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 8ea332c..3e26576 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
@@ -181,10 +181,12 @@ public class HfGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
                 logServer.deviceInfo("反馈电气信号", this.getDevice_code(), "机械手取货时条码校验失败,开始反馈电气信号");
                 Instruction instructionDto = instructionService.findByCodeFromCache(String.valueOf(task));
                 instructionService.cancel(instructionDto.getInstruction_id());
-                this.writing("to_command", "4");
+                taskserver.cancel(instructionDto.getTask_id());
                 this.writing("to_onset", "0");
                 this.writing("to_target", "0");
                 this.writing("to_task", "0");
+                this.writing("to_barcode", "0");
+                this.writing("to_command", "4");
             }
 
             //申请放货
@@ -233,10 +235,11 @@ public class HfGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
                             }
                         }
                         logServer.deviceInfo("反馈电气信号", this.getDevice_code(), "机械手任务完成,开始反馈电气信号");
-                        this.writing("to_command", "0");
                         this.writing("to_onset", "0");
                         this.writing("to_target", "0");
                         this.writing("to_task", "0");
+                        this.writing("to_barcode", "0");
+                        this.writing("to_command", "0");
                     }
                 }
             }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index 20514cd..884afc7 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -672,10 +672,9 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         JSONObject json = (JSONObject) JSONObject.toJSON(entity);
         wo.update(json);
         removeByCodeFromCache(entity.getTask_code());
-        Long currentUserId = SecurityUtils.getCurrentUserId();
         //判断是否为WMS下发的任务，如果是反馈任务状态给WMS
         String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
-        if (!StrUtil.startWith(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1") && ObjectUtil.isNotEmpty(currentUserId)) {
+        if (!StrUtil.startWith(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
             TaskFeedbackDto feefbackdto = taskFeedbackService.findByCode(entity.getTask_code());
             JSONObject feed_jo = new JSONObject();
             feed_jo.put("task_id", entity.getExt_task_id());
@@ -785,10 +784,9 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         if (instdto != null) {
             throw new BadRequestException("有指令未完成!");
         }
-        Long currentUserId = SecurityUtils.getCurrentUserId();
         //判断是否为WMS下发的任务，如果是反馈任务状态给WMS
         String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
-        if (!StrUtil.startWith(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1") && ObjectUtil.isNotEmpty(currentUserId)) {
+        if (!StrUtil.startWith(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
             JSONObject feed_jo = new JSONObject();
             feed_jo.put("task_id", entity.getExt_task_id());
             feed_jo.put("task_code", entity.getTask_code());
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 1dc07ff..722712b 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
@@ -345,11 +345,14 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         //将新的条码 物料等信息更新到到库存表中
         StructivtDto structivtDto = structivtService.findByCode(device_code);
         structivtDto.setMaterial_id(materialId);
-        structivtDto.setVehicle_code(barcode);
         structivtDto.setIvt_qty(new BigDecimal(ivt_qty));
         VehicleDto vehicleDto = vehicleService.findByCode(barcode);
         if (ObjectUtil.isNotEmpty(vehicleDto)) {
+            structivtDto.setVehicle_code(barcode);
             structivtDto.setVehicle_type(vehicleDto.getVehicle_type());
+        } else {
+            structivtDto.setVehicle_code("");
+            structivtDto.setVehicle_type("");
         }
         structivtDto.setUpdate_time(DateUtil.now());
         structivtDto.setUpdate_optname("acs");