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SELECT 
  cscart_images_links.*, 
  cscart_images.image_path, 
  cscart_common_descriptions.description AS alt, 
  cscart_images.image_x, 
  cscart_images.image_y, 
  cscart_images.image_id as images_image_id 
FROM 
  cscart_images_links 
  LEFT JOIN cscart_images ON cscart_images_links.image_id = cscart_images.image_id 
  LEFT JOIN cscart_common_descriptions ON cscart_common_descriptions.object_id = cscart_images.image_id 
  AND cscart_common_descriptions.object_holder = 'images' 
  AND cscart_common_descriptions.lang_code = 'en' 
WHERE 
  cscart_images_links.object_type = 'product' 
  AND cscart_images_links.type = 'A' 
  AND cscart_images_links.object_id IN (10431, 10039, 10420, 10462, 10460) 
ORDER BY 
  cscart_images_links.position, 
  cscart_images_links.pair_id

Query time 0.00078

Explain
id	select_type	table	type	possible_keys	key	key_len	ref	rows	Extra
1	SIMPLE	cscart_images_links	range	object_id	object_id	81		7	Using index condition; Using filesort
1	SIMPLE	cscart_images	eq_ref	PRIMARY	PRIMARY	3	mahm3t_cs443.cscart_images_links.image_id	1	Using where
1	SIMPLE	cscart_common_descriptions	eq_ref	PRIMARY	PRIMARY	107	mahm3t_cs443.cscart_images.image_id,const,const	1	Using where

Result

pair_id	object_id	object_type	detailed_id	type	position
25837	10039	product	21412	A	0
25838	10039	product	21413	A	0
29821	10420	product	25398	A	0
29822	10420	product	25399	A	0
29823	10420	product	25400	A	0
29924	10431	product	25501	A	0
30227	10039	product	25804	A	0
30236	10462	product	25813	A	0
30237	10462	product	25814	A	0
31449	10039	product	27027	A	0
29923	10431	product	25500	A	1
30212	10460	product	25789	A	1
30203	10460	product	25780	A	2
31450	10431	product	27028	A	2
29925	10431	product	25502	A	3
30204	10460	product	25781	A	3
29926	10431	product	25503	A	4
30210	10460	product	25787	A	4
30213	10460	product	25790	A	5