diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
index 5d89569a3..59f633ce6 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
@@ -80,55 +80,191 @@ public class NDCAgvServiceImpl implements NDCAgvService {
         log.info("sendAgvInstToNDC 指令下发NDC:" + "inst_code:" + inst.getInstruction_code()  +  ",agv_system_type:" + agv_system_type + ",agv_inst_type:" + inst.getAgv_inst_type() +
                 ",priority:" + inst.getPriority() + ",startAddress:" +  inst.getStart_point_code() +
                 ",nextAddress:" + inst.getNext_point_code());
-        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
-            String instcode = inst.getInstruction_code();
-            int type = Integer.parseInt(inst.getInstruction_type());
-            int priority = Integer.parseInt(inst.getPriority()) + 128;
-            DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-            DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
-            int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
-            int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
-            byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
-            byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
-            byte typehigh = (byte) IntToHexHigh(type);
-            byte typelow = (byte) IntToHexLow(type);
-            byte qhdhigh = (byte) IntToHexHigh(startAddress);
-            byte qhdlow = (byte) IntToHexLow(startAddress);
-            byte fhdhigh = (byte) IntToHexHigh(nextAddress);
-            byte fhdlow = (byte) IntToHexLow(nextAddress);
-            byte prioritylow = (byte) IntToHexLow(priority);
-            String str = "十进制下发：";
-            String str1 = "十六进制下发：";
-            str += "ikey:" + (Integer.parseInt(instcode));
-            str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
-            str += "/type:" + (type);
-            str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
-            str += "/qhd:" + (startAddress);
-            str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
-            str += "/fhd:" + (nextAddress);
-            str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
-            str += "/priority:" + (priority);
-            str1 += "/priority:" + hexToString(prioritylow & 0xFF);
-            System.out.println(str);
-            System.out.println(str1);
-            byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
-                    (byte) 0X00, (byte) 0X08,
-                    (byte) 0X00, (byte) 0X12,
-                    (byte) 0X00, (byte) 0X01,
-                    (byte) 0X00, (byte) 0X71,
-                    (byte) 0X00, (byte) 0X0E,
-                    (byte) 0X01, prioritylow,
-                    (byte) 0X00, (byte) 0X01,
-                    (byte) ikeyhigh, (byte) ikeylow,
-                    (byte) ikeyhigh, (byte) ikeylow,
-                    (byte) typehigh, (byte) typelow,
-                    (byte) qhdhigh, (byte) qhdlow,
-                    (byte) fhdhigh, (byte) fhdlow
-            };
-            log.info("下发AGV作业指令--{}", str1);
-//            OneNDCSocketConnectionAutoRun.write(b);
-            TwoNDCSocketConnectionAutoRun.write(b);
-            System.out.println("下发agv指令数据:" + Bytes2HexString(b));
+        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
+            if (!StrUtil.equals(agv_system_type, "1")) {
+                String instcode = inst.getInstruction_code();
+                int type = Integer.parseInt(inst.getAgv_inst_type());
+                int priority = Integer.parseInt(inst.getPriority()) + 128;
+                DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+                DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
+                int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
+                int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
+                int startAddress2 = deviceService.queryAddressBydeviceCode(inst.getStart_point_code2());
+                int nextAddress2 = deviceService.queryAddressBydeviceCode(inst.getNext_point_code2());
+                byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
+                byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
+                byte typehigh = (byte) IntToHexHigh(type);
+                byte typelow = (byte) IntToHexLow(type);
+                byte qhdhigh = (byte) IntToHexHigh(startAddress);
+                byte qhdlow = (byte) IntToHexLow(startAddress);
+                byte qhdhigh2 = (byte) IntToHexHigh(startAddress2);
+                byte qhdlow2 = (byte) IntToHexLow(startAddress2);
+                byte fhdhigh = (byte) IntToHexHigh(nextAddress);
+                byte fhdlow = (byte) IntToHexLow(nextAddress);
+                byte fhdhigh2 = (byte) IntToHexHigh(nextAddress2);
+                byte fhdlow2 = (byte) IntToHexLow(nextAddress2);
+                byte prioritylow = (byte) IntToHexLow(priority);
+
+                String str = "十进制下发：";
+                String str1 = "十六进制下发：";
+                str += "任务号 ikey:" + (Integer.parseInt(instcode));
+                str1 += "任务号 ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
+
+                str += "指令类型 /type:" + (type);
+                str1 += "指令类型 /type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
+
+                str += "取货点 /qhd:" + (startAddress);
+                str1 += "取货点 /qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
+                str += "放货点 /fhd:" + (nextAddress);
+                str1 += "放货点 /fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
+
+                str += "取货点2 /qhd2:" + (startAddress2);
+                str1 += "取货点2 /qhd2:" + hexToString(qhdhigh2 & 0xFF) + hexToString(qhdlow2 & 0xFF);
+                str += "放货点2 /fhd2:" + (nextAddress2);
+                str1 += "放货点2 /fhd2:" + hexToString(fhdhigh2 & 0xFF) + hexToString(fhdlow2 & 0xFF);
+
+                str += "优先级 /priority:" + (priority);
+                str1 += "优先级 /priority:" + hexToString(prioritylow & 0xFF);
+
+                byte[] b = new byte[]{};
+                if (type == 1) {
+                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                            (byte) 0X00, (byte) 0X08,
+                            (byte) 0X00, (byte) 0X16,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X71,
+                            (byte) 0X00, (byte) 0X12,
+                            (byte) 0X01, prioritylow,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) typehigh, (byte) typelow,
+                            (byte) qhdhigh, (byte) qhdlow,
+                            (byte) qhdhigh2, (byte) qhdlow2,
+                            (byte) fhdhigh, (byte) fhdlow,
+                            (byte) fhdhigh2, (byte) fhdlow2
+                    };
+                } else if (type == 2) {
+                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                            (byte) 0X00, (byte) 0X08,
+                            (byte) 0X00, (byte) 0X16,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X71,
+                            (byte) 0X00, (byte) 0X12,
+                            (byte) 0X01, prioritylow,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) typehigh, (byte) typelow,
+                            (byte) qhdhigh, (byte) qhdlow,
+                            (byte) 0X00, (byte) 0X00,
+                            (byte) fhdhigh, (byte) fhdlow,
+                            (byte) 0X00, (byte) 0X00
+                    };
+                } else if (type == 3) {
+                    b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                            (byte) 0X00, (byte) 0X08,
+                            (byte) 0X00, (byte) 0X16,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X71,
+                            (byte) 0X00, (byte) 0X12,
+                            (byte) 0X01, prioritylow,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) ikeyhigh, (byte) ikeylow,
+                            (byte) typehigh, (byte) typelow,
+                            (byte) qhdhigh, (byte) qhdlow,
+                            (byte) qhdhigh2, (byte) qhdlow2,
+                            (byte) fhdhigh, (byte) fhdlow,
+                            (byte) fhdhigh2, (byte) fhdlow2
+                    };
+                }
+                log.info("下发AGV作业指令 --{}", str1);
+                log.info("下发AGV作业指令--{}", str);
+                log.info("下发agv指令数据--{}", Bytes2HexString(b));
+
+                if (StrUtil.equals(agv_system_type, "2")) {
+                    TwoNDCSocketConnectionAutoRun.write(b);
+                }
+            } else {
+
+                String instcode = inst.getInstruction_code();
+                int startHeight = Integer.parseInt(StrUtil.isEmpty(inst.getStart_height()) ? "0" : inst.getStart_height());
+                int nextHeight = Integer.parseInt(StrUtil.isEmpty(inst.getNext_height()) ? "0" : inst.getNext_height());
+                //默认取货放货高度都为0
+                //int type = Integer.parseInt(inst.getInstruction_type());
+                int type = 4;
+                if (startHeight != 0 && nextHeight != 0) {
+                    //取货放货高度都不为0
+                    type = 1;
+                } else if (startHeight != 0 && nextHeight == 0) {
+                    //取货高度不为0 放货高度为0
+                    type = 2;
+                } else if (startHeight == 0 && nextHeight != 0) {
+                    //取货高度为0 放货高度不为0
+                    type = 3;
+                }
+                int priority = Integer.parseInt(inst.getPriority()) + 128;
+                DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+                DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
+                int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
+                int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
+
+                byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
+                byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
+                byte typehigh = (byte) IntToHexHigh(type);
+                byte typelow = (byte) IntToHexLow(type);
+                byte qhdhigh = (byte) IntToHexHigh(startAddress);
+                byte qhdlow = (byte) IntToHexLow(startAddress);
+                byte fhdhigh = (byte) IntToHexHigh(nextAddress);
+                byte fhdlow = (byte) IntToHexLow(nextAddress);
+                byte prioritylow = (byte) IntToHexLow(priority);
+
+                byte shhigh = (byte) IntToHexHigh(startHeight);
+                byte shlow = (byte) IntToHexLow(startHeight);
+
+                byte nhhigh = (byte) IntToHexHigh(nextHeight);
+                byte nhlow = (byte) IntToHexLow(nextHeight);
+
+                String str = "十进制下发：";
+                String str1 = "十六进制下发：";
+                str += "ikey:" + (Integer.parseInt(instcode));
+                str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
+
+                str += "/type:" + (type);
+                str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
+
+                str += "/qhd:" + (startAddress);
+                str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
+                str += "/fhd:" + (nextAddress);
+                str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
+
+                str += "/priority:" + (priority);
+                str1 += "/priority:" + hexToString(prioritylow & 0xFF);
+
+                System.out.println(str);
+                System.out.println(str1);
+                byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                        (byte) 0X00, (byte) 0X08,
+                        (byte) 0X00, (byte) 0X16,
+                        (byte) 0X00, (byte) 0X01,
+                        (byte) 0X00, (byte) 0X71,
+                        (byte) 0X00, (byte) 0X12,
+                        (byte) 0X01, prioritylow,
+                        (byte) 0X00, (byte) 0X01,
+                        (byte) ikeyhigh, (byte) ikeylow,
+                        (byte) ikeyhigh, (byte) ikeylow,
+                        (byte) typehigh, (byte) typelow,
+                        (byte) qhdhigh, (byte) qhdlow,
+                        (byte) fhdhigh, (byte) fhdlow,
+                        (byte) shhigh, (byte) shlow,
+                        (byte) nhhigh, (byte) nhlow
+                };
+                log.info("下发AGV作业指令 --{}", str1);
+                log.info("下发AGV作业指令--{}", str);
+                log.info("下发agv指令数据--{}", Bytes2HexString(b));
+                OneNDCSocketConnectionAutoRun.write(b);
+            }
         }
     }
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCAgvServiceImpl.xml b/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCAgvServiceImpl.xml
new file mode 100644
index 000000000..8f4151a72
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCAgvServiceImpl.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<included>
+    <springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
+    <property name="LOG_HOME" value="${logPath}"/>
+    <!-- 按照每天生成日志文件 -->
+    <appender name="FILE11" class="ch.qos.logback.core.rolling.RollingFileAppender">
+        <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
+            <!--日志文件输出的文件名-->
+            <FileNamePattern>${LOG_HOME}/一楼NDC系统/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
+            <!--日志文件保留天数-->
+            <maxHistory>15</maxHistory>
+            <!--单个日志最大容量 至少10MB才能看得出来-->
+            <maxFileSize>200MB</maxFileSize>
+            <!--所有日志最多占多大容量-->
+            <totalSizeCap>2GB</totalSizeCap>
+        </rollingPolicy>
+        <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
+            <!--格式化输出：%d表示日期，%thread表示线程名，%-5level：级别从左显示5个字符宽度%msg：日志消息，%n是换行符-->
+            <pattern>%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n</pattern>
+            <charset>${log.charset}</charset>
+        </encoder>
+
+    </appender>
+
+    <!--  <logger name="org.nl.start.Init" level="info" additivity="true">
+          <appender-ref ref="FILE3"/>
+      </logger>-->
+
+    <!-- 打印sql -->
+    <logger name="org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun" level="info" additivity="true">
+        <appender-ref ref="FILE11"/>
+    </logger>
+</included>
diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml b/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
index f53004205..ab174d9ef 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
+++ b/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
@@ -21,6 +21,7 @@ https://juejin.cn/post/6844903775631572999
     <include resource="log/ACSToLMS.xml"/>
     <include resource="log/LMSToACS.xml"/>
     <include resource="log/TwoNDCSocketConnectionAutoRun.xml"/>
+    <include resource="log/NDCAgvServiceImpl.xml"/>
 
     <appender name="CONSOLE" class="ch.qos.logback.core.ConsoleAppender">
         <!--withJansi 参数改为true-->