diff --git a/BPASmartClient.MorkF/Control_MorkF.cs b/BPASmartClient.MorkF/Control_MorkF.cs
index 64b09331..b5c2d38e 100644
--- a/BPASmartClient.MorkF/Control_MorkF.cs
+++ b/BPASmartClient.MorkF/Control_MorkF.cs
@@ -154,7 +154,15 @@ namespace BPASmartClient.MorkF
             //FoodLibInit();
             Task2ReadMaterialData();
 
-            //Json<MaterialSurplus>.Read();
+            //读取坐标系
+            MaterialCoordinate materialCoordinate = ReadMaterialCoordinate();
+            if(materialCoordinate != null)
+            {
+                MaterialCoordinate.GetInstance().dicNoMaterialCoordinate = materialCoordinate.dicNoMaterialCoordinate;
+                MaterialCoordinate.GetInstance().MLCoordinateList = materialCoordinate.MLCoordinateList;
+            }
+            ////菜品库编号与坐标系对象存储
+            //SaveMaterialCoordinate();
         }
 
         /// <summary>
@@ -170,6 +178,50 @@ namespace BPASmartClient.MorkF
             //SingleProcess();
         }
 
+        private static object saveMaterialLock = new object();
+        private void SaveMaterialData()
+        {
+            lock (saveMaterialLock)
+            {
+                Json<MaterialSurplus>.Data = MaterialSurplusOperation.GetInstance().materialSurplus;
+                Json<MaterialSurplus>.Save();
+            }
+        }
+
+        private static object saveMaterialCoordinateLock = new object();
+        /// <summary>
+        /// 保存当前的坐标系
+        /// </summary>
+        public void SaveMaterialCoordinate()
+        {
+            lock (saveMaterialLock)
+            {
+                Json<MaterialCoordinate>.Data = MaterialCoordinate.GetInstance();
+                Json<MaterialCoordinate>.Save();
+            }
+        }
+
+        /// <summary>
+        /// 读取坐标系
+        /// </summary>
+        /// <returns></returns>
+        private MaterialCoordinate ReadMaterialCoordinate()
+        {
+            try
+            {
+                lock (saveMaterialLock)
+                {
+                    Json<MaterialCoordinate>.Read();
+                    MaterialCoordinate materialCoordinate = Json<MaterialCoordinate>.Data;
+                    return materialCoordinate;
+                }
+            }
+            catch(Exception ex)
+            {
+                return null;
+            }
+        }
+
         private void Task2ReadMaterialData()
         {
             ThreadManage.GetInstance().StartLong(new Action(() => {
@@ -301,6 +353,16 @@ namespace BPASmartClient.MorkF
                     FoodLibInit();
                 }), "FoodLibInit");
             }), "FoodLibInit");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                ThreadManage.GetInstance().Start(new Action(() =>
+                {
+                    if(!UpdateMaterialLibraryStock())
+                    {
+                        MessageLog.GetInstance.Show("菜品库检测余量失败");
+                    }
+                }), "SurplusCheck");
+            }), "SurplusCheck");
             ActionManage.GetInstance.Register(new Action<object>((o) =>
             {
                 ThreadManage.GetInstance().Start(new Action(() =>
@@ -728,7 +790,8 @@ namespace BPASmartClient.MorkF
 
         #endregion
 
-        #region 菜品库PLC操作方法
+        #region 菜品库方法
+        #region PLC操作
         /// <summary>
         /// 菜品库数据写入
         /// </summary>
@@ -971,8 +1034,8 @@ namespace BPASmartClient.MorkF
             }
 
             //取反
-            x -= 2 * x;
-            y -= 2 * y;
+            x = 0 - Math.Abs(x);
+            y = 0 - Math.Abs(y);
             if (x > 0 || y > 0)
             {
                 MessageLog.GetInstance.Show($"机械臂移动到[{x}，{y}]非法");
@@ -1073,6 +1136,7 @@ namespace BPASmartClient.MorkF
             MaterailLibrary_Write("M5.6", startOrStop);
             Thread.Sleep(200);
         }
+        #endregion
 
         //菜品库锁
         object lock_Materail = new object();
@@ -1236,13 +1300,20 @@ namespace BPASmartClient.MorkF
         {
             try
             {
-                //判断是否初始化
-                if(!ml_morkf.InitialComplete)
+                ////判断是否初始化
+                //if (!ml_morkf.InitialComplete)
+                //{
+                //    MessageLog.GetInstance.Show("更新菜品库存量出错，菜品库未初始化");
+                //    return false;
+                //}
+
+                if (MaterialCoordinate.GetInstance().dicNoMaterialCoordinate == null || MaterialCoordinate.GetInstance().dicNoMaterialCoordinate.Count != 27)
                 {
-                    MessageLog.GetInstance.Show("更新菜品库存量出错，菜品库未初始化");
+                    MessageLog.GetInstance.Show("更新菜品库存量出错，菜品库坐标系数据未建立");
                     return false;
                 }
 
+                //遍历坐标系与位置，并根据位置更新菜品余量
                 foreach(var item in MaterialCoordinate.GetInstance().dicNoMaterialCoordinate)
                 {
                     //设置到抓菜处
@@ -1276,6 +1347,7 @@ namespace BPASmartClient.MorkF
                         return false;
                     }
                 }
+
                 return true;
             }
             catch(Exception ex)
@@ -1771,16 +1843,6 @@ namespace BPASmartClient.MorkF
         }
         #endregion
 
-        private static object saveMaterialLock = new object();
-        private void SaveMaterialData()
-        {
-            lock(saveMaterialLock)
-            {
-                Json<MaterialSurplus>.Data = MaterialSurplusOperation.GetInstance().materialSurplus;
-                Json<MaterialSurplus>.Save();
-            }
-        }
-
         bool isInitialArrive = false;
 
         bool isInitialPaw = false;
@@ -1832,122 +1894,108 @@ namespace BPASmartClient.MorkF
                                 });
                             }
                         }
-                        if(stirFry.stirFrymessage.materials.Count > 0)
-                        {
-                            MaterialSurplusOperation.GetInstance().UpdateSurplusAll(stirFry.stirFrymessage.materials);
-                            //foreach (var item in stirFry.stirFrymessage.materials)
-                            //{
-                            //    MaterialSurplusOperation.GetInstance().materialSurplus.dicSurplus.Add(new MaterialInfo
-                            //    {
-                            //        Id = item.Id,
-                            //        Key = item.Key,
-                            //        Name = item.Name,
-                            //        Loc = item.Loc,
-                            //        Qty = item.Qty,
-                            //    });
-                            //}
-                            SaveMaterialData();
-                        }
-                    }
 
-                    MessageLog.GetInstance.Show("接收到小炒流程信息");
-                    //流程解析
-                    foreach (var item in LocalstirFryGoods)
-                    {
-                        MessageLog.GetInstance.Show($"添加菜谱{item.GoodsKey}");
-                        // morkF.listStirBom.Add(item.StirFryBomInfo);//添加订单制作流程
-                        string MenuStep = "菜单步骤：";
-                        foreach (var items in item.StirPotActions)
+                        MessageLog.GetInstance.Show("接收到小炒流程信息");
+                        //流程解析
+                        foreach (var item in LocalstirFryGoods)
                         {
-                            switch (items.Actions)
+                            MessageLog.GetInstance.Show($"添加菜谱{item.GoodsKey}");
+                            // morkF.listStirBom.Add(item.StirFryBomInfo);//添加订单制作流程
+                            string MenuStep = "菜单步骤：";
+                            foreach (var items in item.StirPotActions)
                             {
-                                case nameof(StirFryPotActionEnum.加热开启):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置加热挡位1):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置加热挡位2):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置加热挡位3):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置加热挡位4):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置加热挡位5):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置加热挡位6):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置加热挡位7):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置加热挡位8):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置加热挡位9):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置加热挡位10):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.停止加热):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.加调料):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.取原料):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.开启搅拌):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置搅拌挡位1):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置搅拌挡位2):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.设置搅拌挡位3):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.关闭搅拌):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.出餐启动):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.道菜启动):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.炒制菜品):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.搅拌臂原点位):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.搅拌臂炒制位):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                case nameof(StirFryPotActionEnum.洗锅):
-                                    MenuStep += items.Actions + ",";
-                                    break;
-                                default:
-                                    break;
-
+                                switch (items.Actions)
+                                {
+                                    case nameof(StirFryPotActionEnum.加热开启):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置加热挡位1):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置加热挡位2):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置加热挡位3):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置加热挡位4):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置加热挡位5):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置加热挡位6):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置加热挡位7):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置加热挡位8):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置加热挡位9):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置加热挡位10):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.停止加热):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.加调料):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.取原料):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.开启搅拌):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置搅拌挡位1):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置搅拌挡位2):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.设置搅拌挡位3):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.关闭搅拌):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.出餐启动):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.道菜启动):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.炒制菜品):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.搅拌臂原点位):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.搅拌臂炒制位):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    case nameof(StirFryPotActionEnum.洗锅):
+                                        MenuStep += items.Actions + ",";
+                                        break;
+                                    default:
+                                        break;
+
+                                }
                             }
-
-
+                            MessageLog.GetInstance.Show(MenuStep);
                         }
-                        MessageLog.GetInstance.Show(MenuStep);
-
-
 
+                        if (stirFry.stirFrymessage.materials.Count > 0)
+                        {
+                            MaterialSurplusOperation.GetInstance().UpdateSurplusAll(stirFry.stirFrymessage.materials);
+                            SaveMaterialData();
+                        }
                     }
+
                 }
             });
         }
diff --git a/BPASmartClient.MorkF/Model/MaterialCoordinate.cs b/BPASmartClient.MorkF/Model/MaterialCoordinate.cs
index 11f50db7..ab00316e 100644
--- a/BPASmartClient.MorkF/Model/MaterialCoordinate.cs
+++ b/BPASmartClient.MorkF/Model/MaterialCoordinate.cs
@@ -1,4 +1,5 @@
 using BPA.Helper;
+using Org.BouncyCastle.Asn1.X509;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -9,10 +10,10 @@ namespace BPASmartClient.MorkF.Model
 {
     internal class MaterialCoordinate : Singleton<MaterialCoordinate>
     {
-        public List<string> MLNumberList = new List<string>() { "1", "2", "3", "4", "5", "6", "7", "8", "9", "10", "11", "12", "13", "14", "15", "16"
+        public List<string> MLNumberList { get; set; } = new List<string>() { "1", "2", "3", "4", "5", "6", "7", "8", "9", "10", "11", "12", "13", "14", "15", "16"
             , "17", "18", "19", "20", "21", "22", "23", "24", "25", "26", "27" };
 
-        public List<Coordinate> MLCoordinateList = new List<Coordinate>() 
+        public List<Coordinate> MLCoordinateList { get;set;} = new List<Coordinate>() 
         { new Coordinate() { X = 34500, Y = 0 },  new Coordinate() { X = 34500, Y = 9000 } , new Coordinate() { X = 34500, Y = 0 } , //第1层
             new Coordinate(){ X = 34500,Y=0} ,  new Coordinate() { X = 34500, Y = 83000 }, new Coordinate(){ X = 34500,Y=0}, //第1层
             new Coordinate(){ X = 34500,Y=0} ,  new Coordinate() { X = 34500, Y = 0 }, new Coordinate(){ X = 34500,Y=0}, //第1层
@@ -38,6 +39,26 @@ namespace BPASmartClient.MorkF.Model
                 }
             }
         }
+
+        /// <summary>
+        /// 更新键值对
+        /// </summary>
+        /// <param name="mlNumber"></param>
+        /// <param name="coordinate"></param>
+        /// <returns></returns>
+        public bool UpdateMLCoordinateList(string mlNumber,Coordinate coordinate)
+        {
+            if(dicNoMaterialCoordinate.ContainsKey(mlNumber))
+            {
+                dicNoMaterialCoordinate[mlNumber] = coordinate;
+                return true;
+            }
+            else
+            {
+                return false;
+            }
+        }
+
         /// <summary>
         /// 每个取菜点的编号与坐标字典
         /// </summary>
diff --git a/BPASmartClient.MorkF/Model/MaterialSurplus.cs b/BPASmartClient.MorkF/Model/MaterialSurplus.cs
index f323ca9c..dc9d0e18 100644
--- a/BPASmartClient.MorkF/Model/MaterialSurplus.cs
+++ b/BPASmartClient.MorkF/Model/MaterialSurplus.cs
@@ -19,10 +19,10 @@ namespace BPASmartClient.MorkF
         /// </summary>
         /// <param name="number">编号</param>
         /// <param name="surplus">余量</param>
-        public bool UpdateSurplus(string id, int surplus)
+        public bool UpdateSurplus(string loc, int surplus)
         {
             //找到所有id对应的
-            MaterialInfo material = materialSurplus.dicSurplus.Find(t => t.Id == id);
+            MaterialInfo material = materialSurplus.dicSurplus.Find(t => t.Loc == loc);
             if(material == null)
             {
                 return false;
diff --git a/BPASmartClient.MorkF/View/DebugView.xaml b/BPASmartClient.MorkF/View/DebugView.xaml
index 9b3ad9a5..d38f9db3 100644
--- a/BPASmartClient.MorkF/View/DebugView.xaml
+++ b/BPASmartClient.MorkF/View/DebugView.xaml
@@ -76,6 +76,7 @@
                     <TextBox Text="{Binding RealY}" Width="70" Margin="5,0"  VerticalAlignment="Top"  IsReadOnly="True"/>
                     <TextBlock Text="{Binding PawPosition}"  Margin="10,0,5,0"/>
                     <Button Content="菜品库初始化"  Margin="10,0,5,0" Command="{Binding FoodLibInit}"/>
+                    <Button Content="菜品库余量检测"  Margin="10,0,5,0" Command="{Binding SurplusCheck}"/>
                     <Button Content="电磁阀启动"  Margin="10,0,5,0" Command="{Binding StartElectromagnetism}"/>
                     <Button Content="电磁阀停止"  Margin="10,0,5,0" Command="{Binding StopElectromagnetism}"/>
                 </WrapPanel>
diff --git a/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs b/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs
index 575d8167..ff873f71 100644
--- a/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs
+++ b/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs
@@ -86,6 +86,7 @@ namespace BPASmartClient.MorkF.ViewModel
 
         public RelayCommand SetNowPosition { get; set; }//设置机械臂当前坐标
         public RelayCommand FoodLibInit { get; set; }//初始化
+        public RelayCommand SurplusCheck { get; set; }//初始化
         public RelayCommand StartElectromagnetism { get; set; }//电磁阀启动
         public RelayCommand StopElectromagnetism { get; set; }
         public RelayCommand SetSpeed { get; set; }//速度设定
@@ -206,6 +207,7 @@ namespace BPASmartClient.MorkF.ViewModel
             #region 菜品控制
 
             FoodLibInit = new RelayCommand(() => { ActionManage.GetInstance.Send("FoodLibInit"); });//菜品库初始化
+            SurplusCheck = new RelayCommand(() => { ActionManage.GetInstance.Send("SurplusCheck"); });//菜品库初始化
             StartElectromagnetism = new RelayCommand(() => { ActionManage.GetInstance.Send("Electromagnetism", new List<bool> { false }); });//电磁阀启动
             StopElectromagnetism = new RelayCommand(() => { ActionManage.GetInstance.Send("Electromagnetism", new List<bool> { true });});//电磁阀关闭
             SetSpeed = new RelayCommand(() =>