diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
index 0d6dfd394..083255ab0 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
@@ -403,41 +403,39 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             TaskDto task = null;
             for (int i = 0; i < getDeviceCodeList.size(); i++) {
                 String startDeviceCode = getDeviceCodeList.get(i);
-                List<TaskDto> taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode);
+                List<TaskDto> taskDtos = taskserver.queryTaskByDeviceCodeAndStatus2(startDeviceCode);
                 if (ObjectUtil.isNotEmpty(taskDtos)) {
-                    //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();
-                    //查询任务是行架任务
-                    if (!StrUtil.equals(taskDto.getTask_type(), "6")) {
-                        taskDto = null;
-                        continue;
+                    //按照创建时间排序
+                    List<TaskDto> taskDtoStream = taskDtos.stream().sorted(Comparator.comparing(TaskDto::getCreate_time)).collect(Collectors.toList());
+                    if (ObjectUtil.isNotEmpty(taskDtoStream)) {
+                        TaskDto taskDto = taskDtoStream.get(0);
+                        this.executeReadyInst(taskDto);
                     }
-                    flag = this.executeReadyInst(taskDto);
                 } else {
-                    List<TaskDto> taskDtoList = taskserver.queryTaskByDeviceCode(startDeviceCode);
+                    List<TaskDto> taskDtoList = taskserver.findByTrappedManipulatorReady();
                     if (ObjectUtil.isNotEmpty(taskDtoList)) {
-                        //按照优先级排序 优先级相等按照创建时间排序
-                        taskDtoList = this.sortTask(taskDtoList);
-                        for (int j = 0; j < taskDtoList.size(); j++) {
-                            task = taskDtoList.get(j);
-
-                            // 6 行架任务
-                            if (ObjectUtil.isNotEmpty(task) && !StrUtil.equals(task.getTask_type(), "6")) {
-                                task = null;
-                                continue;
+                        List<TaskDto> taskDtosReady = new ArrayList<>();
+                        for (TaskDto taskDto1 : taskDtoList) {
+                            if (getDeviceCodeList.contains(taskDto1.getStart_device_code())) {
+                                taskDtosReady.add(taskDto1);
                             }
-                            if (ObjectUtil.isNotEmpty(task)) break;
                         }
+                        //按照优先级排序 优先级相等按照创建时间排序
+                        taskDtosReady = this.sortTask(taskDtosReady);
+                        task = taskDtosReady.get(0);
+                    }
+                    if (!ObjectUtil.isEmpty(task)) {
+                        break;
                     }
                 }
             }
             if (!ObjectUtil.isEmpty(task)) {
-                flag = this.executeReadyTask(task);
+                this.executeReadyTask(task);
+            } else {
+                notCreateInstMessage = "universal_notCreateInstMessage";
             }
+            return true;
         }
-        return flag;
     }
 
     //执行已有就绪指令