diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_CLEAR_ERROR_BEFORE_WORK.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_CLEAR_ERROR_BEFORE_WORK.java
index 6c96b79..edad4a1 100644
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_CLEAR_ERROR_BEFORE_WORK.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_CLEAR_ERROR_BEFORE_WORK.java
@@ -60,4 +60,8 @@ public class DO_CLEAR_ERROR_BEFORE_WORK extends A8kStepAction {
 		);
 	}
 
+
+	@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }
diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_FINISH_TUBE_PROCESS.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_FINISH_TUBE_PROCESS.java
index 8917afe..cce1fe2 100644
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_FINISH_TUBE_PROCESS.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_FINISH_TUBE_PROCESS.java
@@ -121,4 +121,8 @@ public class DO_FINISH_TUBE_PROCESS extends A8kStepAction {
 			return "";
 		return String.format("[sid: %s, tippos: %s]", tube.getSampleId(), tube.getPos());
 	}
+
+		@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }
diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_PAUSE.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_PAUSE.java
index 9dc9060..5e25ed0 100644
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_PAUSE.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_PAUSE.java
@@ -47,4 +47,8 @@ public class DO_PAUSE extends A8kStepAction {
 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of();
 	}
+
+		@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }
diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_PROCESS_ERROR_PLATE.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_PROCESS_ERROR_PLATE.java
index 2afbe15..31a5e65 100644
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_PROCESS_ERROR_PLATE.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_PROCESS_ERROR_PLATE.java
@@ -109,4 +109,8 @@ public class DO_PROCESS_ERROR_PLATE extends A8kStepAction {
 		}
 		return String.format("[sid: %s, proj: %s tanpos: %s]", errorTank.getSampleId(), errorTank.getProjId(), errorTank.getPos());
 	}
+
+		@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }
diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_RESUME.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_RESUME.java
index 1e5f9a1..544990c 100644
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_RESUME.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_RESUME.java
@@ -47,5 +47,7 @@ public class DO_RESUME extends A8kStepAction {
 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of();
 	}
-
+	@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }
diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_START.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_START.java
index 9145966..d29f45e 100644
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_START.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_START.java
@@ -83,4 +83,8 @@ public class DO_START extends A8kStepAction {
 				A8kPublicResourceType.HBOT
 		);
 	}
+
+		@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }
diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_STOP.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_STOP.java
index 356ec1c..cac9f73 100644
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_STOP.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_STOP.java
@@ -104,4 +104,8 @@ public class DO_STOP extends A8kStepAction {
 				A8kPublicResourceType.HBOT
 		);
 	}
+
+		@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }
diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/PLATE_OPT_SCAN.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/PLATE_OPT_SCAN.java
index 10d1f0b..9f51c48 100644
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/PLATE_OPT_SCAN.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/PLATE_OPT_SCAN.java
@@ -124,4 +124,8 @@ public class PLATE_OPT_SCAN extends A8kStepAction {
 		OptScanModule optScanModule = gstate.getOptScanModule();
 		return String.format("[sid: %s, proj:%s ]", optScanModule.getSampleId(), optScanModule.getProjInfoStr());
 	}
+
+	@Override public Boolean isAllowsParallelRunning() {
+		return false;
+	}
 }
diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ6_POST_PROCESS.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ6_POST_PROCESS.java
index fb49a39..2e4a939 100644
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ6_POST_PROCESS.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ6_POST_PROCESS.java
@@ -98,7 +98,6 @@ public class SEQ6_POST_PROCESS extends A8kStepAction {
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
 		return List.of(
-				A8kPublicResourceType.IncubationPlateModule,
 				A8kPublicResourceType.PlatesBoxModule,
 				A8kPublicResourceType.HBOT,
 				A8kPublicResourceType.CurTubeProcessToken
diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java
index f59e512..4322af5 100644
--- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java
+++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java
@@ -71,6 +71,6 @@ public class SEQ7_EJECT_TUBEHOLDER extends A8kStepAction {
 	}
 
 	@Override public List<A8kPublicResourceType> getResourceList() {
-		return List.of(A8kPublicResourceType.ShakeModule);
+		return List.of(A8kPublicResourceType.TubeFeedModule);
 	}
 }
diff --git a/src/main/java/a8k/service/app/devicectrl/driver/StepMotorCtrlDriver.java b/src/main/java/a8k/service/app/devicectrl/driver/StepMotorCtrlDriver.java
index c0176f0..854ac04 100644
--- a/src/main/java/a8k/service/app/devicectrl/driver/StepMotorCtrlDriver.java
+++ b/src/main/java/a8k/service/app/devicectrl/driver/StepMotorCtrlDriver.java
@@ -31,7 +31,7 @@ public class StepMotorCtrlDriver {
 		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to, pos);
 	}
 
-	void stepMotorEasyMoveToZero(StepMotorMId id) throws AppException {
+	public void stepMotorEasyMoveToZero(StepMotorMId id) throws AppException {
 		canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero);
 	}
 
@@ -69,6 +69,10 @@ public class StepMotorCtrlDriver {
 		canBus.waitForMod(id.mid, actionOvertime);
 	}
 
+	public void waitForMod(StepMotorMId id, Integer actionOvertime) throws AppException {
+		canBus.waitForMod(id.mid, actionOvertime);
+	}
+
 	@ExtApiFn(name = "stepMotorEasyMoveToBlock", order = 5)
 	public void stepMotorEasyMoveToBlock(StepMotorMId id, Integer pos, Integer actionOvertime) throws AppException {
 		logger.info("stepMotorEasyMoveToBlock {} {}", id, pos);
@@ -157,7 +161,7 @@ public class StepMotorCtrlDriver {
 		ObjectNode node = ZJsonHelper.createObjectNode();
 		for (StepMotorRegIndex regIndex : StepMotorRegIndex.values()) {
 			Integer regVal = getReg(id, regIndex);
-			logger.info("read reg {} -> {}", regIndex,regVal);
+			logger.info("read reg {} -> {}", regIndex, regVal);
 			node.put(regIndex.name(), getReg(id, regIndex));
 
 		}
diff --git a/src/main/java/a8k/service/app/devicectrl/exdriver/TubePreProcesModuleExDriver.java b/src/main/java/a8k/service/app/devicectrl/exdriver/TubePreProcesModuleExDriver.java
index f79d8d2..2d6ef47 100644
--- a/src/main/java/a8k/service/app/devicectrl/exdriver/TubePreProcesModuleExDriver.java
+++ b/src/main/java/a8k/service/app/devicectrl/exdriver/TubePreProcesModuleExDriver.java
@@ -134,20 +134,22 @@ public class TubePreProcesModuleExDriver {
 	}
 
 
-	private void modGroupMoveToZero() throws AppException {
-		miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
-		miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, actionOvertime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, actionOvertime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, actionOvertime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, actionOvertime);
-	}
-
 	public void moveToZeroQuick() throws AppException {
 		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.ShakeModGripperZM, actionOvertime);
 		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.ShakeModClampingM, actionOvertime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.ShakeModShakeM, actionOvertime);
-		modGroupMoveToZero();
+//		stepMotorCtrlDriver.stepMotorEasyMoveToZeroPointQuickBlock(StepMotorMId.ShakeModShakeM, actionOvertime);
+
+
+		miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
+		miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
+
+		stepMotorCtrlDriver.stepMotorEasyMoveToZero(StepMotorMId.ShakeModClampingM);
+		stepMotorCtrlDriver.stepMotorEasyMoveToZero(StepMotorMId.ShakeModGripperZM);
+
+		stepMotorCtrlDriver.waitForMod(StepMotorMId.ShakeModClampingM, actionOvertime);
+		stepMotorCtrlDriver.waitForMod(StepMotorMId.ShakeModGripperZM, actionOvertime);
+
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, actionOvertime);
 	}
 
 }
diff --git a/src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java b/src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java
index 1361895..d5bc107 100644
--- a/src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java
+++ b/src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java
@@ -205,6 +205,7 @@ public class DeviceCtrlScripter {
 
 		//移动到取样位置
 		A8kSamplePos samplePos = ProjProcessContextUtils.getSamplePos(ctx);
+		log.info("移动到 {}", samplePos);
 		hbotCtrlService.moveTo(hbotSamplePosParamMgr.getSampleStartPos(samplePos));
 
 		//ldd准备