diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AgvToAcsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AgvToAcsServiceImpl.java
index 113a59b..95e7f4c 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AgvToAcsServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AgvToAcsServiceImpl.java
@@ -46,26 +46,38 @@ public class AgvToAcsServiceImpl implements AgvToAcsService {
         Map<String, Object> map = new HashMap<>();
         map.put("status", 200);
         map.put("message", "操作成功");
+        //取货点等待
         if (address.contains("INGET")) {
+            //告诉设备请求取货
             maGangConveyorDeviceDriver.writing(4);
+            //判断是否满足取货条件
             if (maGangConveyorDeviceDriver.getMove() == 1 && maGangConveyorDeviceDriver.getAction() == 1) {
+                //满足响应成功
                 logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
                 return map;
             } else {
+                //不满足抛异常
                 logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：取货前-取货点无货!");
                 throw new BadRequestException("请求失败,取货前-取货点无货!");
             }
-        } else if (address.contains("OUTGET")) {
+        }//取货完成等待
+        else if (address.contains("OUTGET")) {
+            //取货完成以后判断取货点是否有货
             if (maGangConveyorDeviceDriver.getMove() == 0) {
+                //无货告诉设备取货完成
                 maGangConveyorDeviceDriver.writing(2);
                 logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
                 return map;
             } else {
+                //有货抛异常
                 logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：取货完成后-取货点有货!");
                 throw new BadRequestException("请求失败,取货完成后-取货点有货!");
             }
-        } else if (address.contains("INPUT")) {
+        }//放货前等待
+        else if (address.contains("INPUT")) {
+            //告诉设备请求放货
             maGangConveyorDeviceDriver.writing(5);
+            //判断是否满足放货信号
             if (maGangConveyorDeviceDriver.getMove() == 0 && maGangConveyorDeviceDriver.getAction() == 2) {
                 logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
                 return map;
@@ -73,7 +85,9 @@ public class AgvToAcsServiceImpl implements AgvToAcsService {
                 logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：放货前-放货点有货!");
                 throw new BadRequestException("请求失败,放货前-放货点有货!");
             }
-        } else if (address.contains("OUTPUT")) {
+        }//放货完成等待
+        else if (address.contains("OUTPUT")) {
+            //放货完成后判断放货点是否有货
             if (maGangConveyorDeviceDriver.getMove() == 1) {
                 maGangConveyorDeviceDriver.writing(3);
                 logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/rest/InstructionController.java b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/rest/InstructionController.java
index 644f971..d5e32a9 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/rest/InstructionController.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/rest/InstructionController.java
@@ -108,6 +108,14 @@ public class InstructionController {
         return new ResponseEntity<>(HttpStatus.OK);
     }
 
+    @Log("强制取消指令")
+    @ApiOperation("强制取消指令")
+    @PostMapping(value = "/forceCancel/{id}")
+    public ResponseEntity<Object> forceCancel(@RequestBody String id) throws Exception {
+        instructionService.cancelNOSendAgv(id);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
     @Log("导出指令")
     @ApiOperation("导出指令")
     @GetMapping(value = "/download")
diff --git a/acs/nladmin-ui/src/api/acs/instruction/instruction.js b/acs/nladmin-ui/src/api/acs/instruction/instruction.js
index 12aea74..76c44df 100644
--- a/acs/nladmin-ui/src/api/acs/instruction/instruction.js
+++ b/acs/nladmin-ui/src/api/acs/instruction/instruction.js
@@ -40,6 +40,14 @@ export function cancel(instruction_id) {
   })
 }
 
+export function forceCancel(instruction_id) {
+  return request({
+    url: 'api/instruction/forceCancel/' + instruction_id,
+    method: 'post',
+    data: instruction_id
+  })
+}
+
 export function queryUnFinish() {
   return request({
     url: 'api/instruction/unfinish/',
@@ -62,4 +70,4 @@ export function reload() {
   })
 }
 
-export default { add, edit, del, finish, cancel, queryUnFinish, queryByTaskId, reload }
+export default { add, edit, del, finish, forceCancel, cancel, queryUnFinish, queryByTaskId, reload }
diff --git a/acs/nladmin-ui/src/views/acs/instruction/index.vue b/acs/nladmin-ui/src/views/acs/instruction/index.vue
index 9130599..bd661ad 100644
--- a/acs/nladmin-ui/src/views/acs/instruction/index.vue
+++ b/acs/nladmin-ui/src/views/acs/instruction/index.vue
@@ -165,6 +165,7 @@
               <el-dropdown-menu slot="dropdown">
                 <el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'a')">完成</el-dropdown-item>
                 <el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'b')">取消</el-dropdown-item>
+                <el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'c')">强制取消</el-dropdown-item>
               </el-dropdown-menu>
             </el-dropdown>
           </template>
@@ -295,6 +296,14 @@ export default {
         console.log(err.response.data.message)
       })
     },
+    forceCancel(index, row) {
+      crudInstruction.forceCancel(row.instruction_id).then(res => {
+        this.crud.toQuery()
+        this.crud.notify('强制取消成功', CRUD.NOTIFICATION_TYPE.SUCCESS)
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
     reload() {
       crudInstruction.reload().then(res => {
         this.crud.toQuery()
@@ -318,6 +327,9 @@ export default {
         case 'b':// 取消
           this.cancel(command.index, command.row)
           break
+        case 'c':// 取消
+          this.forceCancel(command.index, command.row)
+          break
       }
     }