diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/NDCAgvService.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
index 42960b7..cac9670 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
@@ -32,4 +32,11 @@ public interface NDCAgvService {
     public byte[] sendAgvOneModeInst(int phase, int index,int result);
 
     public byte[] sendAgvTwoModeInst(int phase, int index,int result);
+
+    /**
+     * 下发充电任务
+     * @param carno
+     * @return
+     */
+    public boolean createChargingTaskToNDC(String carno);
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
index 7306756..a2c364f 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
@@ -17,6 +17,7 @@ import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.modules.system.service.ParamService;
+import org.nl.modules.system.util.CodeUtil;
 import org.nl.modules.wql.util.SpringContextHolder;
 import org.springframework.stereotype.Service;
 
@@ -62,7 +63,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             };
             log.info("下发删除AGV指令--{}", Bytes2HexString(b));
 
-//                NDCSocketConnectionAutoRun.write(b);
+            OneNDCSocketConnectionAutoRun.write(b);
             System.out.println("下发删除agv指令数据:" + Bytes2HexString(b));
         }
 
@@ -174,9 +175,9 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                     };
                 }
                 log.info("下发AGV作业指令--{}", str1);
-                if (StrUtil.equals(agv_system_type,"2")){
+                if (StrUtil.equals(agv_system_type, "2")) {
                     //TwoNDCSocketConnectionAutoRun.write(b);
-                } else if (StrUtil.equals(agv_system_type,"3")){
+                } else if (StrUtil.equals(agv_system_type, "3")) {
                     //TwoNDC2SocketConnectionAutoRun.write(b);
                 }
                 System.out.println("下发agv指令数据:" + Bytes2HexString(b));
@@ -297,6 +298,50 @@ public class NDCAgvServiceImpl implements NDCAgvService {
         return b;
     }
 
+    @Override
+    public boolean createChargingTaskToNDC(String carno) {
+
+        byte carhigh = (byte) IntToHexHigh(Integer.parseInt(carno));
+        byte carlow = (byte) IntToHexLow(Integer.parseInt(carno));
+
+        String instcode = CodeUtil.getNewCode("INSTRUCT_NO");
+        byte instcodehigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
+        byte instcodelow = (byte) IntToHexLow(Integer.parseInt(instcode));
+
+        String str = "十进制下发：";
+        String str1 = "十六进制下发：";
+        str += "carno:" + (Integer.parseInt(carno));
+        str1 += "carno:" + hexToString(carhigh & 0xFF) + hexToString(carlow & 0xFF);
+
+        str += "/instcode:" + (instcode);
+        str1 += "/instcode:" + hexToString(instcodehigh & 0xFF) + hexToString(instcodelow & 0xFF);
+
+        System.out.println(str);
+        System.out.println(str1);
+
+        byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                (byte) 0X00, (byte) 0X08,
+                (byte) 0X00, (byte) 0X0C,
+                (byte) 0X00, (byte) 0X01,
+                (byte) 0X00, (byte) 0X71,
+                (byte) 0X00, (byte) 0X08,
+                (byte) 0X64, (byte) 0X80,
+                (byte) 0X00, (byte) 0X01,
+                (byte) instcodehigh, (byte) instcodelow,
+                (byte) carhigh, (byte) carlow
+        };
+        log.info("下发AGV充电任务--{}", str1);
+
+        try{
+            OneNDCSocketConnectionAutoRun.write(b);
+        } catch (Exception e){
+            e.getMessage();
+            return false;
+        }
+        System.out.println("下发agv充电任务数据:" + Bytes2HexString(b));
+        return true;
+    }
+
     String hexToString(int i) {
         return (i < 16 ? "0" + Integer.toHexString(i) : Integer.toHexString(i)).toUpperCase();
     }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/rest/AMHandController.java b/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/rest/AMHandController.java
index fd21118..c556ccb 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/rest/AMHandController.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/rest/AMHandController.java
@@ -196,4 +196,13 @@ public class AMHandController {
         return new ResponseEntity<>(HandService.callTask(whereJson), HttpStatus.OK);
     }
 
+    @PostMapping("/createChargingTask")
+    @Log("创建充电任务")
+    @ApiOperation("创建充电任务")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> createChargingTask(@RequestBody Map<String, String> whereJson) {
+        return new ResponseEntity<>(HandService.createChargingTask(whereJson), HttpStatus.OK);
+    }
+
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/AMHandService.java b/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/AMHandService.java
index f804aac..c7d690d 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/AMHandService.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/AMHandService.java
@@ -130,4 +130,11 @@ public interface AMHandService {
      * @return json
      */
     JSONObject queryPoint();
+
+    /**
+     * 创建充电任务
+     * @param whereJson
+     * @return
+     */
+    Map<String, Object> createChargingTask(Map<String, String> whereJson);
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/impl/AMHandServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/impl/AMHandServiceImpl.java
index b804084..baf1967 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/impl/AMHandServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/hand/amb/service/impl/AMHandServiceImpl.java
@@ -13,8 +13,12 @@ import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.server.AgvService;
 import org.nl.acs.agv.server.MagicAgvService;
+import org.nl.acs.agv.server.NDCAgvService;
+import org.nl.acs.agv.server.impl.AgvServiceImpl;
 import org.nl.acs.agv.server.impl.MagicAgvServiceImpl;
+import org.nl.acs.agv.server.impl.NDCAgvServiceImpl;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device.service.dto.DeviceDto;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
@@ -157,6 +161,17 @@ public class AMHandServiceImpl implements AMHandService {
         return result;
     }
 
+    @Override
+    public Map<String, Object> createChargingTask(Map<String, String> whereJson) {
+        String type = whereJson.get("type");
+        NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvServiceImpl.class);
+        agvService.createChargingTaskToNDC(type);
+        JSONObject jo = new JSONObject();
+        jo.put("code", "1");
+        jo.put("desc", "创建成功");
+        return jo;
+    }
+
     @Override
     public Map<String, Object> queryPointByArea(String areaCode) {
         JSONArray respArr = new JSONArray();
@@ -581,7 +596,7 @@ public class AMHandServiceImpl implements AMHandService {
         }
         String task_id = instwo.getString("task_id");
         Instruction instdto = (Instruction) instwo.toJavaObject(Instruction.class);
-        MagicAgvService agvService = SpringContextHolder.getBean(MagicAgvServiceImpl.class);
+        NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvServiceImpl.class);
         InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
 
         /* 1 指令撤销
@@ -595,7 +610,7 @@ public class AMHandServiceImpl implements AMHandService {
                 if (StrUtil.isEmpty(instdto.getAgv_jobno())) {
                     instructionService.cancelNOSendAgv(inst_uuid);
                 } else {
-                    agvService.deleteAgvInst(instdto.getInstruction_code());
+                    instructionService.cancel(instdto.getInstruction_id());
                 }
 
             } catch (Exception e) {
@@ -607,7 +622,7 @@ public class AMHandServiceImpl implements AMHandService {
         }
         if (type.equals("2")) {
             try {
-                agvService.sendAgvInstToMagic(instdto);
+                agvService.sendAgvInstToNDC(instdto.getAgv_system_type(),instdto);
             } catch (Exception e) {
                 jo.put("code", "2");
                 jo.put("desc", "下发agv失败");
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java
index 5a6f574..27b07a8 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java
@@ -238,12 +238,12 @@ public class InstructionDto implements Serializable {
     /**
      * 是否启用
      */
-    private String is_active;
+    private String is_active = "1";
 
     /**
      * 是否删除
      */
-    private String is_delete;
+    private String is_delete = "0";
 
     /**
      * 创建者