diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/casing_station/CasingStationConveyorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/casing_station/CasingStationConveyorDeviceDriver.java
index cc8a64896..e75f0ecef 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/casing_station/CasingStationConveyorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/casing_station/CasingStationConveyorDeviceDriver.java
@@ -125,7 +125,7 @@ public class CasingStationConveyorDeviceDriver extends AbstractOpcDeviceDriver i
     //请求成功标记
     Boolean requireSucess = false;
 
-    String message = null;
+    String message = "";
     String device_code;
 
     String remark = "";
@@ -138,7 +138,6 @@ public class CasingStationConveyorDeviceDriver extends AbstractOpcDeviceDriver i
     @Override
     public void execute() {
         try {
-            String message = null;
             device_code = this.getDeviceCode();
             heartbeat = this.itemProtocol.getHeartbeat();
             mode = this.itemProtocol.getMode();
@@ -198,7 +197,7 @@ public class CasingStationConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                 acsToWmsService.sendDeviceStatus(param);
                 requireSucess = false;
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记:" + requireSucess);
-                logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
+                // logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
             }
             if (move != last_move) {
                 logServer.deviceItemValue(this.device_code, "move", String.valueOf(move));
@@ -228,7 +227,6 @@ public class CasingStationConveyorDeviceDriver extends AbstractOpcDeviceDriver i
         } else {
             this.setIsonline(true);
             this.setIserror(false);
-            message = "";
             Instruction instruction = null;
             List toInstructions;
             //纸管库申请任务
@@ -286,24 +284,35 @@ public class CasingStationConveyorDeviceDriver extends AbstractOpcDeviceDriver i
 
     //取货完成
     private void sucess() {
-        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
-        Instruction inst1 = instructionService.findByCode(String.valueOf(task));
-        String task_code = inst1.getTask_code();
-        applyManipulatorActionRequest.setAction("1");
-        applyManipulatorActionRequest.setTask_code1(task_code);
-        logServer.deviceExecuteLog(this.device_code, "", "", "开始反馈套管工位取货完成");
-        ApplyManipulatorActionResponse applyManipulatorActionResponse1 = acsToWmsService.actionFinishRequest(applyManipulatorActionRequest);
-        if (applyManipulatorActionResponse1.getstatus() == 200) {
-            logServer.deviceExecuteLog(this.device_code, "", "", "套管工位取货请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse1));
-            Map<String, Object> map = new LinkedHashMap<>();
-            map.put("to_command", 6);
-            this.writing(map);
-            message = "套管工位取货完成";
-            requireSucess = true;
+        Date date = new Date();
+        if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
         } else {
-            requireSucess = false;
-            message = "套管工位取货失败";
-            //logServer.deviceExecuteLog(this.device_code, "", "", "缓存库取货失败,返回参数:" + applyManipulatorActionResponse1);
+            ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+            Instruction inst1 = instructionService.findByCode(String.valueOf(task1));
+            if (ObjectUtil.isNotEmpty(inst1)) {
+                String task_code = inst1.getTask_code();
+                applyManipulatorActionRequest.setAction("1");
+                applyManipulatorActionRequest.setTask_code1(task_code);
+                logServer.deviceExecuteLog(this.device_code, "", "", "开始反馈套管工位取货完成");
+                ApplyManipulatorActionResponse applyManipulatorActionResponse1 = acsToWmsService.actionFinishRequest(applyManipulatorActionRequest);
+                if (applyManipulatorActionResponse1.getstatus() == 200) {
+                    logServer.deviceExecuteLog(this.device_code, "", "", "套管工位取货请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse1));
+                    Map<String, Object> map = new LinkedHashMap<>();
+                    map.put("to_command", 6);
+                    this.writing(map);
+                    message = "套管工位取货完成";
+                    remark = "";
+                    requireSucess = true;
+                } else {
+                    requireSucess = false;
+                    message = "套管工位取货失败";
+                    //logServer.deviceExecuteLog(this.device_code, "", "", "缓存库取货失败,返回参数:" + applyManipulatorActionResponse1);
+                }
+            } else {
+                requireSucess = false;
+                message = "行架任务号不存在";
+            }
         }
     }
 
@@ -327,6 +336,7 @@ public class CasingStationConveyorDeviceDriver extends AbstractOpcDeviceDriver i
             requireSucess = true;
             logServer.deviceExecuteLog(this.device_code, "", "", "申请套轴完成反馈完成,返回参数:" + applyManipulatorActionResponse);
             message = "套轴完成成功";
+            remark = null;
         } else {
             message = applyManipulatorActionResponse.getMessage();
             Map<String, Object> map = new LinkedHashMap<>();
@@ -471,7 +481,7 @@ public class CasingStationConveyorDeviceDriver extends AbstractOpcDeviceDriver i
         jo.put("material1", material1);
         jo.put("material2", material2);
         jo.put("isOnline", this.getIsonline());
-        jo.put("message", ObjectUtil.isNotEmpty(remark) ? "反馈套管失败的原因:" + remark : remark);
+        jo.put("message", ObjectUtil.isNotEmpty(remark) ? "反馈套管失败的原因:" + remark : message);
 
         return jo;
     }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
index 1c3baedc4..170425072 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
@@ -160,6 +160,8 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
 
     //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
     int flag;
+    //1点对点 6下卷拔轴 7换轴 8 放轴
+    String truss_type;
 
     String device_code;
 
@@ -173,6 +175,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
     String feedMessage = "";
 
 
+
     List<String> getDeviceCodeList = null;
 
     List<String> putDeviceCodeList = null;
@@ -763,6 +766,18 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
         } else if (this.getAction() == 8) {
             action = "任务完成";
         }
+        String type = "";
+        if("1".equals(this.truss_type)){
+            type = "点对点任务";
+        }else if("6".equals(this.truss_type)){
+            type = "下卷拔轴任务";
+        }else if("7".equals(this.truss_type)){
+            type = "换轴任务";
+        }else if("8".equals(this.truss_type)){
+            type = "放轴任务";
+        }else if("9".equals(this.truss_type)){
+            type = "异常气胀轴任务";
+        }
 
         jo.put("device_name", this.getDevice().getDevice_name());
         jo.put("mode", mode);
@@ -780,6 +795,8 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
         jo.put("inflatable_shaft_size", this.inflatable_shaft_size);
         jo.put("version", this.inflatableShaftVersion);
         jo.put("driver_type", "station");
+        jo.put("notCreateInstMessage", notCreateInstMessage);
+        jo.put("truss_type", type);
         return jo;
     }
 
@@ -835,6 +852,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                     //按照优先级排序 优先级相等按照创建时间排序
                     taskDtos = this.sortTask(taskDtos);
                     TaskDto taskDto = taskDtos.get(0);
+                    truss_type = taskDto.getTruss_type();
                     //存在行架->暂存的AGV任务 需要过滤
                     // 9 行架任务
                     if (!StrUtil.equals(taskDto.getTask_type(), "9")) {
@@ -909,6 +927,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 }
             }
             if (!ObjectUtil.isEmpty(task)) {
+                truss_type = task.getTruss_type();
                 Device nextdevice = deviceAppService.findDeviceByCode(task.getNext_device_code());
                 Device startdevice = deviceAppService.findDeviceByCode(task.getStart_device_code());
                 SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
@@ -1000,6 +1019,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 notCreateTaskMessage = "";
             } else {
                 notCreateInstMessage = "未找到关联设备的任务，指令无法创建";
+                return false;
             }
             return true;
         }
@@ -1024,19 +1044,19 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                                 rgv2.getMode() + "rgv1的move2" + rgv1.getMove2() + "rgv2的move2" + rgv2.getMove2());*/
                         return true;
                     } else {
-                        message = "rgv信号不符合";
+                        notCreateInstMessage = "rgv信号不符合";
                         //logServer.deviceExecuteLog(device_code, "", "", "rgv信号不符合");
                     }
                 } else {
-                    message = "关联的站点不是rgv";
+                    notCreateInstMessage = "关联的站点不是rgv";
                     //logServer.deviceExecuteLog(device_code, "", "", "关联的站点不是rgv");
                 }
             } else {
-                message = "rgv没有关联站点";
+                notCreateInstMessage = "rgv没有关联站点";
                 //logServer.deviceExecuteLog(device_code, "", "", "rgv没有关联站点");
             }
         } else {
-            message = "rgv不是普通站点";
+            notCreateInstMessage = "rgv不是普通站点";
             //logServer.deviceExecuteLog(device_code, "", "", "rgv不是普通站点");
 
         }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/RgvDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/RgvDeviceDriver.java
index b331764ac..72970469e 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/RgvDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/RgvDeviceDriver.java
@@ -288,6 +288,7 @@ public class RgvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDr
         jo.put("move2", move2);
         jo.put("isOnline", this.getIsonline());
         jo.put("isError", this.getIserror());
+        jo.put("task", this.getTask());
         jo.put("qty1", this.getQty1());
         jo.put("qty2", this.getQty2());
         jo.put("message", this.getMessage());
diff --git a/acs/nladmin-ui/src/views/acs/task/index.vue b/acs/nladmin-ui/src/views/acs/task/index.vue
index ea995c5fa..e97158864 100644
--- a/acs/nladmin-ui/src/views/acs/task/index.vue
+++ b/acs/nladmin-ui/src/views/acs/task/index.vue
@@ -644,7 +644,6 @@ export default {
     })
     getDicts().then(data => {
       this.dicts = data
-      console.log(this.dict.label.task_status[3])
     })
   },
   methods: {
diff --git a/acs/nladmin-ui/src/views/system/monitor/device/index.vue b/acs/nladmin-ui/src/views/system/monitor/device/index.vue
index a8c168b2f..7533172be 100644
--- a/acs/nladmin-ui/src/views/system/monitor/device/index.vue
+++ b/acs/nladmin-ui/src/views/system/monitor/device/index.vue
@@ -761,6 +761,9 @@ export default {
           } else if (val === 'version') {
             const obj = { name: '轴代数', value: data[val] }
             this.arr.push(obj)
+          } else if (val === 'truss_type') {
+            const obj = { name: '内包间行架任务类型', value: data[val] }
+            this.arr.push(obj)
           }
         }
       }