diff --git a/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
index 73457aa..53e5359 100644
--- a/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
+++ b/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
@@ -197,7 +197,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     } else {
                         //上报异常信息
                         //(不需要WCS反馈)
-                        if (phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74) {
+                        if (phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
                             device = deviceAppService.findDeviceByCode(String.valueOf(agvaddr));
                         } else {
                             //todo NDC根据车辆编号123456进行查找特定车辆
diff --git a/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
index f47b9eb..3b4079f 100644
--- a/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
+++ b/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
@@ -199,6 +199,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 return;
             }
             // "========================================================================请求取货================================================================================="
+            agv_status = 1;
             //到达桁架1请求取货
             if (device.getDeviceDriver() instanceof Hj1DeviceDriver) {
                 hj1DeviceDriver = (Hj1DeviceDriver) device.getDeviceDriver();
@@ -209,7 +210,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (hj1DeviceDriver.getMode() != 0) {
                     if (hj1DeviceDriver.getAction() == 2) {
                         log.info("设备" + device_code + "的Action信号已变更为2允许进入,当前信号值为:Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",agv开始进入取货。");
-                        agv_status = 1;
                         flag = true;
                         data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                     } else {
@@ -236,7 +236,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (hj2DeviceDriver.getMode() != 0) {
                     if (hj2DeviceDriver.getAction() == 2) {
                         log.info("设备" + device_code + "的Action信号已变更为2允许进入,当前信号值为:Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",agv开始进入取货。");
-                        agv_status = 1;
                         flag = true;
                         data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                     } else {
@@ -335,6 +334,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 return;
             }
 // "========================================================================取货完成================================================================================="
+            //反馈车辆动作
+            agv_status = 2;
             //到达桁架1取货完成
             if (device.getDeviceDriver() instanceof Hj1DeviceDriver) {
                 hj1DeviceDriver = (Hj1DeviceDriver) device.getDeviceDriver();
@@ -343,8 +344,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     hj1DeviceDriver.writing(3);
                     if (hj1DeviceDriver.getMode() == 3) {
                         flag = true;
-                        //反馈车辆动作
-                        agv_status = 0;
                         log.info("设备" + device_code + "的Mode信号已变更为3,当前信号值为:Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",开始写入0清除mode信号。");
                         hj1DeviceDriver.writing(0);
                         data = actionComplete(index, inst, device_code, hj1DeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("取货完成")), "取货完成");
@@ -371,8 +370,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     hj2DeviceDriver.writing(3);
                     if (hj2DeviceDriver.getMode() == 3) {
                         flag = true;
-                        //反馈车辆动作
-                        agv_status = 0;
                         log.info("设备" + device_code + "的Mode信号已变更为3,当前信号值为:Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",开始写入0清除mode信号。");
                         hj2DeviceDriver.writing(0);
                         data = actionComplete(index, inst, device_code, hj2DeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("取货完成")), "取货完成");
@@ -398,8 +395,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     log.info("agv进入" + device_code + ",取货完成,开始写入信号3进行安全交互,当前信号值为:Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction());
                     ssxDeviceDriver.writing(3);
                     if (ssxDeviceDriver.getMode() == 3) {
-                        //反馈车辆动作
-                        agv_status = 2;
                         flag = true;
                         log.info("设备" + device_code + "的Mode信号已变更为3,当前信号值为:Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",开始写入0清除mode信号。");
                         ssxDeviceDriver.writing(0);
@@ -463,6 +458,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 return;
             }
 // "========================================================================请求放货================================================================================="
+            agv_status = 3;
             //到达桁架1请求放货
             if (device.getDeviceDriver() instanceof Hj1DeviceDriver) {
                 hj1DeviceDriver = (Hj1DeviceDriver) device.getDeviceDriver();
@@ -473,7 +469,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (hj1DeviceDriver.getMode() != 0 && hj1DeviceDriver.getMove() == 0) {
                     if (hj1DeviceDriver.getAction() == 3) {
                         log.info("设备" + device_code + "的Action信号已变更为3允许进入,当前信号值为:Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",agv开始进入放货。");
-                        agv_status = 2;
                         flag = true;
                         data = getData(data, index, inst, task);
                     } else {
@@ -509,7 +504,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (hj2DeviceDriver.getMode() != 0 && hj2DeviceDriver.getMove() == 0) {
                     if (hj2DeviceDriver.getAction() == 3) {
                         log.info("设备" + device_code + "的Action信号已变更为3允许进入,当前信号值为:Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",agv开始进入放货。");
-                        agv_status = 2;
                         flag = true;
                         data = getData(data, index, inst, task);
                     } else {
@@ -605,6 +599,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             }
             transportOrder = "";
 // "========================================================================放货完成================================================================================="
+            agv_status = 4;
             //到达桁架1放货完成
             if (device.getDeviceDriver() instanceof Hj1DeviceDriver) {
                 hj1DeviceDriver = (Hj1DeviceDriver) device.getDeviceDriver();
@@ -613,7 +608,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (hj1DeviceDriver.getMode() == 4) {
                     log.info("设备" + device_code + "的Mode信号已变更为4,当前信号值为:Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",开始写入0清除mode信号。");
                     hj1DeviceDriver.writing(0);
-                    agv_status = 0;
                     flag = true;
                     data = actionComplete(index, inst, device_code, hj1DeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成");
                     log.info("设备" + device_code + "已完成信号0写入,当前信号值为:" + "Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",agv开始离开。");
@@ -632,7 +626,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (hj2DeviceDriver.getMode() == 4) {
                     log.info("设备" + device_code + "的Mode信号已变更为4,当前信号值为:Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",开始写入0清除mode信号。");
                     hj2DeviceDriver.writing(0);
-                    agv_status = 0;
                     flag = true;
                     data = actionComplete(index, inst, device_code, hj2DeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成");
                     log.info("设备" + device_code + "已完成信号0写入,当前信号值为:" + "Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",agv开始离开。");
@@ -651,7 +644,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (ssxDeviceDriver.getMode() == 4) {
                 log.info("设备" + device_code + "的Mode信号已变更为4,当前信号值为:Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",开始写入0清除mode信号。");
                   ssxDeviceDriver.writing(0);
-                agv_status = 0;
                 flag = true;
                 data = actionComplete(index, inst, device_code, ssxDeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成");
                 log.info("设备" + device_code + "已完成信号0写入,当前信号值为:" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",agv开始离开。");
diff --git a/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 946998c..613af1a 100644
--- a/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -1053,8 +1053,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         InstructionMybatis ins = ConvertUtil.convert(entity, InstructionMybatis.class);
         instructionMapper.updateById(ins);
 
-//        JSONObject taskjson = taskwo.query("task_id ='" + insttaskid + "'").uniqueResult(0);
-//        TaskDto obj = taskjson.toJavaObject(TaskDto.class);
 
         Task task = new LambdaQueryChainWrapper<>(taskMapper)
                 .eq(Task::getTask_id, insttaskid)
diff --git a/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java b/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java
index 0af9171..63656bb 100644
--- a/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java
+++ b/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java
@@ -68,14 +68,15 @@ public class SyncDeviceStatus {
                         JSONObject json = new JSONObject();
                         json.put("device_code", agvNdcOneDeviceDriver.getDevice_code());
                         json.put("device_name", agvNdcOneDeviceDriver.getDevice_code());
-                        json.put("device_status", AgvActionEnum.DEVICE_STATUS.check(String.valueOf(agvNdcOneDeviceDriver.getStatus())));
-                        json.put("agv_status", AgvActionEnum.DEVICE_STATUS.check(String.valueOf(agvNdcOneDeviceDriver.getAgv_status())));
+                        json.put("device_status", agvNdcOneDeviceDriver.getStatus());
+                        json.put("agv_status", AgvActionEnum.ACTION_STATUS.check(String.valueOf(agvNdcOneDeviceDriver.getAgv_status())));
                         json.put("energyLevel", agvNdcOneDeviceDriver.getElectric_qty());
                         json.put("transportOrder", agvNdcOneDeviceDriver.getTransportOrder());
                         json.put("positionX", agvNdcOneDeviceDriver.getX());
                         json.put("positionY", agvNdcOneDeviceDriver.getY());
                         json.put("positionAngle", agvNdcOneDeviceDriver.getAngle());
                         json.put("message", agvNdcOneDeviceDriver.getAgv_message());
+                        json.put("isLaden", agvNdcOneDeviceDriver.getIs_have());
                         AGV.add(json);
                     }
                 }