntValue(txtXAxis_B_P1))
+            {
+                boxEquip.Config.XAxis_B_P1 = FormUtil.GetIntValue(txtXAxis_B_P1);
+                needUpdate = true;
+            }
+            if (boxEquip.Config.XAxis_A_P2 != FormUtil.GetIntValue(txtXAxis_A_P2))
+            {
+                boxEquip.Config.XAxis_A_P2 = FormUtil.GetIntValue(txtXAxis_A_P2);
+                needUpdate = true;
+            }
+            if (needUpdate)
+            {
+                //更新配置
+               bool res= StoreManager.SaveBoxConfig(boxEquip.Config);
+                if (res)
+                    label3.Text = "保存点位成功";
+            }
+        }
+        /// <summary>
+        /// 保存库位位置
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void btnSavePosIds_Click(object sender, EventArgs e)
+        {
+            if (posId.Equals(""))
+                return;
+            BoxPosition ktkPosition = CSVPositionReader<BoxPosition>.GetPositon(posId);
+            if (ktkPosition != null)
+            {
+                 ktkPosition.ComAxis_AB_P2= FormUtil.GetIntValue(txtComAxis_AB_P2);
+                 ktkPosition.ComAxis_AB_P3 = FormUtil.GetIntValue(txtComAxis_AB_P3);
+                ktkPosition.MoveAxis_P3 = FormUtil.GetIntValue(txtMoveAxis_P3);
+                ktkPosition.PullAxis_Inout_P2_P4 = FormUtil.GetIntValue(txtPullAxis_Inout_P2_P4);
+                ktkPosition.PullAxis_Inout_P3_P5 = FormUtil.GetIntValue(txtPullAxis_Inout_P3_P5);
+                ktkPosition.PullAxis_Updown_P3 = FormUtil.GetIntValue(txtPullAxis_Updown_P3);
+                ktkPosition.PullAxis_Updown_P4 = FormUtil.GetIntValue(txtPullAxis_Updown_P4);
+                ktkPosition.Updown_P6_P12 = FormUtil.GetIntValue(txtUpdown_P6_P12);
+                ktkPosition.Updown_P7_P13 = FormUtil.GetIntValue(txtUpdown_P7_P13);
+                ktkPosition.XAxis_AB_P3 = FormUtil.GetIntValue(txtXAxis_AB_P3);
+            }
+            //位置配置
+            string appPath = Application.StartupPath;
+            //如果总配置文件存在，保存到总的配置文件
+            string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.ConfigPath_BoxPosition);
+            if (!File.Exists(positionConfigFile))
+            {
+                string nameStr = boxEquip.DeviceID.ToString();
+                positionConfigFile = positionConfigFile.Replace(".csv", "_" + nameStr + ".csv");
+            }
+            bool result = CSVPositionReader<BoxPosition>.SavePostion(positionConfigFile, ktkPosition);
+            if (!result)
+            {
+                MessageBox.Show("库位【" + posId + "】保存失败！");
+            }
+            else
+            {
+                label2.Text = "库位【" + posId + "】保存成功！";
+            }
+        }
+        List<Control> DILabel = new List<Control>();
+        private void FrmLineIO_Shown(object sender, EventArgs e)
+        {
+            if (DILabel.Count <= 0)
+            {
+                DILabel = new List<Control>();
+                foreach (Control con in this.tableLayoutPanel3.Controls)
+                {
+                    if (con is GroupBox)
+                    {
+                        foreach (Control c in con.Controls)
+                        {
+                            if (c is Label)
+                            {
+                                if (boxEquip.Config.DIList.ContainsKey(c.Name))
+                                {
+                                    DILabel.Add(c);
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+            timer1.Start();
+        }
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            if (!this.Visible)
+            {
+                return;
+            }
+            foreach (Control labl in DILabel)
+            {
+                IO_VALUE value =boxEquip.IOValue(labl.Name);
+                if (value.Equals(IO_VALUE.HIGH))
+                {
+                    labl.BackColor = Color.LawnGreen;
+                }
+                else if (value.Equals(IO_VALUE.LOW))
+                {
+                    labl.BackColor = Color.LightGray;
+                }
+            }
+        }
+    }
+}

source/XLRStoreClient/boxForm/FrmAxisMove.resx

+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+</root>
\ No newline at end of file

source/XLRStoreClient/boxForm/FrmBoxEquip.Designer.cs

@@ -36,13 +36,12 @@
             this.groupDO = new System.Windows.Forms.GroupBox();
             this.lblThisSta = new System.Windows.Forms.Label();
             this.tabControl1 = new System.Windows.Forms.TabControl();
-            this.tabPage1 = new System.Windows.Forms.TabPage();
+            this.tabPage3 = new System.Windows.Forms.TabPage();
             this.groupBox6 = new System.Windows.Forms.GroupBox();
             this.lblInoutInfo = new System.Windows.Forms.Label();
             this.lblMoveInfo = new System.Windows.Forms.Label();
             this.lblInstoreList = new System.Windows.Forms.Label();
-            this.tabPage2 = new System.Windows.Forms.TabPage();
-            this.axisMoveControl1 = new OnlineStore.XLRStore.AxisMoveControl();
+            this.tabPage1 = new System.Windows.Forms.TabPage();
             this.panBase = new System.Windows.Forms.Panel();
             this.chbMoveStop = new System.Windows.Forms.CheckBox();
             this.lblName = new System.Windows.Forms.Label();
@@ -50,16 +49,15 @@
             this.lblStoreStatus = new System.Windows.Forms.Label();
             this.btnStart = new System.Windows.Forms.Button();
             this.btnStop = new System.Windows.Forms.Button();
-            this.tabPage3 = new System.Windows.Forms.TabPage();
+            this.btnDebugAxis = new System.Windows.Forms.Button();
             this.groupBox1.SuspendLayout();
             this.groupBox4.SuspendLayout();
             this.groupBox3.SuspendLayout();
             this.tabControl1.SuspendLayout();
-            this.tabPage1.SuspendLayout();
+            this.tabPage3.SuspendLayout();
             this.groupBox6.SuspendLayout();
-            this.tabPage2.SuspendLayout();
+            this.tabPage1.SuspendLayout();
             this.panBase.SuspendLayout();
-            this.tabPage3.SuspendLayout();
             this.SuspendLayout();
             // 
             // timer1
@@ -298,26 +296,21 @@
             | System.Windows.Forms.AnchorStyles.Right)));
             this.tabControl1.Controls.Add(this.tabPage3);
             this.tabControl1.Controls.Add(this.tabPage1);
-            this.tabControl1.Controls.Add(this.tabPage2);
             this.tabControl1.Location = new System.Drawing.Point(5, 56);
             this.tabControl1.Name = "tabControl1";
             this.tabControl1.SelectedIndex = 0;
             this.tabControl1.Size = new System.Drawing.Size(993, 551);
             this.tabControl1.TabIndex = 257;
             // 
-            // tabPage1
+            // tabPage3
             // 
-            this.tabPage1.Controls.Add(this.groupBox1);
-            this.tabPage1.Controls.Add(this.groupDO);
-            this.tabPage1.Controls.Add(this.groupBox3);
-            this.tabPage1.Controls.Add(this.groupBox4);
-            this.tabPage1.Location = new System.Drawing.Point(4, 26);
-            this.tabPage1.Name = "tabPage1";
-            this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage1.Size = new System.Drawing.Size(985, 521);
-            this.tabPage1.TabIndex = 0;
-            this.tabPage1.Text = "    IO列表     ";
-            this.tabPage1.UseVisualStyleBackColor = true;
+            this.tabPage3.Controls.Add(this.groupBox6);
+            this.tabPage3.Location = new System.Drawing.Point(4, 26);
+            this.tabPage3.Name = "tabPage3";
+            this.tabPage3.Size = new System.Drawing.Size(985, 521);
+            this.tabPage3.TabIndex = 2;
+            this.tabPage3.Text = "  设备状态  ";
+            this.tabPage3.UseVisualStyleBackColor = true;
             // 
             // groupBox6
             // 
@@ -369,29 +362,26 @@
             this.lblInstoreList.Size = new System.Drawing.Size(724, 74);
             this.lblInstoreList.TabIndex = 277;
             // 
-            // tabPage2
-            // 
-            this.tabPage2.Controls.Add(this.axisMoveControl1);
-            this.tabPage2.Location = new System.Drawing.Point(4, 26);
-            this.tabPage2.Name = "tabPage2";
-            this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage2.Size = new System.Drawing.Size(985, 521);
-            this.tabPage2.TabIndex = 1;
-            this.tabPage2.Text = "     伺服信息     ";
-            this.tabPage2.UseVisualStyleBackColor = true;
-            // 
-            // axisMoveControl1
+            // tabPage1
             // 
-            this.axisMoveControl1.Location = new System.Drawing.Point(4, 7);
-            this.axisMoveControl1.Name = "axisMoveControl1";
-            this.axisMoveControl1.Size = new System.Drawing.Size(490, 403);
-            this.axisMoveControl1.TabIndex = 219;
+            this.tabPage1.Controls.Add(this.groupBox1);
+            this.tabPage1.Controls.Add(this.groupDO);
+            this.tabPage1.Controls.Add(this.groupBox3);
+            this.tabPage1.Controls.Add(this.groupBox4);
+            this.tabPage1.Location = new System.Drawing.Point(4, 26);
+            this.tabPage1.Name = "tabPage1";
+            this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
+            this.tabPage1.Size = new System.Drawing.Size(985, 521);
+            this.tabPage1.TabIndex = 0;
+            this.tabPage1.Text = "    IO列表     ";
+            this.tabPage1.UseVisualStyleBackColor = true;
             // 
             // panBase
             // 
             this.panBase.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Right)));
             this.panBase.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.panBase.Controls.Add(this.btnDebugAxis);
             this.panBase.Controls.Add(this.chbMoveStop);
             this.panBase.Controls.Add(this.lblName);
             this.panBase.Controls.Add(this.chbDebug);
@@ -424,7 +414,7 @@
             this.lblName.Name = "lblName";
             this.lblName.Size = new System.Drawing.Size(120, 40);
             this.lblName.TabIndex = 250;
-            this.lblName.Text = "进仓移栽";
+            this.lblName.Text = "存储机构";
             this.lblName.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
             // chbDebug
@@ -470,7 +460,7 @@
             this.btnStop.BackColor = System.Drawing.Color.White;
             this.btnStop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnStop.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnStop.Location = new System.Drawing.Point(238, 4);
+            this.btnStop.Location = new System.Drawing.Point(351, 4);
             this.btnStop.Name = "btnStop";
             this.btnStop.Size = new System.Drawing.Size(105, 40);
             this.btnStop.TabIndex = 87;
@@ -478,15 +468,18 @@
             this.btnStop.UseVisualStyleBackColor = false;
             this.btnStop.Click += new System.EventHandler(this.btnStop_Click);
             // 
-            // tabPage3
+            // btnDebugAxis
             // 
-            this.tabPage3.Controls.Add(this.groupBox6);
-            this.tabPage3.Location = new System.Drawing.Point(4, 26);
-            this.tabPage3.Name = "tabPage3";
-            this.tabPage3.Size = new System.Drawing.Size(985, 521);
-            this.tabPage3.TabIndex = 2;
-            this.tabPage3.Text = "  设备状态  ";
-            this.tabPage3.UseVisualStyleBackColor = true;
+            this.btnDebugAxis.BackColor = System.Drawing.Color.White;
+            this.btnDebugAxis.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnDebugAxis.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnDebugAxis.Location = new System.Drawing.Point(240, 3);
+            this.btnDebugAxis.Name = "btnDebugAxis";
+            this.btnDebugAxis.Size = new System.Drawing.Size(105, 40);
+            this.btnDebugAxis.TabIndex = 263;
+            this.btnDebugAxis.Text = "点位调试";
+            this.btnDebugAxis.UseVisualStyleBackColor = false;
+            this.btnDebugAxis.Click += new System.EventHandler(this.btnDebugAxis_Click);
             // 
             // FrmBoxEquip
             // 
@@ -508,13 +501,12 @@
             this.groupBox4.ResumeLayout(false);
             this.groupBox3.ResumeLayout(false);
             this.tabControl1.ResumeLayout(false);
-            this.tabPage1.ResumeLayout(false);
+            this.tabPage3.ResumeLayout(false);
             this.groupBox6.ResumeLayout(false);
             this.groupBox6.PerformLayout();
-            this.tabPage2.ResumeLayout(false);
+            this.tabPage1.ResumeLayout(false);
             this.panBase.ResumeLayout(false);
             this.panBase.PerformLayout();
-            this.tabPage3.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
@@ -532,7 +524,6 @@
         private System.Windows.Forms.Label lblThisSta;
         private System.Windows.Forms.TabControl tabControl1;
         private System.Windows.Forms.TabPage tabPage1;
-        private System.Windows.Forms.TabPage tabPage2;
         private System.Windows.Forms.Button btnCloseAll;
         private System.Windows.Forms.GroupBox groupBox6;
         private System.Windows.Forms.Label lblInstoreList;
@@ -543,7 +534,6 @@
         private System.Windows.Forms.Button btnWriteSingleDO;
         private System.Windows.Forms.TextBox txtWriteTime;
         private System.Windows.Forms.Label label5;
-        private AxisMoveControl axisMoveControl1;
         private System.Windows.Forms.Label lblMoveInfo;
         private System.Windows.Forms.Label lblInoutInfo;
         private System.Windows.Forms.TextBox txtSlaveId;
@@ -555,6 +545,7 @@
         protected System.Windows.Forms.Button btnStart;
         protected System.Windows.Forms.Button btnStop;
         private System.Windows.Forms.TabPage tabPage3;
+        protected System.Windows.Forms.Button btnDebugAxis;
     }
 }
 

source/XLRStoreClient/boxForm/FrmBoxEquip.cs

@@ -23,7 +23,7 @@ namespace OnlineStore.XLRStore
     internal partial class FrmBoxEquip : FrmBase
     {
         private bool IsLoad = false;
-  
+        FrmAxisMove frmAxisMove =null;
         private BoxEquip boxBean;
         internal FrmBoxEquip(BoxEquip moveEquip)
         { 
@@ -40,8 +40,6 @@ namespace OnlineStore.XLRStore
 
             lblName.Text = boxBean.Name;
             this.Text = boxBean.Name;
-              
-
             IsLoad = true;
         }
         protected Dictionary<string, IOTextControl> DIControlList = new Dictionary<string, IOTextControl>();
@@ -432,7 +430,26 @@ namespace OnlineStore.XLRStore
             }
         }
 
-     
+        protected void AddForm(TabControl tabcon, string text, Form form)
+        {
+            //text = text.PadRight(10, ' ');
+            TabPage lineTabPage = new TabPage(text);
+            // lineTabPage.AutoScroll = true;
+            //   lineTabPage.Tag = StoreBean;
+            Panel linePan = new Panel();
+            linePan.Dock = DockStyle.Fill;
+            linePan.AutoScroll = true;
+            lineTabPage.Controls.Add(linePan);
+            form.FormBorderStyle = FormBorderStyle.None;
+            form.TopLevel = false;
+            linePan.Controls.Add(form);
+            form.Dock = DockStyle.Fill;
+            linePan.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
+            form.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
+            form.Show();
+            //tabPageList.Add(lineTabPage);
+            tabcon.Controls.Add(lineTabPage);
+        }
 
         private void chbMoveStop_CheckedChanged(object sender, EventArgs e)
         {
@@ -444,7 +461,27 @@ namespace OnlineStore.XLRStore
             boxBean.MoveStop = chbMoveStop.Checked;
             LogUtil.info(boxBean.Name + "用户切换是否暂停： " + boxBean.MoveStop);
         }
-         
+
+        private void btnDebugAxis_Click(object sender, EventArgs e)
+        {
+            if (frmAxisMove == null)
+            {
+                frmAxisMove = new FrmAxisMove(boxBean.IsDebug);
+                frmAxisMove.Show();
+            }
+            else
+            {
+                if (frmAxisMove.IsDisposed)
+                {
+                    frmAxisMove = new FrmAxisMove(boxBean.IsDebug);
+                    frmAxisMove.Show();
+                }
+                else
+                {
+                    frmAxisMove.Activate();
+                }
+            }
+        }
     }
 
 }

source/XLRStoreClient/boxForm/FrmIOStatus.Designer.cs

+namespace OnlineStore.DUOStore
+{
+    partial class FrmIOStatus
+    {
+        /// <summary>
+        /// 必需的设计器变量。
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        #region Windows 窗体设计器生成的代码
+         
+        /// <summary>
+        /// 设计器支持所需的方法 - 不要
+        /// 使用代码编辑器修改此方法的内容。
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.components = new System.ComponentModel.Container();
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.btnCloseGate = new System.Windows.Forms.Button();
+            this.btnOpenGate = new System.Windows.Forms.Button();
+            this.btnCloseAll = new System.Windows.Forms.Button();
+            this.btnRelax = new System.Windows.Forms.Button();
+            this.btnClamp = new System.Windows.Forms.Button();
+            this.btnLineStop = new System.Windows.Forms.Button();
+            this.btnLineRun = new System.Windows.Forms.Button();
+            this.btnDeviceLed = new System.Windows.Forms.Button();
+            this.btnCamerLed = new System.Windows.Forms.Button();
+            this.btnTopDown = new System.Windows.Forms.Button();
+            this.btnTopUp = new System.Windows.Forms.Button();
+            this.btnOpenDo = new System.Windows.Forms.Button();
+            this.btnCloseDO = new System.Windows.Forms.Button();
+            this.txtDOIndex = new System.Windows.Forms.TextBox();
+            this.txtDoName = new System.Windows.Forms.TextBox();
+            this.label17 = new System.Windows.Forms.Label();
+            this.label14 = new System.Windows.Forms.Label();
+            this.txtWriteTime = new System.Windows.Forms.TextBox();
+            this.btnBack = new System.Windows.Forms.Button();
+            this.label5 = new System.Windows.Forms.Label();
+            this.btn_Stop = new System.Windows.Forms.Button();
+            this.btn_Down = new System.Windows.Forms.Button();
+            this.btn_Up = new System.Windows.Forms.Button();
+            this.btnFoward = new System.Windows.Forms.Button();
+            this.cmbWriteIO = new System.Windows.Forms.ComboBox();
+            this.groupBox4 = new System.Windows.Forms.GroupBox();
+            this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
+            this.groupBox3 = new System.Windows.Forms.GroupBox();
+            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
+            this.groupBox1.SuspendLayout();
+            this.groupBox4.SuspendLayout();
+            this.groupBox3.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // timer1
+            // 
+            this.timer1.Interval = 1000;
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            // 
+            // groupBox1
+            // 
+            this.groupBox1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left)));
+            this.groupBox1.Controls.Add(this.btnCloseGate);
+            this.groupBox1.Controls.Add(this.btnOpenGate);
+            this.groupBox1.Controls.Add(this.btnCloseAll);
+            this.groupBox1.Controls.Add(this.btnRelax);
+            this.groupBox1.Controls.Add(this.btnClamp);
+            this.groupBox1.Controls.Add(this.btnLineStop);
+            this.groupBox1.Controls.Add(this.btnLineRun);
+            this.groupBox1.Controls.Add(this.btnDeviceLed);
+            this.groupBox1.Controls.Add(this.btnCamerLed);
+            this.groupBox1.Controls.Add(this.btnTopDown);
+            this.groupBox1.Controls.Add(this.btnTopUp);
+            this.groupBox1.Controls.Add(this.btnOpenDo);
+            this.groupBox1.Controls.Add(this.btnCloseDO);
+            this.groupBox1.Controls.Add(this.txtDOIndex);
+            this.groupBox1.Controls.Add(this.txtDoName);
+            this.groupBox1.Controls.Add(this.label17);
+            this.groupBox1.Controls.Add(this.label14);
+            this.groupBox1.Controls.Add(this.txtWriteTime);
+            this.groupBox1.Controls.Add(this.btnBack);
+            this.groupBox1.Controls.Add(this.label5);
+            this.groupBox1.Controls.Add(this.btn_Stop);
+            this.groupBox1.Controls.Add(this.btn_Down);
+            this.groupBox1.Controls.Add(this.btn_Up);
+            this.groupBox1.Controls.Add(this.btnFoward);
+            this.groupBox1.Controls.Add(this.cmbWriteIO);
+            this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.groupBox1.Location = new System.Drawing.Point(524, 3);
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.Size = new System.Drawing.Size(577, 536);
+            this.groupBox1.TabIndex = 105;
+            this.groupBox1.TabStop = false;
+            this.groupBox1.Text = "DO写入";
+            this.groupBox1.Enter += new System.EventHandler(this.groupBox1_Enter);
+            // 
+            // btnCloseGate
+            // 
+            this.btnCloseGate.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnCloseGate.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnCloseGate.Location = new System.Drawing.Point(307, 206);
+            this.btnCloseGate.Name = "btnCloseGate";
+            this.btnCloseGate.Size = new System.Drawing.Size(125, 34);
+            this.btnCloseGate.TabIndex = 304;
+            this.btnCloseGate.Text = "大门关闭";
+            this.btnCloseGate.UseVisualStyleBackColor = false;
+            this.btnCloseGate.Click += new System.EventHandler(this.btnCloseGate_Click);
+            // 
+            // btnOpenGate
+            // 
+            this.btnOpenGate.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnOpenGate.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnOpenGate.Location = new System.Drawing.Point(307, 169);
+            this.btnOpenGate.Name = "btnOpenGate";
+            this.btnOpenGate.Size = new System.Drawing.Size(125, 34);
+            this.btnOpenGate.TabIndex = 303;
+            this.btnOpenGate.Text = "大门打开";
+            this.btnOpenGate.UseVisualStyleBackColor = false;
+            this.btnOpenGate.Click += new System.EventHandler(this.btnOpenGate_Click);
+            // 
+            // btnCloseAll
+            // 
+            this.btnCloseAll.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnCloseAll.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnCloseAll.Location = new System.Drawing.Point(167, 421);
+            this.btnCloseAll.Name = "btnCloseAll";
+            this.btnCloseAll.Size = new System.Drawing.Size(125, 34);
+            this.btnCloseAll.TabIndex = 302;
+            this.btnCloseAll.Text = "关闭所有DO";
+            this.btnCloseAll.UseVisualStyleBackColor = false;
+            this.btnCloseAll.Click += new System.EventHandler(this.btnCloseCyDo_Click);
+            // 
+            // btnRelax
+            // 
+            this.btnRelax.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnRelax.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnRelax.Location = new System.Drawing.Point(167, 363);
+            this.btnRelax.Name = "btnRelax";
+            this.btnRelax.Size = new System.Drawing.Size(125, 34);
+            this.btnRelax.TabIndex = 297;
+            this.btnRelax.Text = "取料气缸放松";
+            this.btnRelax.UseVisualStyleBackColor = false;
+            this.btnRelax.Click += new System.EventHandler(this.btnRelax_Click);
+            // 
+            // btnClamp
+            // 
+            this.btnClamp.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnClamp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnClamp.Location = new System.Drawing.Point(167, 326);
+            this.btnClamp.Name = "btnClamp";
+            this.btnClamp.Size = new System.Drawing.Size(125, 34);
+            this.btnClamp.TabIndex = 296;
+            this.btnClamp.Text = "取料气缸夹紧";
+            this.btnClamp.UseVisualStyleBackColor = false;
+            this.btnClamp.Click += new System.EventHandler(this.btnClamp_Click);
+            // 
+            // btnLineStop
+            // 
+            this.btnLineStop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnLineStop.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnLineStop.Location = new System.Drawing.Point(31, 363);
+            this.btnLineStop.Name = "btnLineStop";
+            this.btnLineStop.Size = new System.Drawing.Size(125, 34);
+            this.btnLineStop.TabIndex = 295;
+            this.btnLineStop.Text = "线体停止";
+            this.btnLineStop.UseVisualStyleBackColor = false;
+            this.btnLineStop.Click += new System.EventHandler(this.btnLineStop_Click);
+            // 
+            // btnLineRun
+            // 
+            this.btnLineRun.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnLineRun.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnLineRun.Location = new System.Drawing.Point(31, 326);
+            this.btnLineRun.Name = "btnLineRun";
+            this.btnLineRun.Size = new System.Drawing.Size(125, 34);
+            this.btnLineRun.TabIndex = 294;
+            this.btnLineRun.Text = "线体正转";
+            this.btnLineRun.UseVisualStyleBackColor = false;
+            this.btnLineRun.Click += new System.EventHandler(this.btnLineRun_Click);
+            // 
+            // btnDeviceLed
+            // 
+            this.btnDeviceLed.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnDeviceLed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnDeviceLed.Location = new System.Drawing.Point(31, 461);
+            this.btnDeviceLed.Name = "btnDeviceLed";
+            this.btnDeviceLed.Size = new System.Drawing.Size(125, 34);
+            this.btnDeviceLed.TabIndex = 293;
+            this.btnDeviceLed.Text = "打开设备光源";
+            this.btnDeviceLed.UseVisualStyleBackColor = false;
+            this.btnDeviceLed.Click += new System.EventHandler(this.btnStoreOn_Click);
+            // 
+            // btnCamerLed
+            // 
+            this.btnCamerLed.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnCamerLed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnCamerLed.Location = new System.Drawing.Point(31, 421);
+            this.btnCamerLed.Name = "btnCamerLed";
+            this.btnCamerLed.Size = new System.Drawing.Size(125, 34);
+            this.btnCamerLed.TabIndex = 290;
+            this.btnCamerLed.Text = "打开相机光源";
+            this.btnCamerLed.UseVisualStyleBackColor = false;
+            this.btnCamerLed.Click += new System.EventHandler(this.btnCamerLed_Click);
+            // 
+            // btnTopDown
+            // 
+            this.btnTopDown.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnTopDown.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnTopDown.Location = new System.Drawing.Point(31, 206);
+            this.btnTopDown.Name = "btnTopDown";
+            this.btnTopDown.Size = new System.Drawing.Size(125, 34);
+            this.btnTopDown.TabIndex = 289;
+            this.btnTopDown.Text = "横移顶升气缸下降";
+            this.btnTopDown.UseVisualStyleBackColor = false;
+            this.btnTopDown.Click += new System.EventHandler(this.btnTopDown_Click);
+            // 
+            // btnTopUp
+            // 
+            this.btnTopUp.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnTopUp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnTopUp.Location = new System.Drawing.Point(31, 169);
+            this.btnTopUp.Name = "btnTopUp";
+            this.btnTopUp.Size = new System.Drawing.Size(125, 34);
+            this.btnTopUp.TabIndex = 288;
+            this.btnTopUp.Text = "横移顶升气缸上升";
+            this.btnTopUp.UseVisualStyleBackColor = false;
+            this.btnTopUp.Click += new System.EventHandler(this.btnTopUp_Click);
+            // 
+            // btnOpenDo
+            // 
+            this.btnOpenDo.BackColor = System.Drawing.Color.White;
+            this.btnOpenDo.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnOpenDo.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnOpenDo.Location = new System.Drawing.Point(31, 111);
+            this.btnOpenDo.Name = "btnOpenDo";
+            this.btnOpenDo.Size = new System.Drawing.Size(125, 34);
+            this.btnOpenDo.TabIndex = 282;
+            this.btnOpenDo.Text = "打开";
+            this.btnOpenDo.UseVisualStyleBackColor = false;
+            this.btnOpenDo.Click += new System.EventHandler(this.btnOpenDo_Click);
+            // 
+            // btnCloseDO
+            // 
+            this.btnCloseDO.BackColor = System.Drawing.Color.White;
+            this.btnCloseDO.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnCloseDO.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnCloseDO.Location = new System.Drawing.Point(167, 111);
+            this.btnCloseDO.Name = "btnCloseDO";
+            this.btnCloseDO.Size = new System.Drawing.Size(125, 34);
+            this.btnCloseDO.TabIndex = 281;
+            this.btnCloseDO.Text = "关闭";
+            this.btnCloseDO.UseVisualStyleBackColor = false;
+            this.btnCloseDO.Click += new System.EventHandler(this.btnCloseDO_Click);
+            // 
+            // txtDOIndex
+            // 
+            this.txtDOIndex.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtDOIndex.Location = new System.Drawing.Point(69, 80);
+            this.txtDOIndex.MaxLength = 10;
+            this.txtDOIndex.Name = "txtDOIndex";
+            this.txtDOIndex.Size = new System.Drawing.Size(70, 23);
+            this.txtDOIndex.TabIndex = 242;
+            this.txtDOIndex.Text = "0";
+            // 
+            // txtDoName
+            // 
+            this.txtDoName.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtDoName.Location = new System.Drawing.Point(69, 51);
+            this.txtDoName.MaxLength = 10;
+            this.txtDoName.Name = "txtDoName";
+            this.txtDoName.Size = new System.Drawing.Size(233, 23);
+            this.txtDoName.TabIndex = 241;
+            this.txtDoName.Text = "0";
+            // 
+            // label17
+            // 
+            this.label17.AutoSize = true;
+            this.label17.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label17.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label17.Location = new System.Drawing.Point(20, 54);
+            this.label17.Name = "label17";
+            this.label17.Size = new System.Drawing.Size(46, 17);
+            this.label17.TabIndex = 240;
+            this.label17.Text = "设备IP:";
+            this.label17.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // label14
+            // 
+            this.label14.AutoSize = true;
+            this.label14.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label14.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label14.Location = new System.Drawing.Point(31, 83);
+            this.label14.Name = "label14";
+            this.label14.Size = new System.Drawing.Size(35, 17);
+            this.label14.TabIndex = 239;
+            this.label14.Text = "地址:";
+            this.label14.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // txtWriteTime
+            // 
+            this.txtWriteTime.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtWriteTime.Location = new System.Drawing.Point(230, 80);
+            this.txtWriteTime.MaxLength = 10;
+            this.txtWriteTime.Name = "txtWriteTime";
+            this.txtWriteTime.Size = new System.Drawing.Size(72, 23);
+            this.txtWriteTime.TabIndex = 238;
+            this.txtWriteTime.Text = "0";
+            // 
+            // btnBack
+            // 
+            this.btnBack.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnBack.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnBack.Location = new System.Drawing.Point(167, 206);
+            this.btnBack.Name = "btnBack";
+            this.btnBack.Size = new System.Drawing.Size(125, 34);
+            this.btnBack.TabIndex = 251;
+            this.btnBack.Text = "提升线体后退";
+            this.btnBack.UseVisualStyleBackColor = false;
+            this.btnBack.Click += new System.EventHandler(this.btnBack_Click);
+            // 
+            // label5
+            // 
+            this.label5.AutoSize = true;
+            this.label5.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label5.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label5.Location = new System.Drawing.Point(164, 83);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(60, 17);
+            this.label5.TabIndex = 237;
+            this.label5.Text = "定时(ms):";
+            this.label5.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // btn_Stop
+            // 
+            this.btn_Stop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btn_Stop.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btn_Stop.Location = new System.Drawing.Point(167, 246);
+            this.btn_Stop.Name = "btn_Stop";
+            this.btn_Stop.Size = new System.Drawing.Size(125, 34);
+            this.btn_Stop.TabIndex = 250;
+            this.btn_Stop.Text = "提升线体停止";
+            this.btn_Stop.UseVisualStyleBackColor = false;
+            this.btn_Stop.Click += new System.EventHandler(this.btn_Stop_Click);
+            // 
+            // btn_Down
+            // 
+            this.btn_Down.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btn_Down.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btn_Down.Location = new System.Drawing.Point(167, 286);
+            this.btn_Down.Name = "btn_Down";
+            this.btn_Down.Size = new System.Drawing.Size(125, 34);
+            this.btn_Down.TabIndex = 250;
+            this.btn_Down.Text = "定位销下降";
+            this.btn_Down.UseVisualStyleBackColor = false;
+            this.btn_Down.Click += new System.EventHandler(this.btnLocationDown_Click);
+            // 
+            // btn_Up
+            // 
+            this.btn_Up.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btn_Up.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btn_Up.Location = new System.Drawing.Point(31, 286);
+            this.btn_Up.Name = "btn_Up";
+            this.btn_Up.Size = new System.Drawing.Size(125, 34);
+            this.btn_Up.TabIndex = 250;
+            this.btn_Up.Text = "定位销上升";
+            this.btn_Up.UseVisualStyleBackColor = false;
+            this.btn_Up.Click += new System.EventHandler(this.btnLocationUp_Click);
+            // 
+            // btnFoward
+            // 
+            this.btnFoward.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnFoward.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnFoward.Location = new System.Drawing.Point(167, 169);
+            this.btnFoward.Name = "btnFoward";
+            this.btnFoward.Size = new System.Drawing.Size(125, 34);
+            this.btnFoward.TabIndex = 250;
+            this.btnFoward.Text = "提升线体前进";
+            this.btnFoward.UseVisualStyleBackColor = false;
+            this.btnFoward.Click += new System.EventHandler(this.btnFoward_Click);
+            // 
+            // cmbWriteIO
+            // 
+            this.cmbWriteIO.DisplayMember = "ProName";
+            this.cmbWriteIO.DrawMode = System.Windows.Forms.DrawMode.OwnerDrawVariable;
+            this.cmbWriteIO.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbWriteIO.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.cmbWriteIO.FormattingEnabled = true;
+            this.cmbWriteIO.Location = new System.Drawing.Point(6, 18);
+            this.cmbWriteIO.Name = "cmbWriteIO";
+            this.cmbWriteIO.Size = new System.Drawing.Size(296, 27);
+            this.cmbWriteIO.TabIndex = 234;
+            this.cmbWriteIO.ValueMember = "ProName";
+            this.cmbWriteIO.DrawItem += new System.Windows.Forms.DrawItemEventHandler(this.cmbWriteIO_DrawItem);
+            this.cmbWriteIO.SelectedIndexChanged += new System.EventHandler(this.cmbWriteIO_SelectedIndexChanged);
+            // 
+            // groupBox4
+            // 
+            this.groupBox4.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left)));
+            this.groupBox4.Controls.Add(this.tableLayoutPanel2);
+            this.groupBox4.Location = new System.Drawing.Point(265, 3);
+            this.groupBox4.Name = "groupBox4";
+            this.groupBox4.Size = new System.Drawing.Size(255, 614);
+            this.groupBox4.TabIndex = 104;
+            this.groupBox4.TabStop = false;
+            this.groupBox4.Text = "DO列表";
+            // 
+            // tableLayoutPanel2
+            // 
+            this.tableLayoutPanel2.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.tableLayoutPanel2.AutoScroll = true;
+            this.tableLayoutPanel2.ColumnCount = 1;
+            this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel2.Location = new System.Drawing.Point(5, 14);
+            this.tableLayoutPanel2.Name = "tableLayoutPanel2";
+            this.tableLayoutPanel2.RowCount = 2;
+            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
+            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
+            this.tableLayoutPanel2.Size = new System.Drawing.Size(244, 594);
+            this.tableLayoutPanel2.TabIndex = 103;
+            // 
+            // groupBox3
+            // 
+            this.groupBox3.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left)));
+            this.groupBox3.Controls.Add(this.tableLayoutPanel1);
+            this.groupBox3.Location = new System.Drawing.Point(6, 3);
+            this.groupBox3.Name = "groupBox3";
+            this.groupBox3.Size = new System.Drawing.Size(255, 614);
+            this.groupBox3.TabIndex = 103;
+            this.groupBox3.TabStop = false;
+            this.groupBox3.Text = "DI列表";
+            // 
+            // tableLayoutPanel1
+            // 
+            this.tableLayoutPanel1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.tableLayoutPanel1.AutoScroll = true;
+            this.tableLayoutPanel1.ColumnCount = 1;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(6, 14);
+            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
+            this.tableLayoutPanel1.RowCount = 2;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(244, 594);
+            this.tableLayoutPanel1.TabIndex = 102;
+            // 
+            // FrmIOStatus
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(1132, 621);
+            this.Controls.Add(this.groupBox1);
+            this.Controls.Add(this.groupBox4);
+            this.Controls.Add(this.groupBox3);
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "FrmIOStatus";
+            this.Text = "IO查看";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.FrmTest_FormClosing);
+            this.Load += new System.EventHandler(this.FrmStoreIOStatus_Load);
+            this.Shown += new System.EventHandler(this.FrmIOStatus_Shown);
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox1.PerformLayout();
+            this.groupBox4.ResumeLayout(false);
+            this.groupBox3.ResumeLayout(false);
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Timer timer1;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
+        private System.Windows.Forms.GroupBox groupBox3;
+        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel2;
+        private System.Windows.Forms.GroupBox groupBox4;
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.TextBox txtDOIndex;
+        private System.Windows.Forms.Label label17;
+        private System.Windows.Forms.Label label14;
+        private System.Windows.Forms.TextBox txtWriteTime;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.ComboBox cmbWriteIO;
+        private System.Windows.Forms.TextBox txtDoName;
+        private System.Windows.Forms.Button btnBack;
+        private System.Windows.Forms.Button btnFoward;
+        private System.Windows.Forms.Button btnOpenDo;
+        private System.Windows.Forms.Button btnCloseDO;
+        private System.Windows.Forms.Button btnTopDown;
+        private System.Windows.Forms.Button btnTopUp;
+        private System.Windows.Forms.Button btnCamerLed;
+        private System.Windows.Forms.Button btnDeviceLed;
+        private System.Windows.Forms.Button btnLineStop;
+        private System.Windows.Forms.Button btnLineRun;
+        private System.Windows.Forms.Button btnRelax;
+        private System.Windows.Forms.Button btnClamp;
+        private System.Windows.Forms.Button btnCloseAll;
+        private System.Windows.Forms.Button btn_Stop;
+        private System.Windows.Forms.Button btn_Down;
+        private System.Windows.Forms.Button btn_Up;
+        private System.Windows.Forms.Button btnCloseGate;
+        private System.Windows.Forms.Button btnOpenGate;
+    }
+}
+

source/XLRStoreClient/boxForm/FrmIOStatus.cs

+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using System.Runtime.CompilerServices;
+using System.Threading;
+using System.IO;
+using System.Runtime.InteropServices;
+using OnlineStore.DeviceLibrary;
+using log4net;
+using System.Reflection;
+using UserFromControl;
+using OnlineStore.LoadCSVLibrary;
+using OnlineStore.Common;
+
+
+namespace OnlineStore.XLRStore
+{
+    internal partial class FrmIOStatus : FrmBase
+    {
+        private int StoreId = 1; 
+       
+        internal FrmIOStatus( )
+        {
+            Control.CheckForIllegalCrossThreadCalls = false;
+            InitializeComponent();
+       
+            LoadIOList();
+        }
+
+        private void FrmStoreIOStatus_Load(object sender, EventArgs e)
+        { 
+        }
+        Dictionary<string, IOTextControl> DIControlList = new Dictionary<string, IOTextControl>();
+        Dictionary<string, IOTextControl> DOControlList = new Dictionary<string, IOTextControl>();
+        private void LoadIOList()
+        {
+            int roleindex = 0;
+            this.tableLayoutPanel1.RowStyles.Clear();
+            this.tableLayoutPanel1.RowCount = StoreManager.Config.DIList.Count;
+            foreach (ConfigIO ioValue in StoreManager.Config.DIList.Values)
+            {
+                //if (ioValue.SubType.Equals(0))
+                {
+                    this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 26));
+                    IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
+                 
+                    this.tableLayoutPanel1.Controls.Add(control, 0, roleindex);
+                    roleindex++;
+                    DIControlList.Add(ioValue.ProName, control);
+                }
+            }
+
+            tableLayoutPanel2.RowStyles.Clear();
+            this.tableLayoutPanel2.RowCount = StoreManager.Config.DOList.Count;
+            roleindex = 0;
+            foreach (ConfigIO ioValue in StoreManager.Config.DOList.Values)
+            {
+                //if (ioValue.SubType.Equals(0))
+                {
+                    this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
+                    IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
+                    control.Click += Control_Click;
+                    this.tableLayoutPanel2.Controls.Add(control, 0, roleindex);
+                    roleindex++;
+                    DOControlList.Add(ioValue.ProName, control);
+                }
+            }
+            this.SuspendLayout();    //此处为不闪屏，一定要有的！ 
+
+            cmbWriteIO.DataSource = new List<ConfigIO>(StoreManager.Config.DOList.Values);
+            cmbWriteIO.ValueMember = "ProName";
+            cmbWriteIO.DisplayMember = "DisplayStr";
+        }
+
+        private void Control_Click(object sender, EventArgs e)
+        {
+            IOTextControl control = (IOTextControl)sender;
+            string name = control.Name.Substring(3, control.Name.Length - 3);
+            List<string> keyList = new List<string>(DOControlList.Keys);
+            int index = keyList.IndexOf(name);
+            if (index >= 0)
+            {
+                cmbWriteIO.SelectedIndex = index;
+            }
+        }
+
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            if (this.Visible)
+            {
+                ReadIOList();
+            }
+        }
+
+        private void FrmTest_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            //KNDAIManager.NeedShow = false;
+            try
+            {
+                if (this.timer1.Enabled)
+                {
+                    this.timer1.Enabled = false;
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show(ex.StackTrace, "Exception(异常)", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                LogUtil.error(  ex.StackTrace);
+            }
+        }
+
+        private ConfigIO GetSelectDO()
+        {
+            string text = cmbWriteIO.SelectedValue.ToString();
+            if (StoreManager.Config.DOList.ContainsKey(text))
+            {
+                ConfigIO io = StoreManager.Config.DOList[text];
+                return io;
+            }
+            return null;
+        }
+        IOTextControl selectControl = null;
+        private void cmbWriteIO_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            if (cmbWriteIO.SelectedIndex >= 0)
+            {
+                ConfigIO io = GetSelectDO();
+                if (io != null)
+                {
+                    // txtIp.Text = io.DeviceName;
+                    txtDOIndex.Text = io.GetIOAddr().ToString();
+                    txtDoName.Text = io.IO_IP; 
+                    IOTextControl newControl = DOControlList[io.ProName];
+                    if (selectControl != null) { selectControl.BackColor = Color.White; }
+                    newControl.BackColor = Color.SkyBlue;
+                    selectControl = newControl;
+                }
+            }
+        }
+
+
+        private void cmbWriteIO_DrawItem(object sender, DrawItemEventArgs e)
+        {
+            if (e.Index < 0)
+            {
+                return;
+            }
+            e.DrawBackground();
+            e.DrawFocusRectangle();
+            if (cmbWriteIO.Items.Count > e.Index)
+            {
+                ConfigIO io = (ConfigIO)cmbWriteIO.Items[e.Index];
+                e.Graphics.DrawString(io.DisplayStr, e.Font, new SolidBrush(e.ForeColor), e.Bounds.X, e.Bounds.Y + 3);
+            }
+        }
+
+
+        private void btnReadIO_Click(object sender, EventArgs e)
+        {
+            ReadIOList();
+        }
+
+        private void ReadIOList()
+        {
+            foreach (string key in DIControlList.Keys)
+            {
+                IOTextControl control = DIControlList[key];
+                ConfigIO io = StoreManager.Config.DIList[key];
+                int iov = (int)IOManager.instance.GetDIValue(io.IO_IP,0,io.GetIOAddr());
+                if (iov != control.IOValue)
+                {
+                    control.IOValue = iov;
+                    control.ShowData();
+                }
+            }
+            foreach (string key in this.DOControlList.Keys)
+            {
+                IOTextControl control = DOControlList[key];
+                ConfigIO io = StoreManager.Config.DOList[key];
+                int iov = (int)IOManager.instance.GetDOValue(io.IO_IP, 0, io.GetIOAddr());
+                if (iov != control.IOValue)
+                {
+                    control.IOValue = iov;
+                    control.ShowData();
+                }
+            }
+
+        }
+        protected void BtnMove(Button btn, string defaultText, string targetText, string ioHighType)
+        {
+            LogUtil.info("点击【" + btn.Text + "】 ");
+            if (btn.Text.Equals(defaultText))
+            {
+                StoreManager.Store.IOMove(ioHighType, IO_VALUE.HIGH);
+                btn.Text = targetText;
+                btn.BackColor = Color.Aqua;
+            }
+            else
+            {
+                StoreManager.Store.IOMove(ioHighType, IO_VALUE.LOW);
+                btn.Text = defaultText;
+                btn.BackColor = Color.White;
+            }
+        }
+
+        protected void BtnMove(Button btn, string defaultText, string targetText, string ioLowType, string ioHighType)
+        {
+            LogUtil.info("点击【" + btn.Text + "】 ");
+            if (btn.Text.Equals(defaultText))
+            {
+                StoreManager.Store.CylinderMove(null, ioLowType, ioHighType);
+                btn.Text = targetText;
+                btn.BackColor = Color.Aqua;
+            }
+            else
+            {
+                StoreManager.Store.CylinderMove(null, ioHighType, ioLowType);
+                btn.Text = defaultText;
+                btn.BackColor = Color.SkyBlue;
+            }
+        }
+
+
+        private void btnLocationUp_Click(object sender, EventArgs e)
+        {
+            //StoreManager.Store.hoisterCylinder.StartForward(null); 
+            StoreManager.Store.InOutStation_LocationUp();
+        }
+
+        private void btnLocationDown_Click(object sender, EventArgs e)
+        {
+            //StoreManager.Store.hoisterCylinder.StartBack(null);
+            StoreManager.Store.InOutStation_LocationDown();
+        }
+
+        private void FrmIOStatus_Shown(object sender, EventArgs e)
+        {
+            timer1.Start();
+        }
+
+        private void btnOpenDo_Click(object sender, EventArgs e)
+        {
+            WriteDO(IO_VALUE.HIGH);
+        }
+        private void btnWriteSingleDO_Click(object sender, EventArgs e)
+        {
+            WriteDO(IO_VALUE.LOW);
+        }
+        private void WriteDO(IO_VALUE value)
+        {
+            string deviceName = txtDoName.Text;
+            int index = FormUtil.GetIntValue(txtDOIndex);
+            //   IO_VALUE value = checkBox1.Checked ? IO_VALUE.HIGH : IO_VALUE.LOW;
+            int time = FormUtil.GetIntValue(txtWriteTime);
+            int slaveId = 0;
+            if (time > 0)
+            {
+                IOManager.instance.WriteSingleDO(deviceName, (byte)slaveId, (ushort)index, (IO_VALUE)value, time);
+            }
+            else
+            {
+                IOManager.instance.WriteSingleDO(deviceName, (byte)slaveId, (ushort)index, (IO_VALUE)value);
+            }
+        }
+
+        private void btnTopUp_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.CylinderMove(null, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
+        }
+
+        private void btnTopDown_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.CylinderMove(null, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
+        } 
+        private void btnCamerLed_Click(object sender, EventArgs e)
+        {
+            BtnMove(btnCamerLed, "打开相机光源", "关闭相机光源", IO_Type.Camera_Led);
+        }
+         
+        private void btnStoreOn_Click(object sender, EventArgs e)
+        {
+            BtnMove(btnDeviceLed, "打开设备照明", "关闭设备照明", IO_Type.Device_Led);
+        }
+
+        private void btnCloseCyDo_Click(object sender, EventArgs e)
+        {
+            foreach (ConfigIO io in StoreManager.Store.Config.DOList.Values)
+            {
+                if (io.SubType.Equals(0))
+                {
+                    IOManager.instance.WriteSingleDO(io.IO_IP, (byte)0, (ushort)io.GetIOAddr(), IO_VALUE.LOW);
+                }
+            }
+        }
+
+        private void btnClamp_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.electricClamp.Clamp();
+        }
+
+        private void btnRelax_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.electricClamp.Release();
+        }
+
+        private void btnLDoorUp_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.BoxMap[1].CylinderMove(null, IO_Type.OutDoor_Down, IO_Type.OutDoor_Up);
+        }
+
+        private void btnLDoorDown_Click(object sender, EventArgs e)
+        { 
+            StoreManager.Store.BoxMap[1].CylinderMove(null, IO_Type.OutDoor_Up, IO_Type.OutDoor_Down);
+        }
+
+        private void btnRDoorUp_Click(object sender, EventArgs e)
+        { 
+            StoreManager.Store.BoxMap[2].CylinderMove(null, IO_Type.OutDoor_Down, IO_Type.OutDoor_Up);
+        }
+
+        private void btnRDoorDown_Click(object sender, EventArgs e)
+        { 
+            StoreManager.Store.BoxMap[2].CylinderMove(null, IO_Type.OutDoor_Up, IO_Type.OutDoor_Down);
+        }
+
+        private void btnCloseDO_Click(object sender, EventArgs e)
+        { 
+            WriteDO(IO_VALUE.LOW);
+        }
+
+        private void btnLineRun_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.LineRun(null);
+        }
+
+        private void btnLineStop_Click(object sender, EventArgs e)
+        {
+
+            StoreManager.Store.LineStop(null);
+        }
+
+        private void groupBox1_Enter(object sender, EventArgs e)
+        {
+
+        }
+
+        private void btn_Stop_Click(object sender, EventArgs e)
+        { 
+            StoreManager.Store.InOutStation_Stop();
+        }
+
+        private void btnFoward_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.InOutStation_GoIn();
+        }
+
+        private void btnBack_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.InOutStation_GoOut();
+        }
+
+        private void btnOpenGate_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.OpenGate();
+        }
+
+        private void btnCloseGate_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.CloseGate();
+        }
+    }
+}

source/XLRStoreClient/boxForm/FrmIOStatus.resx

+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 11</value>
+  </metadata>
+  <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>87</value>
+  </metadata>
+</root>
\ No newline at end of file

source/XLRStoreClient/inputForm/FrmInputEquip.Designer.cs

@@ -22,18 +22,20 @@ namespace OnlineStore.XLRStore
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.btnScan = new System.Windows.Forms.Button();
             this.tabPage2 = new System.Windows.Forms.TabPage();
-            this.btnSave = new System.Windows.Forms.Button();
+            this.groupBox11 = new System.Windows.Forms.GroupBox();
             this.panel1 = new System.Windows.Forms.Panel();
             this.mideleAxisP3 = new OnlineStore.XLRStore.useControl.AxisPointControl();
+            this.mideleAxisP2 = new OnlineStore.XLRStore.useControl.AxisPointControl();
+            this.updownAxisP2 = new OnlineStore.XLRStore.useControl.AxisPointControl();
+            this.updownAxisP3 = new OnlineStore.XLRStore.useControl.AxisPointControl();
+            this.groupBox10 = new System.Windows.Forms.GroupBox();
+            this.mideleAxisP1 = new OnlineStore.XLRStore.useControl.AxisPointControl();
+            this.updownAxisP1 = new OnlineStore.XLRStore.useControl.AxisPointControl();
             this.groupBox9 = new System.Windows.Forms.GroupBox();
             this.updownAxisP8 = new OnlineStore.XLRStore.useControl.AxisPointControl();
             this.updownAxisP9 = new OnlineStore.XLRStore.useControl.AxisPointControl();
             this.mideleAxisP6 = new OnlineStore.XLRStore.useControl.AxisPointControl();
-            this.mideleAxisP2 = new OnlineStore.XLRStore.useControl.AxisPointControl();
-            this.mideleAxisP1 = new OnlineStore.XLRStore.useControl.AxisPointControl();
-            this.updownAxisP1 = new OnlineStore.XLRStore.useControl.AxisPointControl();
-            this.updownAxisP2 = new OnlineStore.XLRStore.useControl.AxisPointControl();
-            this.updownAxisP3 = new OnlineStore.XLRStore.useControl.AxisPointControl();
+            this.btnSave = new System.Windows.Forms.Button();
             this.groupBox8 = new System.Windows.Forms.GroupBox();
             this.updownAxisP13 = new OnlineStore.XLRStore.useControl.AxisPointControl();
             this.mideleAxisP8 = new OnlineStore.XLRStore.useControl.AxisPointControl();
@@ -94,10 +96,10 @@ namespace OnlineStore.XLRStore
             this.lblStoreStatus = new System.Windows.Forms.Label();
             this.btnStart = new System.Windows.Forms.Button();
             this.btnStop = new System.Windows.Forms.Button();
-            this.groupBox10 = new System.Windows.Forms.GroupBox();
-            this.groupBox11 = new System.Windows.Forms.GroupBox();
             this.tabPage2.SuspendLayout();
+            this.groupBox11.SuspendLayout();
             this.panel1.SuspendLayout();
+            this.groupBox10.SuspendLayout();
             this.groupBox9.SuspendLayout();
             this.groupBox8.SuspendLayout();
             this.groupBox7.SuspendLayout();
@@ -112,8 +114,6 @@ namespace OnlineStore.XLRStore
             this.groupBox6.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.panBase.SuspendLayout();
-            this.groupBox10.SuspendLayout();
-            this.groupBox11.SuspendLayout();
             this.SuspendLayout();
             // 
             // timer1
@@ -152,18 +152,15 @@ namespace OnlineStore.XLRStore
             this.tabPage2.Text = "     伺服信息     ";
             this.tabPage2.UseVisualStyleBackColor = true;
             // 
-            // btnSave
+            // groupBox11
             // 
-            this.btnSave.BackColor = System.Drawing.Color.White;
-            this.btnSave.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnSave.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnSave.Location = new System.Drawing.Point(735, 278);
-            this.btnSave.Name = "btnSave";
-            this.btnSave.Size = new System.Drawing.Size(163, 40);
-            this.btnSave.TabIndex = 226;
-            this.btnSave.Text = "保存点位信息";
-            this.btnSave.UseVisualStyleBackColor = false;
-            this.btnSave.Click += new System.EventHandler(this.btnSave_Click);
+            this.groupBox11.Controls.Add(this.panel1);
+            this.groupBox11.Location = new System.Drawing.Point(729, 338);
+            this.groupBox11.Name = "groupBox11";
+            this.groupBox11.Size = new System.Drawing.Size(247, 232);
+            this.groupBox11.TabIndex = 228;
+            this.groupBox11.TabStop = false;
+            this.groupBox11.Text = "料串取放料点位";
             // 
             // panel1
             // 
@@ -190,6 +187,77 @@ namespace OnlineStore.XLRStore
             this.mideleAxisP3.Size = new System.Drawing.Size(223, 41);
             this.mideleAxisP3.TabIndex = 2;
             // 
+            // mideleAxisP2
+            // 
+            this.mideleAxisP2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.mideleAxisP2.Location = new System.Drawing.Point(3, 9);
+            this.mideleAxisP2.Name = "mideleAxisP2";
+            this.mideleAxisP2.PointBackColor = System.Drawing.Color.SkyBlue;
+            this.mideleAxisP2.PointForeColor = System.Drawing.Color.Black;
+            this.mideleAxisP2.PointText = "旋转轴-A料口取料点P2:";
+            this.mideleAxisP2.PointValue = 0;
+            this.mideleAxisP2.Size = new System.Drawing.Size(223, 41);
+            this.mideleAxisP2.TabIndex = 1;
+            // 
+            // updownAxisP2
+            // 
+            this.updownAxisP2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.updownAxisP2.Location = new System.Drawing.Point(3, 103);
+            this.updownAxisP2.Name = "updownAxisP2";
+            this.updownAxisP2.PointBackColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
+            this.updownAxisP2.PointForeColor = System.Drawing.Color.Black;
+            this.updownAxisP2.PointText = "升降轴-A料口取料点P2:";
+            this.updownAxisP2.PointValue = 0;
+            this.updownAxisP2.Size = new System.Drawing.Size(223, 41);
+            this.updownAxisP2.TabIndex = 1;
+            // 
+            // updownAxisP3
+            // 
+            this.updownAxisP3.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.updownAxisP3.Location = new System.Drawing.Point(3, 150);
+            this.updownAxisP3.Name = "updownAxisP3";
+            this.updownAxisP3.PointBackColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
+            this.updownAxisP3.PointForeColor = System.Drawing.Color.Black;
+            this.updownAxisP3.PointText = "升降轴-B料口取料点P3:";
+            this.updownAxisP3.PointValue = 0;
+            this.updownAxisP3.Size = new System.Drawing.Size(223, 41);
+            this.updownAxisP3.TabIndex = 2;
+            // 
+            // groupBox10
+            // 
+            this.groupBox10.Controls.Add(this.mideleAxisP1);
+            this.groupBox10.Controls.Add(this.updownAxisP1);
+            this.groupBox10.Location = new System.Drawing.Point(600, 6);
+            this.groupBox10.Name = "groupBox10";
+            this.groupBox10.Size = new System.Drawing.Size(286, 104);
+            this.groupBox10.TabIndex = 227;
+            this.groupBox10.TabStop = false;
+            this.groupBox10.Text = "待机点点位";
+            // 
+            // mideleAxisP1
+            // 
+            this.mideleAxisP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.mideleAxisP1.Location = new System.Drawing.Point(6, 20);
+            this.mideleAxisP1.Name = "mideleAxisP1";
+            this.mideleAxisP1.PointBackColor = System.Drawing.Color.SkyBlue;
+            this.mideleAxisP1.PointForeColor = System.Drawing.Color.Black;
+            this.mideleAxisP1.PointText = "旋转轴待机点P1:";
+            this.mideleAxisP1.PointValue = 0;
+            this.mideleAxisP1.Size = new System.Drawing.Size(247, 41);
+            this.mideleAxisP1.TabIndex = 0;
+            // 
+            // updownAxisP1
+            // 
+            this.updownAxisP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.updownAxisP1.Location = new System.Drawing.Point(6, 59);
+            this.updownAxisP1.Name = "updownAxisP1";
+            this.updownAxisP1.PointBackColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
+            this.updownAxisP1.PointForeColor = System.Drawing.Color.Black;
+            this.updownAxisP1.PointText = "升降轴-待机点P1:";
+            this.updownAxisP1.PointValue = 0;
+            this.updownAxisP1.Size = new System.Drawing.Size(247, 41);
+            this.updownAxisP1.TabIndex = 0;
+            // 
             // groupBox9
             // 
             this.groupBox9.Controls.Add(this.updownAxisP8);
@@ -238,65 +306,18 @@ namespace OnlineStore.XLRStore
             this.mideleAxisP6.Size = new System.Drawing.Size(247, 41);
             this.mideleAxisP6.TabIndex = 5;
             // 
-            // mideleAxisP2
-            // 
-            this.mideleAxisP2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.mideleAxisP2.Location = new System.Drawing.Point(3, 9);
-            this.mideleAxisP2.Name = "mideleAxisP2";
-            this.mideleAxisP2.PointBackColor = System.Drawing.Color.SkyBlue;
-            this.mideleAxisP2.PointForeColor = System.Drawing.Color.Black;
-            this.mideleAxisP2.PointText = "旋转轴-A料口取料点P2:";
-            this.mideleAxisP2.PointValue = 0;
-            this.mideleAxisP2.Size = new System.Drawing.Size(223, 41);
-            this.mideleAxisP2.TabIndex = 1;
-            // 
-            // mideleAxisP1
-            // 
-            this.mideleAxisP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.mideleAxisP1.Location = new System.Drawing.Point(6, 20);
-            this.mideleAxisP1.Name = "mideleAxisP1";
-            this.mideleAxisP1.PointBackColor = System.Drawing.Color.SkyBlue;
-            this.mideleAxisP1.PointForeColor = System.Drawing.Color.Black;
-            this.mideleAxisP1.PointText = "旋转轴待机点P1:";
-            this.mideleAxisP1.PointValue = 0;
-            this.mideleAxisP1.Size = new System.Drawing.Size(247, 41);
-            this.mideleAxisP1.TabIndex = 0;
-            // 
-            // updownAxisP1
-            // 
-            this.updownAxisP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.updownAxisP1.Location = new System.Drawing.Point(6, 59);
-            this.updownAxisP1.Name = "updownAxisP1";
-            this.updownAxisP1.PointBackColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
-            this.updownAxisP1.PointForeColor = System.Drawing.Color.Black;
-            this.updownAxisP1.PointText = "升降轴-待机点P1:";
-            this.updownAxisP1.PointValue = 0;
-            this.updownAxisP1.Size = new System.Drawing.Size(247, 41);
-            this.updownAxisP1.TabIndex = 0;
-            // 
-            // updownAxisP2
-            // 
-            this.updownAxisP2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.updownAxisP2.Location = new System.Drawing.Point(3, 103);
-            this.updownAxisP2.Name = "updownAxisP2";
-            this.updownAxisP2.PointBackColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
-            this.updownAxisP2.PointForeColor = System.Drawing.Color.Black;
-            this.updownAxisP2.PointText = "升降轴-A料口取料点P2:";
-            this.updownAxisP2.PointValue = 0;
-            this.updownAxisP2.Size = new System.Drawing.Size(223, 41);
-            this.updownAxisP2.TabIndex = 1;
-            // 
-            // updownAxisP3
+            // btnSave
             // 
-            this.updownAxisP3.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.updownAxisP3.Location = new System.Drawing.Point(3, 150);
-            this.updownAxisP3.Name = "updownAxisP3";
-            this.updownAxisP3.PointBackColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
-            this.updownAxisP3.PointForeColor = System.Drawing.Color.Black;
-            this.updownAxisP3.PointText = "升降轴-B料口取料点P3:";
-            this.updownAxisP3.PointValue = 0;
-            this.updownAxisP3.Size = new System.Drawing.Size(223, 41);
-            this.updownAxisP3.TabIndex = 2;
+            this.btnSave.BackColor = System.Drawing.Color.White;
+            this.btnSave.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnSave.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnSave.Location = new System.Drawing.Point(735, 278);
+            this.btnSave.Name = "btnSave";
+            this.btnSave.Size = new System.Drawing.Size(163, 40);
+            this.btnSave.TabIndex = 226;
+            this.btnSave.Text = "保存点位信息";
+            this.btnSave.UseVisualStyleBackColor = false;
+            this.btnSave.Click += new System.EventHandler(this.btnSave_Click);
             // 
             // groupBox8
             // 
@@ -507,7 +528,7 @@ namespace OnlineStore.XLRStore
             this.tabPage1.Location = new System.Drawing.Point(4, 26);
             this.tabPage1.Name = "tabPage1";
             this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage1.Size = new System.Drawing.Size(985, 615);
+            this.tabPage1.Size = new System.Drawing.Size(985, 617);
             this.tabPage1.TabIndex = 0;
             this.tabPage1.Text = "    IO列表     ";
             this.tabPage1.UseVisualStyleBackColor = true;
@@ -877,7 +898,7 @@ namespace OnlineStore.XLRStore
             this.tabPage3.Controls.Add(this.groupBox6);
             this.tabPage3.Location = new System.Drawing.Point(4, 26);
             this.tabPage3.Name = "tabPage3";
-            this.tabPage3.Size = new System.Drawing.Size(985, 615);
+            this.tabPage3.Size = new System.Drawing.Size(985, 617);
             this.tabPage3.TabIndex = 2;
             this.tabPage3.Text = "状态信息";
             this.tabPage3.UseVisualStyleBackColor = true;
@@ -1066,27 +1087,6 @@ namespace OnlineStore.XLRStore
             this.btnStop.UseVisualStyleBackColor = false;
             this.btnStop.Click += new System.EventHandler(this.btnStop_Click);
             // 
-            // groupBox10
-            // 
-            this.groupBox10.Controls.Add(this.mideleAxisP1);
-            this.groupBox10.Controls.Add(this.updownAxisP1);
-            this.groupBox10.Location = new System.Drawing.Point(600, 6);
-            this.groupBox10.Name = "groupBox10";
-            this.groupBox10.Size = new System.Drawing.Size(286, 104);
-            this.groupBox10.TabIndex = 227;
-            this.groupBox10.TabStop = false;
-            this.groupBox10.Text = "待机点点位";
-            // 
-            // groupBox11
-            // 
-            this.groupBox11.Controls.Add(this.panel1);
-            this.groupBox11.Location = new System.Drawing.Point(729, 338);
-            this.groupBox11.Name = "groupBox11";
-            this.groupBox11.Size = new System.Drawing.Size(247, 232);
-            this.groupBox11.TabIndex = 228;
-            this.groupBox11.TabStop = false;
-            this.groupBox11.Text = "料串取放料点位";
-            // 
             // FrmInputEquip
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
@@ -1103,7 +1103,9 @@ namespace OnlineStore.XLRStore
             this.Load += new System.EventHandler(this.FrmInputEquip_Load);
             this.Shown += new System.EventHandler(this.FrmIOStatus_Shown);
             this.tabPage2.ResumeLayout(false);
+            this.groupBox11.ResumeLayout(false);
             this.panel1.ResumeLayout(false);
+            this.groupBox10.ResumeLayout(false);
             this.groupBox9.ResumeLayout(false);
             this.groupBox8.ResumeLayout(false);
             this.groupBox7.ResumeLayout(false);
@@ -1121,8 +1123,6 @@ namespace OnlineStore.XLRStore
             this.tabControl1.ResumeLayout(false);
             this.panBase.ResumeLayout(false);
             this.panBase.PerformLayout();
-            this.groupBox10.ResumeLayout(false);
-            this.groupBox11.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }