diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
index 0bab2973b..511ff2e25 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
@@ -124,6 +124,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     String message = null;
     Boolean iserror = false;
     private Date instruction_update_time = new Date();
+    private Date require_apply_strangulation_time = new Date();
     private int instruction_update_time_out = 1000;
     Integer heartbeat_tag;
     private Date instruction_require_time = new Date();
@@ -242,10 +243,8 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
             // 更新指令状态
             updateInstruct();
 
-        } catch (Exception var17) {
-            var17.printStackTrace();
-            feedMessage = var17.getMessage();
-            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol));
+        } catch (Exception e) {
+            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + Arrays.toString(e.getStackTrace()));
 
         }
 
@@ -319,34 +318,48 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     }
 
     private void applyErrorTask() {
-        try {
-            JSONObject param = new JSONObject();
-            param.put("device_code", device_code);
-            param.put("vehicle_code", barcode);
-            param.put("type", StorageTypeEnum.ERROR.getType());
-            logServer.deviceExecuteLog(this.device_code, "", "", "木箱入库申请入库任务,参数:" + param);
-            HttpResponse response = acsToWmsService.shipDeviceUpdate(param);
-            if (response == null || response.getStatus() == 200) {
-                logServer.deviceExecuteLog(this.device_code, "", "", "木箱入库申请入库任务,接口返回:" + response.body());
+        Date date = new Date();
+        if (date.getTime() - this.require_apply_strangulation_time.getTime()
+                < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return;
+        } else {
+            try {
+                JSONObject param = new JSONObject();
+                param.put("device_code", device_code);
+                param.put("vehicle_code", barcode);
+                param.put("type", StorageTypeEnum.ERROR.getType());
+                logServer.deviceExecuteLog(this.device_code, "", "", "木箱入库申请异常位任务,参数:" + param);
+                HttpResponse response = acsToWmsService.shipDeviceUpdate(param);
+                if (response == null || response.getStatus() == 200) {
+                    logServer.deviceExecuteLog(this.device_code, "", "", "木箱入库申请异常位任务,接口返回:" + response.body());
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
             }
-        } catch (Exception e) {
-            e.printStackTrace();
         }
     }
 
     private void applyIn() {
-        try {
-            JSONObject param = new JSONObject();
-            param.put("device_code", device_code);
-            param.put("vehicle_code", barcode);
-            param.put("type", StorageTypeEnum.STORAGE.getType());
-            logServer.deviceExecuteLog(this.device_code, "", "", "木箱入库申请入库任务,参数:" + param);
-            HttpResponse response = acsToWmsService.shipDeviceUpdate(param);
-            if (response == null || response.getStatus() == 200) {
-                logServer.deviceExecuteLog(this.device_code, "", "", "木箱入库申请入库任务,接口返回:" + response.body());
+        Date date = new Date();
+        if (date.getTime() - this.require_apply_strangulation_time.getTime()
+                < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return;
+        } else {
+            try {
+                JSONObject param = new JSONObject();
+                param.put("device_code", device_code);
+                param.put("vehicle_code", barcode);
+                param.put("type", StorageTypeEnum.STORAGE.getType());
+                logServer.deviceExecuteLog(this.device_code, "", "", "木箱入库申请入库任务,参数:" + param);
+                HttpResponse response = acsToWmsService.shipDeviceUpdate(param);
+                if (response == null || response.getStatus() == 200) {
+                    logServer.deviceExecuteLog(this.device_code, "", "", "木箱入库申请入库任务,接口返回:" + response.body());
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
             }
-        } catch (Exception e) {
-            e.printStackTrace();
         }
     }
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java
index 13dce5240..015d95e13 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java
@@ -4,6 +4,7 @@ import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
@@ -17,6 +18,7 @@ import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.enums.StorageTypeEnum;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.history.ErrorUtil;
 import org.nl.acs.history.service.DeviceErrorLogService;
@@ -205,14 +207,14 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error);
             }
 
-            if (move != 0 && task > 0) {
+//            if (move != 0 && task > 0) {
+//
+//                update_instruction_status();
+//            }
 
-                update_instruction_status();
-            }
+        } catch (Exception e) {
+            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + Arrays.toString(e.getStackTrace()));
 
-        } catch (Exception var17) {
-            var17.printStackTrace();
-            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol));
         }
 
 
@@ -231,35 +233,51 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
 
             Instruction instruction = null;
             List toInstructions;
-
-            switch (mode) {
-                case 1:
-                    log.debug("设备运转模式:等待工作");
-                    break;
-                case 2:
-                    //申请任务
-                    if (move > 0 && !requireSucess) {
-                        instruction_require();
-                    }
-                    break;
+            //空箱出库开盖位，申请开盖
+            if (mode == 7 && move == 1 && task > 0) {
+                applyUnbox();
             }
         }
-        last_mode = mode;
-        last_move = move;
-        last_carrier_direction = carrier_direction;
-        last_error = error;
-        last_task = task;
-        last_heartbeat = heartbeat;
-        last_to_task = to_task;
-        last_to_command = to_command;
-        last_to_target = to_target;
-        last_to_strap_times = to_strap_times;
-        last_to_length = to_length;
-        last_to_weight = to_weight;
-        last_to_height = to_height;
-    }
 
 
+
+    last_mode =mode;
+    last_move =move;
+    last_carrier_direction =carrier_direction;
+    last_error =error;
+    last_task =task;
+    last_heartbeat =heartbeat;
+    last_to_task =to_task;
+    last_to_command =to_command;
+    last_to_target =to_target;
+    last_to_strap_times =to_strap_times;
+    last_to_length =to_length;
+    last_to_weight =to_weight;
+    last_to_height =to_height;
+}
+
+    private void applyUnbox() {
+        Date date = new Date();
+        if (date.getTime() - this.require_apply_strangulation_time.getTime()
+                < (long) this.instruction_require_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
+            return;
+        } else {
+            try {
+                JSONObject param = new JSONObject();
+                param.put("device_code", device_code);
+                param.put("task", task);
+                logServer.deviceExecuteLog(this.device_code, "", "", "木箱申请开盖任务,参数:" + param);
+                HttpResponse response = acsToWmsService.shipDeviceUpdate(param);
+                if (response == null || response.getStatus() == 200) {
+                    logServer.deviceExecuteLog(this.device_code, "", "", "木箱申请开盖任务,接口返回:" + response.body());
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        }
+    }
+
     public boolean exe_error() {
         if (this.error == 0) {
             return true;
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
index e2768494c..3afdedfc9 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
@@ -35,10 +35,7 @@ import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.config.SpringContextHolder;
 
-import java.util.Date;
-import java.util.LinkedHashMap;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
 
 /**
  * 装箱智能行架
@@ -237,10 +234,8 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 updateInstrction();
             }
 
-        } catch (Exception var17) {
-            var17.printStackTrace();
-            feedMessage = var17.getMessage();
-            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol));
+        } catch (Exception e) {
+            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + Arrays.toString(e.getStackTrace()));
 
         }
 
@@ -325,6 +320,38 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                     }
                 }
             }
+
+            //放货完成
+            if (mode == 3 && action == 4 && move == 0) {
+                if (inst != null) {
+                    try {
+                        logServer.deviceExecuteLog(this.device_code,"","","放货完成");
+                        finish_instruction(inst);
+                        Map<String, Object> map = new LinkedHashMap<>();
+                        map.put("to_command", 5);
+                        this.writing(map);
+                        message = "放货完成";
+                    } catch (Exception e) {
+                        message = "放货失败";
+                        e.printStackTrace();
+                    }
+                    feedMessage = "";
+                }else {
+                    feedMessage = "行架机械手:";
+                    if (mode != 3) {
+                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
+                    }
+                    if (action != 8) {
+                        feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
+                    }
+                    if (move != 0) {
+                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
+                    }
+                    if (task == 0) {
+                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
+                    }
+                }
+            }
         }
     }
 
@@ -417,6 +444,11 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
     }
 
+    public synchronized boolean finish_instruction(Instruction inst) throws Exception {
+        instructionService.finish(inst);
+        return true;
+    }
+
     /**
      * 下发
      * @param map
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
index b0b3293b1..f8da6162e 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
@@ -35,10 +35,7 @@ import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.config.SpringContextHolder;
 
-import java.util.Date;
-import java.util.LinkedHashMap;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
 
 /**
  * 木箱入库行架
@@ -195,10 +192,8 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 updateInstructionStatus();
             }
 
-        } catch (Exception var17) {
-            var17.printStackTrace();
-            feedMessage = var17.getMessage();
-            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol));
+        } catch (Exception e) {
+            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + Arrays.toString(e.getStackTrace()));
 
         }
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java
index 28e998232..569993033 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java
@@ -35,10 +35,7 @@ import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.config.SpringContextHolder;
 
-import java.util.Date;
-import java.util.LinkedHashMap;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
 
 /**
  * 退货入库行架
@@ -193,10 +190,8 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 updateInstructionStatus();
             }
 
-        } catch (Exception var17) {
-            var17.printStackTrace();
-            feedMessage = var17.getMessage();
-            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol));
+        } catch (Exception e) {
+            logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + Arrays.toString(e.getStackTrace()));
 
         }