diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java
index 110f76e..c559268 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java
@@ -8,6 +8,7 @@ import org.nl.acs.udw.UnifiedDataAccessor;
 import org.nl.acs.udw.UnifiedDataAccessorFactory;
 import org.nl.modules.wql.exception.WDKException;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.openscada.opc.lib.da.AddFailedException;
 import org.openscada.opc.lib.da.Group;
 import org.openscada.opc.lib.da.Item;
 import org.openscada.opc.lib.da.ItemState;
@@ -65,6 +66,95 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
         }
     }
 
+    public  void checkcontrol(Map<String, Object> itemValues){
+        Group group = opcServerService.getServer(this.getOpcServer());
+        Map<String, Object> write = new HashMap();
+        Map<String, Item> readitems = new LinkedHashMap();
+        List<String> itemsString = new ArrayList();
+        itemsString = new ArrayList<> (itemValues.keySet());
+        Iterator is = itemsString.iterator();
+
+        while (is.hasNext()) {
+            String string = (String) is.next();
+            try {
+                readitems.put(string, group.addItem(string));
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        }
+        int i = 0;
+        while(true) {
+            //下发信号
+            try{
+                if(i == 0){
+                    control( itemValues);
+                } else {
+                    controlByNewConn( itemValues);
+                }
+
+            } catch (Exception e){
+                e.printStackTrace();
+            }
+            Map<String, Object> read = new HashMap();
+            Map<Item, ItemState> itemStatus = null;
+            boolean check = true;
+            try{
+                if(i>0){
+                    group = opcServerService.getServer(this.getOpcServer());
+                    itemsString = new ArrayList<> (itemValues.keySet());
+                    Iterator nis = itemsString.iterator();
+
+                    while (nis.hasNext()) {
+                        String string = (String) nis.next();
+                        try {
+                            readitems.put(string, group.addItem(string));
+                        } catch (Exception e) {
+                            e.printStackTrace();
+                        }
+                    }
+                    itemStatus = group.read(true, (Item[])readitems.values().toArray(new Item[0]));
+
+                } else {
+                    itemStatus = group.read(true, (Item[])readitems.values().toArray(new Item[0]));
+                }
+                Set<Item> items = itemStatus.keySet();
+                Iterator var15 = items.iterator();
+                while(var15.hasNext()) {
+                    Item item = (Item)var15.next();
+                    ItemState itemState = (ItemState)itemStatus.get(item);
+                    Object value = OpcUtl.getValue(item, itemState);
+                    read.put(item.getId(), value);
+                }
+
+                Iterator var24 = itemsString.iterator();
+
+                while(var24.hasNext()) {
+                    String itemString = (String)var24.next();
+                    if (!ObjectUtl.isEquals(itemValues.get(itemString), JsonUtl.parse(read.get(itemString)))) {
+                        check = false;
+                    }
+                }
+            } catch (Exception e){
+                e.printStackTrace();
+                check = false;
+            }
+
+            if (check) {
+                return;
+            }
+
+            if (i > 0) {
+                ThreadUtl.sleep(300L);
+            }
+
+            if (i > 3) {
+                log.info("写入次数超过3次而失败");
+                throw new WDKException("写入次数超过3次而失败");
+            }
+            ++i;
+        }
+    }
+
     public void checkControl(Map<String, Object> itemValues)  {
         Group group = opcServerService.getServer(this.getOpcServer());
         Map<String, Object> write = new HashMap();
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/hongfeng/hf_manipulator/HfGantryManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/hongfeng/hf_manipulator/HfGantryManipulatorDeviceDriver.java
index a7ab14d..83c1c77 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/hongfeng/hf_manipulator/HfGantryManipulatorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/hongfeng/hf_manipulator/HfGantryManipulatorDeviceDriver.java
@@ -405,7 +405,17 @@ public class HfGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
         Map<String, Object> itemMap = new HashMap<>();
 
         itemMap.put(to_param, value);
-        this.control(itemMap);
+//        this.control(itemMap);
+        try {
+            this.checkcontrol(itemMap);
+        } catch (Exception e) {
+            e.printStackTrace();
+            try{
+                this.checkcontrol(itemMap);
+            } catch (Exception e1){
+                e1.printStackTrace();
+            }
+        }
         logServer.writeLog("下发电气信号", this.getDevice_code(), "下发信号:" + to_param + "信号值:" + value);
     }
 
@@ -413,13 +423,44 @@ public class HfGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
         ReadUtil.write(itemMap, server);
     }
 
-    public void writing(int command) {
+//    public void writing(int command) {
+//
+//        String opcservcerid = this.getDevice().getOpc_server_id();
+//        Server server = ReadUtil.getServer(opcservcerid);
+//        Map<String, Object> itemMap = new HashMap<String, Object>();
+//        ReadUtil.write(itemMap, server);
+//
+//    }
 
-        String opcservcerid = this.getDevice().getOpc_server_id();
-        Server server = ReadUtil.getServer(opcservcerid);
-        Map<String, Object> itemMap = new HashMap<String, Object>();
-        ReadUtil.write(itemMap, server);
+    /**
+     * 抽取统一下发电气信号前缀
+     *
+     * @return
+     */
+    public String getToParam() {
+        return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
+    }
 
+    public void writing(Map<String, Object> map) {
+        Map<String, Object> itemMap = new LinkedHashMap<>();
+        map.forEach((key, value) -> {
+            if (ObjectUtil.isNotEmpty(value)) {
+                itemMap.put(getToParam() + key, value);
+            }
+        });
+        if (ObjectUtil.isNotEmpty(itemMap)) {
+            try {
+                this.checkcontrol(itemMap);
+            } catch (Exception e) {
+                e.printStackTrace();
+                try{
+                    this.checkcontrol(itemMap);
+                } catch (Exception e1){
+                    e1.printStackTrace();
+                }
+            }
+            logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
+        }
     }
 
     public synchronized void sendSignalType(Instruction dto) {
@@ -432,11 +473,13 @@ public class HfGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
         this.isSetAddress(nextDevice);
         String start_addr = startDevice.getExtraValue().get("address").toString();
         String next_addr = nextDevice.getExtraValue().get("address").toString();
-        this.writing("to_onset", start_addr);
-        this.writing("to_target", next_addr);
-        this.writing("to_task", dto.getInstruction_code());
-        this.writing("to_barcode", dto.getVehicle_code());
-        this.writing("to_command", "1");
+        Map<String, Object> map = new LinkedHashMap<>();
+        map.put("to_onset",start_addr);
+        map.put("to_target",next_addr);
+        map.put("to_task",  dto.getInstruction_code());
+        map.put("to_barcode", dto.getVehicle_code());
+        map.put("to_command", "1");
+        this.writing(map);
         logServer.deviceInfo("机械手申请任务", this.getDevice_code(), "机械手申请任务指令创建成功,信号写入成功");
     }