diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/InteractionJsonDTO.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/InteractionJsonDTO.java
index bb572fea2..9150df957 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/InteractionJsonDTO.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/InteractionJsonDTO.java
@@ -38,4 +38,9 @@ public class InteractionJsonDTO {
      */
     private String isBinding;
 
+    /**
+     *木箱条码
+     */
+    private String barcode;
+
 }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
index 56efda3c7..36dd7e0c8 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
@@ -1,7 +1,6 @@
 package org.nl.acs.device_driver.one_manipulator.trapped_manipulator;
 
 import cn.hutool.core.collection.CollUtil;
-import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
@@ -17,9 +16,7 @@ import org.nl.acs.device.service.impl.DeviceExtraServiceImpl;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
-import org.nl.acs.device_driver.box_manipulator_site.BoxManipulatorSiteDeviceDriver;
 import org.nl.acs.device_driver.conveyor.belt_conveyor.BeltConveyorDeviceDriver;
-import org.nl.acs.device_driver.conveyor.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.history.ErrorUtil;
@@ -342,8 +339,9 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                         Map<String, Object> map8 = new HashMap<>();
                         Map<String, Object> map9 = new HashMap<>();
                         Map<String, Object> map10 = new HashMap<>();
+                        Map<String, Object> map11 = new HashMap<>();
                         try {
-                            pushPLC(map1, map2, next_addr, map3, start_addr, map4, instruction.getInstruction_code(), interactionJsonDTO, map5, map6, map7, map8, map9,map10);
+                            pushPLC(map1, map2, next_addr, map3, start_addr, map4, instruction.getInstruction_code(), interactionJsonDTO, map5, map6, map7, map8, map9,map10,map11);
                         } catch (Exception e) {
                             logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
                                     + instruction.getInstruction_code() + ",指令起点:" + instruction.getStart_device_code()
@@ -412,8 +410,9 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                         Map<String, Object> map8 = new HashMap<>();
                         Map<String, Object> map9 = new HashMap<>();
                         Map<String, Object> map10 = new HashMap<>();
+                        Map<String, Object> map11 = new HashMap<>();
                         try {
-                            pushPLC(map1, map2, next_addr, map3, start_addr, map4, instdto.getInstruction_code(), interactionJsonDTO, map5, map6, map7, map8, map9,map10);
+                            pushPLC(map1, map2, next_addr, map3, start_addr, map4, instdto.getInstruction_code(), interactionJsonDTO, map5, map6, map7, map8, map9,map10, map11);
                         } catch (Exception e) {
                             logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
                                     + instdto.getInstruction_code() + ",指令起点:" + instdto.getStart_device_code()
@@ -432,7 +431,7 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
 
 
 
-    private void pushPLC(Map<String, Object> map1, Map<String, Object> map2, String next_addr, Map<String, Object> map3, String start_addr, Map<String, Object> map4, String task, InteractionJsonDTO interactionJsonDTO, Map<String, Object> map5, Map<String, Object> map6, Map<String, Object> map7, Map<String, Object> map8, Map<String, Object> map9,Map<String, Object> map10) {
+    private void pushPLC(Map<String, Object> map1, Map<String, Object> map2, String next_addr, Map<String, Object> map3, String start_addr, Map<String, Object> map4, String task, InteractionJsonDTO interactionJsonDTO, Map<String, Object> map5, Map<String, Object> map6, Map<String, Object> map7, Map<String, Object> map8, Map<String, Object> map9, Map<String, Object> map10, Map<String, Object> map11) {
 
         List list = new ArrayList();
         map1.put("code", "to_command");
@@ -478,6 +477,11 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                 map10.put("value", interactionJsonDTO.getIsBinding());
                 list.add(map10);
             }
+            if (ObjectUtil.isNotEmpty(interactionJsonDTO.getIsBinding())) {
+                map10.put("code", "to_material");
+                map10.put("value", interactionJsonDTO.getBarcode());
+                list.add(map11);
+            }
         }
 
         this.writing(list);