diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
index de71446..3fe94e7 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
@@ -518,14 +518,14 @@ public class MagicAgvServiceImpl implements MagicAgvService {
                     lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) addressdevice.getDeviceDriver();
                     //请求取货
                     if ("Load".equals(action)) {
-                        if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 2 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() > 0) {
+                        if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() > 0) {
                             inst.setExecute_status("1");
                             lnshPalletizingManipulatorSiteDeviceDriver.writing(12);
                             is_feedback = true;
                         }
                         //请求放货
                     } else if ("Unload".equals(action)) {
-                        if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 2 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0) {
+                        if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0) {
                             inst.setExecute_status("3");
                             lnshPalletizingManipulatorSiteDeviceDriver.writing(13);
                             is_feedback = true;
@@ -629,18 +629,18 @@ public class MagicAgvServiceImpl implements MagicAgvService {
                     lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) addressdevice.getDeviceDriver();
                     //取货完成
                     if ("Load".equals(action)) {
-                        if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 2 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0) {
+                        if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0) {
                             inst.setExecute_device_code(processingVehicle);
                             inst.setExecute_status("2");
-                            lnshPalletizingManipulatorSiteDeviceDriver.writing(10);
+//                            lnshPalletizingManipulatorSiteDeviceDriver.writing(10);
                             is_feedback = true;
                         }
                         //放货完成
                     } else if ("Unload".equals(action)) {
-                        if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 2 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() > 0) {
+                        if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() > 0) {
                             inst.setExecute_device_code(address);
                             inst.setExecute_status("4");
-                            lnshPalletizingManipulatorSiteDeviceDriver.writing(11);
+//                            lnshPalletizingManipulatorSiteDeviceDriver.writing(11);
                             is_feedback = true;
                         }
                     }
diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java
index bc8fd37..3acdaa4 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java
@@ -457,6 +457,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
             json.put("qty",encoder_qty);
             json.put("batch",batch);
             json.put("producetask_code",order_No);
+            json.put("unqualified_qty",unqualified_qty);
             json.put("is_full","1");
             HttpResponse result = acsToWmsService.applyTaskManipulatorToWms(json);
             if (ObjectUtil.isNotEmpty(result)) {
diff --git a/wms/hd/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java b/wms/hd/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java
index b845fb1..83b199f 100644
--- a/wms/hd/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java
+++ b/wms/hd/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java
@@ -394,8 +394,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
     @Override
     public Map<String, Object> group(Map jsonObject) {
-        String task_code = (String) jsonObject.get("task_code");
-        String vehicle_code = (String) jsonObject.get("vehicle_code");
+        String task_code = jsonObject.get("task_code").toString();
+        String vehicle_code = jsonObject.get("vehicle_code").toString();
         //永远判断生成不生成输送任务
         String device_code = (String) jsonObject.get("device_code");
         if (StrUtil.isEmpty(task_code)) {