diff --git a/app/src/main/java/com/bonait/bnframework/business/ExecuteTheRecipe.java b/app/src/main/java/com/bonait/bnframework/business/ExecuteTheRecipe.java
index f7c5c338..3c43682b 100644
--- a/app/src/main/java/com/bonait/bnframework/business/ExecuteTheRecipe.java
+++ b/app/src/main/java/com/bonait/bnframework/business/ExecuteTheRecipe.java
@@ -634,6 +634,10 @@ public class ExecuteTheRecipe {
                 }
             }
 
+            //默认去炒制位置1去等待
+            BPA_GOODSRECIPE data3 = Get位置("高速", "炒菜位1");
+            ExecuteOperationSteps(data3.processname, data3.processvalue);
+
             //判断是否有烹饪时间
             int val = 0;
             for (HashMap.Entry<String, String> entry : data.entrySet()) {
@@ -1018,6 +1022,10 @@ public class ExecuteTheRecipe {
                 WriteMainPLC("炒锅投主料完成", true, null);
             }
 
+            //默认去炒制位置1去等待
+            BPA_GOODSRECIPE data3 = Get位置("高速", "炒菜位1");
+            ExecuteOperationSteps(data3.processname, data3.processvalue);
+
             //判断是否有烹饪时间
             int val = 0;
             for (HashMap.Entry<String, String> entry : data.entrySet()) {
@@ -1155,6 +1163,10 @@ public class ExecuteTheRecipe {
                 WriteMainPLC("炒锅投主料完成", true, null);
             }
 
+            //默认去炒制位置1去等待
+            BPA_GOODSRECIPE data3 = Get位置("高速", "炒菜位1");
+            ExecuteOperationSteps(data3.processname, data3.processvalue);
+
             //判断是否有烹饪时间
             int val = 0;
             for (HashMap.Entry<String, String> entry : data.entrySet()) {
@@ -1224,6 +1236,10 @@ public class ExecuteTheRecipe {
                 ExecuteTheRecipe.WritePLC("加热", true, null);
             }//再次释放加热
 
+            //默认去炒制位置1去等待
+            BPA_GOODSRECIPE data3 = Get位置("高速", "炒菜位1");
+            ExecuteOperationSteps(data3.processname, data3.processvalue);
+
             if (val > 0) {
                 Thread.sleep(val * 1000);
             }
@@ -1846,6 +1862,21 @@ public class ExecuteTheRecipe {
             }
         }
 
+        //机器人急停，制作订单 应该暂停
+
+        //强制结束任务
+        Object IsStop = ReadMainPLC("强制结束任务");
+        if (IsStop != null) {
+            if ((boolean) IsStop)
+            {
+                WriteMainPLC("强制结束任务", false, null);//复位
+
+                ExecuteTheRecipe.IsPause = false;
+                ExecuteTheRecipe.WritePLC("暂停开关", false, null);
+                ExecuteTheRecipe.SetForcedEnd();//设置强制结束
+            }
+        }
+
 //        Object IsJT = ReadMainPLC("机器人急停");
 //        if (IsJT != null) {
 //            if ((boolean) IsJT)//异常情况
diff --git a/app/src/main/java/com/bonait/bnframework/common/constant/ConfigName.java b/app/src/main/java/com/bonait/bnframework/common/constant/ConfigName.java
index 9c3ba238..cf6a163b 100644
--- a/app/src/main/java/com/bonait/bnframework/common/constant/ConfigName.java
+++ b/app/src/main/java/com/bonait/bnframework/common/constant/ConfigName.java
@@ -1130,7 +1130,7 @@ public class ConfigName {
         put("炒菜完成请求出餐",8);
         put("炒锅出餐减速到位",9); //实时
         put("炒锅请求投主料",10);
-
+        put("强制结束任务完成",11);//炒锅反馈强制结束任务完成
 
         put("机器人准备就绪",51);//修改就绪信号
         put("机器人放辅料完成",52);
@@ -1138,6 +1138,7 @@ public class ConfigName {
         put("商品下发",54);
         put("机器人急停",55);//true 异常 false 正常
         put("机器人投放主料完成",56);
+        put("强制结束任务",57);
 
         put("商品信息",0);
     }};
diff --git a/app/src/main/java/com/bonait/bnframework/modules/home/activity/BottomNavigationNewActivity.java b/app/src/main/java/com/bonait/bnframework/modules/home/activity/BottomNavigationNewActivity.java
index 2760c9a2..4057bdf4 100644
--- a/app/src/main/java/com/bonait/bnframework/modules/home/activity/BottomNavigationNewActivity.java
+++ b/app/src/main/java/com/bonait/bnframework/modules/home/activity/BottomNavigationNewActivity.java
@@ -415,6 +415,10 @@ public class BottomNavigationNewActivity extends BaseActivity {
                                             ToastUtils.info("客官,当前菜品已强制结束!!!");
                                             //初始化
                                             ExecuteTheRecipe.BottomClick("初始化");
+                                            if (ConfigName.getInstance().versionSelectionEnum.contains("一拖"))//通知任务结束
+                                            {
+                                                ExecuteTheRecipe.WriteMainPLC("强制结束任务完成", true, null);//复位
+                                            }
                                         }
                                     }
                                 });
diff --git a/app/src/main/java/com/bonait/bnframework/modules/home/fragment/Home1Fragment.java b/app/src/main/java/com/bonait/bnframework/modules/home/fragment/Home1Fragment.java
index ab5f053c..9015fda7 100644
--- a/app/src/main/java/com/bonait/bnframework/modules/home/fragment/Home1Fragment.java
+++ b/app/src/main/java/com/bonait/bnframework/modules/home/fragment/Home1Fragment.java
@@ -623,6 +623,10 @@ public class Home1Fragment extends BaseFragment {
                                                 ToastUtils.info("客官,当前菜品已强制结束!!!");
                                                 //初始化
                                                 ExecuteTheRecipe.BottomClick("初始化");
+                                                if (ConfigName.getInstance().versionSelectionEnum.contains("一拖"))//通知任务结束
+                                                {
+                                                    ExecuteTheRecipe.WriteMainPLC("强制结束任务完成", true, null);//复位
+                                                }
                                             }
                                         }
                                     });