diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java
index bf370064e..00fc9ed8f 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java
@@ -159,7 +159,6 @@ public class AgvWaitUtil {
     }
 
     private void applyLmsGetOut(Instruction inst) {
-        try {
             JSONObject param = new JSONObject();
             param.put("taskCode", inst.getTask_code());
             param.put("actionType", ActionTypeEnum.IN_FINISHING.getCode().toString());
@@ -187,9 +186,6 @@ public class AgvWaitUtil {
                 luceneExecuteLogService.deviceExecuteLog(logDto2);
                 throw new BadRequestException("追加动诺宝作块返回失败");
             }
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
     }
 
     //放货前等待
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
index 4a0aa747e..b48974638 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
@@ -309,7 +309,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -563,7 +563,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if (manipulatorAgvStationDeviceDriver.getAction() == 0) {
+                if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -623,7 +623,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if (paperTubePickSiteDeviceDriver.getAction() == 0) {
+                if (paperTubePickSiteDeviceDriver.getAction() == 0 && paperTubePickSiteDeviceDriver.getError() == 0 && paperTubePickSiteDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(this.getDeviceCode())
@@ -798,7 +798,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1002,7 +1002,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                    if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                    if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                         LuceneLogDto logDto = LuceneLogDto.builder()
                                 .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1029,7 +1029,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                    if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                    if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                         LuceneLogDto logDto = LuceneLogDto.builder()
                                 .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1056,7 +1056,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                    if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                    if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                         LuceneLogDto logDto = LuceneLogDto.builder()
                                 .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1083,7 +1083,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                    if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                    if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                         LuceneLogDto logDto = LuceneLogDto.builder()
                                 .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1222,7 +1222,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if (manipulatorAgvStationDeviceDriver.getAction() == 0) {
+                if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(this.getDeviceCode())
@@ -1407,7 +1407,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if (paperTubePickSiteDeviceDriver.getAction() == 1) {
+                if (paperTubePickSiteDeviceDriver.getAction() == 1 && paperTubePickSiteDeviceDriver.getError() == 0 && paperTubePickSiteDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(this.getDeviceCode())
@@ -1434,7 +1434,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1661,7 +1661,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if (manipulatorAgvStationDeviceDriver.getAction() == 0) {
+                if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -1744,7 +1744,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if (paperTubePickSiteDeviceDriver.getAction() == 0) {
+                if (paperTubePickSiteDeviceDriver.getAction() == 0 && paperTubePickSiteDeviceDriver.getError() == 0 && paperTubePickSiteDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(this.getDeviceCode())
@@ -1888,7 +1888,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
+                if (manipulatorAgvStationDeviceDriver.getAction() == 1 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
@@ -2098,7 +2098,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if (manipulatorAgvStationDeviceDriver.getAction() == 0) {
+                if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())