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 d5b88d4bb..a28a12359 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
@@ -363,7 +363,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
         };
 
 
-        log.info("反馈agv动作数据--index:" + hexToString(indexhigh & 0xFF) + hexToString(indexlow & 0xFF) + ",phase:" + hexToString(phasehigh & 0xFF) + hexToString(phaselow & 0xFF));
+        log.info("反馈agv动作数据--index:" + hexToString(indexhigh & 0xFF) + hexToString(indexlow & 0xFF) + ",phase:"
+                + hexToString(phasehigh & 0xFF) + hexToString(phaselow & 0xFF)+",是否侧移: "+(offset == 1?"侧移":"不测移") + ",偏离量: " + quantity);
 
         System.out.println("反馈agv动作数据:" + Bytes2HexString(b));
         return b;
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/rgv/RgvDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/rgv/RgvDeviceDriver.java
index c7f5fc870..0b360c6cb 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/rgv/RgvDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/rgv/RgvDeviceDriver.java
@@ -207,15 +207,15 @@ public class RgvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDr
             if (mode == 4 && move == 1 && !requireSucess) {
                 applyTask();
             } else {
-                if (mode == 2) {
+                if (mode == 4) {
                     //if (!requireSucess) {
                     String remark = "";
                     ;
                     if (mode != 2) {
                         remark = "universal_remark2";
                     }
-                    if (move != 0) {
-                        remark = "universal_remark3";
+                    if (move != 1) {
+                        remark = "universal_no";
                     }
                     if (task != 0) {
                         remark = LangProcess.msg("universal_remark4");
@@ -226,7 +226,7 @@ public class RgvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDr
                     if (requireSucess) {
                         remark =  LangProcess.msg("universal_remark5");
                     }
-                    this.setNotCreateTaskMessage(remark);
+                    this.setFeedMessage(remark);
                     //}
                 }
             }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 29cda07f2..01b6a3253 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -68,6 +68,8 @@ import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.mapper.InstructionMapper;
 import org.nl.common.utils.SecurityUtils;
 import org.nl.config.language.LangProcess;
+import org.nl.config.lucene.service.LuceneExecuteLogService;
+import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.nl.system.service.param.ISysParamService;
 import org.nl.common.utils.CodeUtil;
 import org.nl.config.SpringContextHolder;
@@ -114,6 +116,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     private XianGongAgvService xiangGongAgvService;
     @Autowired
     private LimitRegionalService limitRegionalService;
+    @Autowired
+    private LuceneExecuteLogService luceneExecuteLogService;
 
     private List<Instruction> instructions = new CopyOnWriteArrayList();
 
@@ -368,7 +372,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public void create(Instruction dto) {
+    public void create(Instruction dto) throws Exception {
         dto = foramte(dto);
         String task_code = dto.getTask_code();
         TaskDto task = taskService.findByCodeFromCache(task_code);
@@ -463,10 +467,10 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                     break;
                 }
             }
-            if (ObjectUtil.isEmpty(route)) {
+            if (ObjectUtil.isEmpty(route) && (!start_device_code.equals(next_device_code))) {
                 throw new BadRequestException(LangProcess.msg("error_isNull", "route"));
             }
-            if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE) && dto.getAgv_system_type().equals(CommonFinalParam.TWO)) {
+            if (shortPathsList.size() > 0  && StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE) && dto.getAgv_system_type().equals(CommonFinalParam.TWO)) {
                 // 0为输送、立库任务  1 1楼叉车系统  2 2楼1区域AGV系统 3 2楼2区域AGV系统
                 if (!StrUtil.equals(task.getAgv_system_type(), "0")
                         && ObjectUtil.isNotEmpty(task.getAgv_system_type())) {
@@ -496,7 +500,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 }
             }
             //判断是否是仙工AGV
-            if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE) && dto.getAgv_system_type().equals(CommonFinalParam.ONE)) {
+            if (shortPathsList.size() > 0 && StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE) && dto.getAgv_system_type().equals(CommonFinalParam.ONE)) {
                 Device deviceByCode = deviceAppService.findDeviceByCode(dto.getStart_device_code());
                 if (StrUtil.equals(task.getRequest_again_success(), "1")) {
                     //追加订单
@@ -526,8 +530,14 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             }
         } catch (Exception e) {
             dto.setSend_status("2");
-            e.printStackTrace();
-            log.error("");
+            log.error(e.getMessage());
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code("创建指令报错")
+                    .content("任务号"+ dto.getTask_code()+ "报错原因:" + e.getMessage())
+                    .build();
+            logDto.setLog_level(2);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
+            throw e;
         }
         InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);
         instructionMapper.insert(entity);
@@ -623,7 +633,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                     break;
                 }
             }
-            if (ObjectUtil.isEmpty(route)) {
+            if (ObjectUtil.isEmpty(route) && !(start_device_code.equals(next_device_code))) {
                 throw new BadRequestException(LangProcess.msg("error_isNull", "route"));
             }
             if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/storage_cell/service/impl/StorageCellServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/storage_cell/service/impl/StorageCellServiceImpl.java
index 60752621b..d691f7984 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/storage_cell/service/impl/StorageCellServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/storage_cell/service/impl/StorageCellServiceImpl.java
@@ -14,6 +14,7 @@ import lombok.AllArgsConstructor;
 import org.nl.acs.common.base.PageInfo;
 import org.nl.acs.common.base.QueryHelpMybatisPlus;
 import org.nl.acs.common.base.impl.CommonServiceImpl;
+import org.nl.acs.device.service.DeviceService;
 import org.nl.common.exception.BadRequestException;
 import org.nl.acs.utils.ConvertUtil;
 import org.nl.common.utils.FileUtil;
@@ -25,6 +26,7 @@ import org.nl.acs.storage_cell.service.dto.StorageCellQueryParam;
 import org.nl.acs.storage_cell.service.mapper.StorageCellMapper;
 import org.nl.common.utils.SecurityUtils;
 import org.nl.config.language.LangProcess;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Propagation;
 import org.springframework.transaction.annotation.Transactional;
@@ -50,6 +52,9 @@ public class StorageCellServiceImpl extends CommonServiceImpl<StorageCellMapper,
 
     private final StorageCellMapper storageCellMapper;
 
+    @Autowired
+    private DeviceService deviceServiceImpl;
+
     @Override
     public PageInfo<StorageCellDto> queryAll(StorageCellQueryParam query, Pageable pageable) {
         IPage<StorageCell> queryPage = PageUtil.toMybatisPage(pageable);
@@ -217,6 +222,13 @@ public class StorageCellServiceImpl extends CommonServiceImpl<StorageCellMapper,
 
         StorageCell storageCell = ConvertUtil.convert(dto, StorageCell.class);
         storageCellMapper.updateById(storageCell);
+
+        List<StorageCellDto> allStorageCellFromCache = deviceServiceImpl.findAllStorageCellFromCache();
+        allStorageCellFromCache.forEach(storageCellDto -> {
+            if(storageCellDto.getStorage_id().equals(storageCell.getStorage_id())){
+                storageCellDto.setAddress(storageCell.getAddress());
+            }
+        });
     }
 
     @Override
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java
index e868fabbd..3efc26b70 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java
@@ -120,7 +120,7 @@ public class CreateDDJInst {
                         StandardStackerDeviceDriver standardStackerDeviceDriver;
                         if (deviceByCode.getDeviceDriver() instanceof StandardStackerDeviceDriver) {
                             standardStackerDeviceDriver = (StandardStackerDeviceDriver) deviceByCode.getDeviceDriver();
-                            if (standardStackerDeviceDriver.getMode() != 3 || standardStackerDeviceDriver.getMove() == 1 || standardStackerDeviceDriver.getCommand() != 0) {
+                            if (standardStackerDeviceDriver.getMode() != 3 || standardStackerDeviceDriver.getForkCargo() == 1 || standardStackerDeviceDriver.getCommand() != 0) {
                                 log.error("堆垛机,{}未联机或者在执行中", deviceByCode.getDevice_code());
                                 ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("堆垛机,{}未联机或者在执行中");
                                 return;
@@ -285,7 +285,8 @@ public class CreateDDJInst {
                             instructionService.create(instdto);
                         } catch (Exception e) {
                             taskDto.setRemark(e.getMessage());
-                            taskserver.updateByCodeFromCache(taskDto);
+                            taskserver.update(taskDto);
+                            return;
                         }
                         //创建指令后修改任务状态
                         taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());