diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
index d0742291c..f0d1e9e2e 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
@@ -27,6 +27,7 @@ import org.nl.acs.opc.DeviceType;
 import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
 import java.util.Arrays;
@@ -40,6 +41,7 @@ import java.util.Map;
 public class MagicAgvServiceImpl implements MagicAgvService {
     private final DeviceAppService deviceAppService;
     private final ParamService paramService;
+    @Lazy
     private final AcsToWmsService acsToWmsService;
 
 
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
index df3562476..3b2c9030b 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
@@ -28,6 +28,7 @@ import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.system.util.CodeUtil;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
 import java.util.HashMap;
@@ -41,6 +42,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
 
     private final DeviceAppService deviceAppService;
     private final ParamService paramService;
+    @Lazy
     private final AcsToWmsService acsToWmsService;
 
     private final DeviceExecuteLogService logServer;
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
index b4832e61a..6acb9d172 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
@@ -21,6 +21,7 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceType;
 import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
 import java.util.Arrays;
@@ -34,6 +35,7 @@ import java.util.Map;
 public class XianGongAgvServiceImpl implements XianGongAgvService {
     private final DeviceAppService deviceAppService;
     private final ParamService paramService;
+    @Lazy
     private final AcsToWmsService acsToWmsService;
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
 
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java
index ef44259ef..ea5398420 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java
@@ -17,6 +17,7 @@ import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device.service.impl.DeviceServiceImpl;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
@@ -334,7 +335,6 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
                     if (move > 0 && !requireSucess) {
                         instruction_require();
                     }
-
                     break;
                 case 4:
                     //申请捆扎
@@ -748,6 +748,16 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
                 map3.put("value", "1");
                 list.add(map3);
                 this.writing(list);
+                while(!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer()+"."+this.getOpcPlc()+"."+this.getDevice_code()+".task").toString()
+                        ,instdto.getInstruction_code())){
+                    this.writing(list);
+                    logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发电气信号");
+                    try {
+                        Thread.sleep(500);
+                    } catch (InterruptedException e) {
+                        e.printStackTrace();
+                    }
+                }
 //                if (task != Integer.parseInt(inst.getInstruction_code())) {
 //                    this.writing(list);
 //                    message = "重新下发电气信号";
@@ -780,10 +790,20 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
                 map3.put("value", "1");
                 list.add(map3);
                 this.writing(list);
-                if (task != Integer.parseInt(inst.getInstruction_code())) {
+                while(!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer()+"."+this.getOpcPlc()+"."+this.getDevice_code()+".task").toString()
+                        ,inst.getInstruction_code())){
                     this.writing(list);
                     logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发电气信号");
+                    try {
+                        Thread.sleep(500);
+                    } catch (InterruptedException e) {
+                        e.printStackTrace();
+                    }
                 }
+//                if (task != Integer.parseInt(inst.getInstruction_code())) {
+//                    this.writing(list);
+//                    logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发电气信号");
+//                }
             }
             return true;
         }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDeviceDriver.java
index ca4d7b83f..241d8e696 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDeviceDriver.java
@@ -340,10 +340,10 @@ public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver impl
         map.put("code", "to_target");
         map.put("value", "0");
         list.add(map);
-        Map map2 = new HashMap();
-        map2.put("code", "to_task");
-        map2.put("value", "0");
-        list.add(map2);
+//        Map map2 = new HashMap();
+//        map2.put("code", "to_task");
+//        map2.put("value", "0");
+//        list.add(map2);
         Map map3 = new HashMap();
         map3.put("code", "to_command");
         map3.put("value", "0");
@@ -648,12 +648,16 @@ public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver impl
                     list.add(map);
                     Map map2 = new HashMap();
                     map2.put("code", "to_task");
-                    map2.put("value", inst.getInstruction_code());
+                    map2.put("value", "0");
                     list.add(map2);
                     Map map3 = new HashMap();
                     map3.put("code", "to_command");
                     map3.put("value", "1");
                     list.add(map3);
+                    Map map4 = new HashMap();
+                    map2.put("code", "to_task");
+                    map2.put("value", inst.getInstruction_code());
+                    list.add(map4);
                     this.writing(list);
                     if (task != Integer.parseInt(inst.getInstruction_code())) {
                         this.writing(list);
@@ -755,12 +759,16 @@ public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver impl
                 list.add(map);
                 Map map2 = new HashMap();
                 map2.put("code", "to_task");
-                map2.put("value", instdto.getInstruction_code());
+                map2.put("value", "0");
                 list.add(map2);
                 Map map3 = new HashMap();
                 map3.put("code", "to_command");
                 map3.put("value", "1");
                 list.add(map3);
+                Map map4 = new HashMap();
+                map2.put("code", "to_task");
+                map2.put("value", inst.getInstruction_code());
+                list.add(map4);
                 this.writing(list);
                 if (task != Integer.parseInt(inst.getInstruction_code())) {
                     this.writing(list);
@@ -784,12 +792,16 @@ public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver impl
                 list.add(map);
                 Map map2 = new HashMap();
                 map2.put("code", "to_task");
-                map2.put("value", inst.getInstruction_code());
+                map2.put("value", "0");
                 list.add(map2);
                 Map map3 = new HashMap();
                 map3.put("code", "to_command");
                 map3.put("value", "1");
                 list.add(map3);
+                Map map4 = new HashMap();
+                map2.put("code", "to_task");
+                map2.put("value", inst.getInstruction_code());
+                list.add(map4);
                 this.writing(list);
                 if (task != Integer.parseInt(inst.getInstruction_code())) {
                     this.writing(list);