diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
index e410abc8e..b338c56ca 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
@@ -397,7 +397,12 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
             try {
                 this.checkcontrol(itemMap);
             } catch (Exception e) {
-                throw new RuntimeException(e);
+                try {
+                    Thread.sleep(1000);
+                    this.checkcontrol(itemMap);
+                } catch (Exception ex) {
+                    throw new RuntimeException(ex);
+                }
             }
             logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
         }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java
index 95f1b9aed..e89644ebd 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java
@@ -161,6 +161,11 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
                         pullingSucess();
                     }
                     break;
+                case 7:
+                    if (task1 > 0 && !requireSucess) {
+                        deliveryCompleted();
+                    }
+                    break;
                 default:
                     break;
 
@@ -174,6 +179,28 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
         last_to_command = to_command;
     }
 
+    /**
+     * 取货完成
+     */
+    private void deliveryCompleted() {
+        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
+        applyManipulatorActionRequest.setAction("1");
+        applyManipulatorActionRequest.setTask_code1(String.valueOf(task1));
+        ApplyManipulatorActionResponse applyManipulatorActionResponse = acsToWmsService.actionFinishRequest(applyManipulatorActionRequest);
+        if (applyManipulatorActionResponse.getstatus() == 200) {
+            logServer.deviceExecuteLog(this.device_code, "", "", "插拔机取货完成,请求成功响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+            Map<String, Object> map = new LinkedHashMap<>();
+            map.put("to_command", 7);
+            this.writing(map);
+            requireSucess = true;
+            message = "缓存库放货成功";
+        } else {
+            requireSucess = false;
+            logServer.deviceExecuteLog(this.device_code, "", "", "插拔机取货完成,请求失败响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+            message = "缓存库放货失败";
+        }
+    }
+
     private synchronized void pullingSucess() {
         List list = new ArrayList();
         ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/RgvDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/RgvDeviceDriver.java
index 58985a5d7..993fa5c68 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/RgvDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/rgv/RgvDeviceDriver.java
@@ -65,10 +65,10 @@ public class RgvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDr
     int last_move1 = 0;
     Integer move2 = 0;
     Integer last_move2 = 0;
-    float qty1 = 0f;
-    float last_qty1 = 0f;
-    float qty2 = 0f;
-    float last_qty2 = 0f;
+    Float qty1 = 0f;
+    Float last_qty1 = 0f;
+    Float qty2 = 0f;
+    Float last_qty2 = 0f;
 
     int task = 0;
     int last_task = 0;
@@ -117,14 +117,14 @@ public class RgvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDr
             if(!move2.equals(last_move2)){
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号move2：" + last_move2 + "->" + move2);
             }
-            if(qty1 != last_qty1){
-                logServer.deviceExecuteLog(this.device_code, "", "", "信号move2：" + last_qty1 + "->" + qty1);
+            if(!qty1.equals(last_qty1)){
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号qty1：" + last_qty1 + "->" + qty1);
             }
-            if(qty2 != last_qty2){
-                logServer.deviceExecuteLog(this.device_code, "", "", "信号move2：" + last_qty2 + "->" + qty2);
+            if(!qty2.equals(last_qty2)){
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号qty2：" + last_qty2 + "->" + qty2);
             }
             if(task != last_task){
-                logServer.deviceExecuteLog(this.device_code, "", "", "信号move2：" + last_task + "->" + task);
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task);
             }
 
 
@@ -162,7 +162,7 @@ public class RgvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDr
                     }
                     break;
                 case 5:
-                    if (task > 0 && !requireSucess && (qty1 > 0 || qty2 > 0)) {
+                    if (task > 0 && !requireSucess) {
                         manualFeedbackQty();
                     }
                     break;
diff --git a/acs/nladmin-ui/src/views/acs/task/index.vue b/acs/nladmin-ui/src/views/acs/task/index.vue
index e97158864..20a170eb3 100644
--- a/acs/nladmin-ui/src/views/acs/task/index.vue
+++ b/acs/nladmin-ui/src/views/acs/task/index.vue
@@ -599,13 +599,7 @@ export default {
           device_code: '',
           material_code: '',
           qty: ''
-        }/* ,
-        {
-          device_code: '',
-          material_code: '',
-          qty: ''
-        } */
-        ]
+        }]
       },
       rules: {
         start_height: [
diff --git a/lms/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java b/lms/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java
index 4f000e66b..ddc7fa02b 100644
--- a/lms/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java
+++ b/lms/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java
@@ -1318,7 +1318,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
                 JSONObject point1_jo = ivt_shaftivt.query("point_code = '" + task_jo.getString("point_code1") + "'").uniqueResult(0);
                 point1_jo.put("have_qzz", "0");
                 ivt_shaftivt.update(point1_jo);
-            } else if ("010607".equals(point_type)) {
+            } else if ("010607".equals(point_type) || "010603".equals(point_type)) {
                 JSONObject point1_jo = ivt_shaftivt.query("point_code = '" + task_jo.getString("point_code1") + "'").uniqueResult(0);
                 point1_jo.put("qzz_size", "");
                 point1_jo.put("qzz_generation", "");
diff --git a/lms/nladmin-system/src/main/java/org/nl/wms/sch/tasks/PaperTrussTask.java b/lms/nladmin-system/src/main/java/org/nl/wms/sch/tasks/PaperTrussTask.java
index 3b3cfd553..7cb5c869c 100644
--- a/lms/nladmin-system/src/main/java/org/nl/wms/sch/tasks/PaperTrussTask.java
+++ b/lms/nladmin-system/src/main/java/org/nl/wms/sch/tasks/PaperTrussTask.java
@@ -108,15 +108,6 @@ public class PaperTrussTask extends AbstractAcsTask {
                 goal_point.put("have_qzz", "1");
                 ivt_shaftivt.update(goal_point);
             }
-            //空轴放货任务
-            if ("010603".equals(task_type)) {
-                String point_code = task_jo.getString("point_code1");
-                JSONObject goal_point = ivt_shaftivt.query("point_code = '" + point_code + "'").uniqueResult(0);
-                goal_point.put("qzz_size", "");
-                goal_point.put("qzz_generation", "");
-                goal_point.put("have_qzz", "0");
-                ivt_shaftivt.update(goal_point);
-            }
             //空轴换货任务
             if ("010604".equals(task_type)) {
                 String point_code = task_jo.getString("point_code1");