diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
index e29dfcf..d1c9d24 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
@@ -29,7 +29,7 @@ public interface NDCAgvService {
      */
     public void sendAgvInstToNDC(String agv_system_type,Instruction inst) throws Exception;
 
-    public byte[] sendAgvOneModeInst(int phase, int index,int result);
+    public byte[] sendAgvOneModeInst(int phase, int index,int result,int startPoint,int nextPoint,int startHigh,int nextHigh);
 
     public byte[] sendAgvTwoModeInst(int phase, int index,int result);
 
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 c4ce0e5..c307495 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
@@ -125,23 +125,35 @@ public class NDCAgvServiceImpl implements NDCAgvService {
     }
 
     @Override
-    public byte[] sendAgvOneModeInst(int phase, int index, int result) {
+    public byte[] sendAgvOneModeInst(int phase, int index, int result,int startPoint,int nextPoint,int startHigh,int nextHigh) {
         if (phase < 0 || index < 0)
             return null;
         byte indexhigh = (byte) IntToHexHigh(index);
         byte indexlow = (byte) IntToHexLow(index);
         byte phasehigh = (byte) IntToHexHigh(phase);
         byte phaselow = (byte) IntToHexLow(phase);
+        byte startPointHigh =(byte) IntToHexHigh(startPoint);
+        byte startPointLow =(byte) IntToHexLow(startPoint);
+        byte nextPointHigh =(byte) IntToHexHigh(nextPoint);
+        byte nextPointLow =(byte) IntToHexLow(nextPoint);
+        byte startHighHigh =(byte) IntToHexHigh(startHigh);
+        byte startHighLow =(byte) IntToHexLow(startHigh);
+        byte nextHighHigh =(byte) IntToHexHigh(nextHigh);
+        byte nextHighLow =(byte) IntToHexLow(nextHigh);
 
         byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
                 (byte) 0X00, (byte) 0X08,
-                (byte) 0X00, (byte) 0X0A,
+                (byte) 0X00, (byte) 0X12,
                 (byte) 0X00, (byte) 0X01,
                 (byte) 0X00, (byte) 0X6D,
-                (byte) 0X00, (byte) 0X06,
+                (byte) 0X00, (byte) 0X0E,
                 (byte) indexhigh, (byte) indexlow,
-                (byte) 0X01, (byte) 0X12,
-                (byte) phasehigh, (byte) phaselow
+                (byte) 0X01, (byte) 0X14,
+                (byte) phasehigh, (byte) phaselow,
+                (byte) startPointHigh, (byte) startPointLow,
+                (byte) nextPointHigh, (byte) nextPointLow,
+                (byte) startHighHigh, (byte) startHighLow,
+                (byte) nextHighHigh, (byte) nextHighLow
         };
 
 
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
index 3149f00..fc9b314 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
@@ -158,7 +158,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             inst.setSend_status("1");
                             instructionService.update(inst);
                         }
-                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
                     }
                     //任务完毕
                     //（无车id及状态）
@@ -168,13 +168,13 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         } else {
                             log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!");
                         }
-                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
                         log.info("指令号:{},已反馈agv任务完成!");
                     }
                     //请求删除任务
                     //(需要WCS反馈)
                     else if (phase == 0x30) {
-                        data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0);
+                        data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0,0,0,0,0);
                     }
                     //任务删除确认
                     //(需要WCS反馈)
@@ -185,7 +185,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 instructionService.cancelNOSendAgv(inst.getInstruction_id());
                             }
                         }
-                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
 
                     } else {
                         //上报异常信息
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
index 937e61c..a24cda7 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
@@ -111,7 +111,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             if (arr[18] * 256 + arr[19] == 0) {
 
             }
-            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
         }
 
         //普通站点
@@ -179,7 +179,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
                     JSONObject resp = JSONObject.parseObject(httpResponse.body());
                     if (resp.getInteger("status") == 200) {
-                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
                         log.info("指令号:{},acs请求wms取货申请成功,wms允许agv申请取货,已反馈agv允许取货", inst.getInstruction_code());
                     } else {
                         log.warn("指令号:{},acs请求wms取货申请成功,wms不允许agv申请取货,未反馈agv允许取货", inst.getInstruction_code());
@@ -188,8 +188,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     log.warn("指令号:{},acs请求wms取货申请失败，连接被拒绝,未反馈agv允许取货", inst.getInstruction_code());
                 }
             } else {
-                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
             }
+            //到达取货等待点
+            //(需要WCS反馈)
+        } else if (phase == 0x04) {
             //取货完毕
             //(需要WCS反馈)
         } else if (phase == 0x05) {
@@ -240,7 +243,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
                     JSONObject resp = JSONObject.parseObject(httpResponse.body());
                     if (resp.getInteger("status") == 200) {
-                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
                         log.info("指令号:{},acs反馈wms取货完成成功,wms允许agv取货完成,已反馈agv取货完成", inst.getInstruction_code());
                     } else {
                         log.warn("指令号:{},acs反馈wms取货完成成功,wms不允许agv取货完成,未反馈agv取货完成", inst.getInstruction_code());
@@ -249,8 +252,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     log.warn("指令号:{},acs反馈wms取货完成失败，连接被拒绝,未反馈agv取货完成", inst.getInstruction_code());
                 }
             } else {
-                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
             }
+            //到达放货等待点
+            //(需要WCS反馈)
+    } else if (phase == 0x06) {
             //到达放货点
             //(需要WCS反馈)
         } else if (phase == 0x07) {
@@ -297,7 +303,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
                     JSONObject resp = JSONObject.parseObject(httpResponse.body());
                     if (resp.getInteger("status") == 200) {
-                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
                         log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
                     } else {
                         log.warn("指令号:{},acs请求wms放货申请成功,wms不允许agv申请放货,未反馈agv允许放货", inst.getInstruction_code());
@@ -306,7 +312,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
                 }
             } else {
-                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
             }
             //放货完毕
             //(需要WCS反馈)
@@ -353,13 +359,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 req.add(map);
                 HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
                 if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
-                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                    data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
                     log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
                 } else {
                     log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
                 }
             } else {
-                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
             }
         }
         //到达位置点
@@ -368,13 +374,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             //1、根据货位id找到对应三工位设备，赋给agv属性地址对应的满料位设备
             agvaddr = arr[18] * 256 + arr[19];
             agvaddr_copy = agvaddr;
-            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
         } else if (phase == 0x50) {//进入交通灯区域
-            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
         } else if (phase == 0x51) {//离开交通灯区域
-            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0,0,0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
         }
         if (!ObjectUtil.isEmpty(data)) {
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java
index 11884d3..deb62ea 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java
@@ -442,6 +442,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
             this.time = date;
             FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest();
             request.setDevice_code(devicecode);
+            request.setMaterial_type(String.valueOf(material_type));
             request.setVehicle_code(String.valueOf(barcode));
             if (devicecode.startsWith("TBX")&&type==5) {
                 //满架下料
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/feedBackTaskStatus/FeedBackTaskStatusRequest.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/feedBackTaskStatus/FeedBackTaskStatusRequest.java
index eb3267b..bd0dfd0 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/feedBackTaskStatus/FeedBackTaskStatusRequest.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/feedBackTaskStatus/FeedBackTaskStatusRequest.java
@@ -41,5 +41,10 @@ public class FeedBackTaskStatusRequest extends BaseRequest {
      */
     private String action;
 
+    /**
+     * 1-正极板；2-负极板；3-边负极板
+     */
+    private String material_type;
+
 
 }
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/controller/AcsToWmsController.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/controller/AcsToWmsController.java
index d23863c..3e04561 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/controller/AcsToWmsController.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/controller/AcsToWmsController.java
@@ -56,6 +56,15 @@ public class AcsToWmsController {
         return new ResponseEntity<>(acsToWmsService.status(param), HttpStatus.OK);
     }
 
+    @PostMapping("/feedbackState")
+    @Log("ACS系统反馈AGV取放货状态")
+    @ApiOperation("ACS系统反馈AGV取放货状态")
+    //@SaCheckPermission("@el.check('schBaseTask:add')")
+    @SaIgnore
+    public ResponseEntity<Object> feedbackState(@RequestBody JSONObject param) {
+        return new ResponseEntity<>(acsToWmsService.feedbackState(param), HttpStatus.OK);
+    }
+
     @PostMapping("/notify")
     @Log("acs通知wms")
     @ApiOperation("acs通知wms")
@@ -64,4 +73,13 @@ public class AcsToWmsController {
     public ResponseEntity<Object> notify(@RequestBody JSONObject param) {
         return new ResponseEntity<>(acsToWmsService.notify(param), HttpStatus.OK);
     }
+
+//    @PostMapping("/notify")
+//    @Log("acs通知wms")
+//    @ApiOperation("acs通知wms")
+//    //@SaCheckPermission("@el.check('schBaseTask:add')")
+//    @SaIgnore
+//    public ResponseEntity<Object> notify(@RequestBody JSONObject param) {
+//        return new ResponseEntity<>(acsToWmsService.notify(param), HttpStatus.OK);
+//    }
 }
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/AcsToWmsService.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/AcsToWmsService.java
index 6b49d06..cc74c00 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/AcsToWmsService.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/AcsToWmsService.java
@@ -15,7 +15,10 @@ public interface AcsToWmsService {
     /** 任务反馈 */
     BaseResponse status(JSONObject param);
 
-    /** 任务反馈 */
+    /** 任务阶段反馈最新点位 */
+    BaseResponse feedbackState(JSONObject param);
+
+    /** acs通知wms */
     BaseResponse notify(JSONObject param);
 
 }
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/impl/AcsToWmsServiceImpl.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/impl/AcsToWmsServiceImpl.java
index e909a03..00fa2f6 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/impl/AcsToWmsServiceImpl.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/impl/AcsToWmsServiceImpl.java
@@ -179,4 +179,39 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         return BaseResponse.responseOk(requestNo, "反馈成功！");
     }
 
+    /**
+     * 任务阶段反馈最新点位
+     * todo
+     * */
+
+    @Override
+    public BaseResponse feedbackState(JSONObject param) {
+        String requestNo = param.getString("requestNo");
+        String requestMethodCode = param.getString("request_medthod_code"); // 获取请求方法名
+        String requestMethodName = param.getString("request_medthod_name");
+        BaseResponse result = BaseResponse.build(requestNo);
+        String device_code = param.getString("device_code");
+        param.put("config_code",requestMethodCode);
+        try {
+            if(ObjectUtil.isEmpty(requestMethodCode)){
+                throw new BadRequestException("任务类型不正确!requestMethodCode："+requestMethodName+",device_code："+device_code);
+            }
+            AbstractTask task = taskFactory.getTask(requestMethodCode);
+            // 执行创建任务
+            task.apply(param);
+        } catch (Exception e) {
+            String message = ObjectUtil.isEmpty(e.getMessage())
+                    ? ((InvocationTargetException) e).getTargetException().getMessage()
+                    : e.getMessage();
+            log.error("ACS请求LMS出现错误: {}", message);
+            result.setCode(HttpStatus.HTTP_BAD_REQUEST);
+            result.setMessage(message);
+            result.setRequestNo(requestNo);
+            // 消息通知
+            noticeService.createNotice("异常信息：" + message, "acsApply: " + param.getString("request_medthod_code"),
+                    NoticeTypeEnum.EXCEPTION.getCode());
+        }
+        return result;
+    }
+
 }