diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_inspect_site/StandardManipulatorInspectSiteDeviceDriver.java b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_inspect_site/StandardManipulatorInspectSiteDeviceDriver.java
index 1833dd6..bc6e201 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_inspect_site/StandardManipulatorInspectSiteDeviceDriver.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_inspect_site/StandardManipulatorInspectSiteDeviceDriver.java
@@ -231,7 +231,7 @@ public class StandardManipulatorInspectSiteDeviceDriver extends AbstractOpcDevic
             dto.setStart_point_code(this.getDevice().getDevice_code());
             dto.setStart_device_code(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
 
             String plan_uuid = WQLObject.getWQLObject("acs_route_plan").query("plan_code= '" + dto.getRoute_plan_code() + "'").uniqueResult(0).getString("plan_uuid");
@@ -292,7 +292,7 @@ public class StandardManipulatorInspectSiteDeviceDriver extends AbstractOpcDevic
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String start_device_code = "";
             String plan_uuid = WQLObject.getWQLObject("acs_route_plan").query("plan_code= '" + dto.getRoute_plan_code() + "'").uniqueResult(0).getString("plan_uuid");
 
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_stacking_site/StandardManipulatorStackingSiteDeviceDriver.java b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_stacking_site/StandardManipulatorStackingSiteDeviceDriver.java
index b0256a2..d42da5b 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_stacking_site/StandardManipulatorStackingSiteDeviceDriver.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_stacking_site/StandardManipulatorStackingSiteDeviceDriver.java
@@ -278,7 +278,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setUpdate_by(this.getDevice().getDevice_code());
 
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String device_code = "";
             StandardPhotoelectricInspectSiteDeviceDriver standardPhotoelectricInspectSiteDeviceDriver;
             List<RouteLineDto> list = routelineserver.getPathLinesByCode(this.device_code, "normal");
@@ -488,7 +488,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String start_device_code = "";
             List<RouteLineDto> list = routelineserver.getPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -557,7 +557,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
             List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -652,7 +652,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
             List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -730,7 +730,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
             List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -801,7 +801,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
             List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -871,7 +871,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
             dto.setCreate_by(this.getDevice().getDevice_code());
             dto.setUpdate_by(this.getDevice().getDevice_code());
             dto.setTask_status("0");
-            dto.setPriority("101");
+            dto.setPriority("1");
             String next_device_code = "";
             List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
diff --git a/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java b/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
index 8f79467..aa44345 100644
--- a/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
+++ b/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
@@ -1905,13 +1905,13 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                     //机械手码垛驱动-区分托盘类型
                                     if (device.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
                                         standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) device.getDeviceDriver();
+                                        standardManipulatorStackingSiteDeviceDriver.writing(1, 7);
                                         if (standardManipulatorStackingSiteDeviceDriver.getMove() != 0
                                                 && standardManipulatorStackingSiteDeviceDriver.getError() == 0
                                                 && (standardManipulatorStackingSiteDeviceDriver.getAction() == 1 || standardManipulatorStackingSiteDeviceDriver.getAction() == 3)) {
                                             inst.setExecute_status("1");
                                             instructionService.update(inst);
                                             data = AgvService.sendAgvOneModeInst(phase, index, 0);
-                                            standardManipulatorStackingSiteDeviceDriver.writing(1, 7);
                                             flag = true;
                                         } else {
                                             log.info("AGV请求取货设备{}无货,无法反馈", device_code);
@@ -2018,8 +2018,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                     if (device.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
                                         standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) device.getDeviceDriver();
                                         if (standardManipulatorStackingSiteDeviceDriver.getMove() == 0
-                                                && standardManipulatorStackingSiteDeviceDriver.getError() == 0
-                                                && (standardManipulatorStackingSiteDeviceDriver.getAction() == 1 || standardManipulatorStackingSiteDeviceDriver.getAction() == 3)) {
+                                                && standardManipulatorStackingSiteDeviceDriver.getError() == 0) {
                                             inst.setExecute_status("5");
                                             instructionService.update(inst);
                                             data = AgvService.sendAgvOneModeInst(phase, index, 0);
@@ -2243,8 +2242,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                     if (device.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
                                         standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) device.getDeviceDriver();
                                         if (standardManipulatorStackingSiteDeviceDriver.getMove() != 0
-                                                && standardManipulatorStackingSiteDeviceDriver.getError() == 0
-                                                && (standardManipulatorStackingSiteDeviceDriver.getAction() == 2 || standardManipulatorStackingSiteDeviceDriver.getAction() == 3)) {
+                                                && standardManipulatorStackingSiteDeviceDriver.getError() == 0) {
                                             inst.setExecute_status("6");
                                             instructionService.update(inst);
                                             standardManipulatorStackingSiteDeviceDriver.writing(1, 3);