diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
index a8f3520..8f0224c 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
@@ -150,7 +150,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                 (byte) 0X00, (byte) 0X6D,
                 (byte) 0X00, (byte) 0X08,
                 (byte) indexhigh, (byte) indexlow,
-                (byte) 0X01, (byte) 0X12,
+                (byte) 0X01, (byte) 0X19,
                 (byte) phasehigh, (byte) phaselow,
                 (byte) nextPointHigh,(byte) nextPointLow
         };
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 8557d21..71c21c0 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -1195,7 +1195,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             return;
         }
         removeByCodeFromCache(entity.getInstruction_code());
-        taskService.cancel(entity.getTask_id());
+//        taskService.cancel(entity.getTask_id());
     }
 
     @Override
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java
index 55fd508..ec7a0bf 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java
@@ -16,6 +16,7 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 import java.util.*;
+import java.util.concurrent.CopyOnWriteArrayList;
 
 /**
  * @author 20220102CG\noblelift
@@ -244,13 +245,12 @@ public class DeviceAppServiceImpl implements DeviceAppService, ApplicationAutoIn
 
     @Override
     public <T extends DeviceDriver> List<T> findDeviceDriver(Class<T> clazz) {
-        List<T> list = new ArrayList();
-        Iterator var3 = this.findAllDevice().iterator();
+        List<T> list = new ArrayList<>();
+        List<Device> devices = new CopyOnWriteArrayList<>(this.findAllDevice());
 
-        while (var3.hasNext()) {
-            Device device = (Device) var3.next();
+        for (Device device : devices) {
             DeviceDriver deviceDriver = device.getDeviceDriver();
-            //查找某驱动的所有子类
+            // 查找某驱动的所有子类
             if (deviceDriver != null && clazz.isAssignableFrom(deviceDriver.getClass())) {
                 list.add((T) device.getDeviceDriver());
             }