diff --git a/src/main/java/com/qyft/ms/app/handler/debugimpl/SyringePumpStart.java b/src/main/java/com/qyft/ms/app/handler/debugimpl/SyringePumpStart.java
index 571b080..fb2cc34 100644
--- a/src/main/java/com/qyft/ms/app/handler/debugimpl/SyringePumpStart.java
+++ b/src/main/java/com/qyft/ms/app/handler/debugimpl/SyringePumpStart.java
@@ -19,6 +19,7 @@ import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
 import java.util.Map;
+import java.util.Optional;
 
 /**
  * z轴回原点
@@ -59,7 +60,10 @@ public class SyringePumpStart implements CommandHandler {
          */
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);
 
-        Double speed = (Double) param.get("speed");
+        Double speed = Optional.ofNullable(param.get("speed"))
+                .map(Object::toString)
+                .map(Double::parseDouble)
+                .orElse(null);
         String direction = (String) param.get("direction");
 
 
diff --git a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayChangeParam.java b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayChangeParam.java
index 1a69036..2de33cf 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayChangeParam.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayChangeParam.java
@@ -92,8 +92,8 @@ public class MatrixSprayChangeParam implements CommandHandler {
         @SuppressWarnings("unchecked")
         List<Map<String, Object>> positionList = (List<Map<String, Object>>) param.get("position");
 
-        if (validate(emitter, frontCmdId, frontCmdName, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, movingSpeed, positionList))
-            return;
+//        if (validate(emitter, frontCmdId, frontCmdName, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, movingSpeed, positionList))
+//            return;
 
         //1.速度
         if (motorSpeedSet(emitter, movingSpeed, frontCmdId, frontCmdName)) return;
diff --git a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java
index 3dab179..be804a6 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java
@@ -121,7 +121,7 @@ public class MatrixSprayStart implements CommandHandler {
                 List<Map<String, Object>> positionList = (List<Map<String, Object>>) param.get("position");
 
 
-                if (validate(emitter, matrixPathType, frontCmdId, frontCmdName, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList))
+                if (validate(emitter, matrixPathType, frontCmdId, frontCmdName, motorZHeight, gasPressure, volume, highVoltage, spacing, movingSpeed, times, positionList))
                     return;
 
 //        DeviceInstance deviceInstance = DeviceInstance.getInstance();
@@ -589,7 +589,7 @@ public class MatrixSprayStart implements CommandHandler {
         return false;
     }
 
-    private static boolean validate(ResponseBodyEmitter emitter, String matrixPathType, String frontCmdId, String frontCmdName, Double motorZHeight, Double gasPressure, Double volume, Boolean highVoltage, Double highVoltageValue, Double spacing, Double movingSpeed, Double times, List<Map<String, Object>> positionList) throws IOException {
+    private static boolean validate(ResponseBodyEmitter emitter, String matrixPathType, String frontCmdId, String frontCmdName, Double motorZHeight, Double gasPressure, Double volume, Boolean highVoltage, Double spacing, Double movingSpeed, Double times, List<Map<String, Object>> positionList) throws IOException {
         if (matrixPathType == null) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 matrix_path_type 必填"), MediaType.APPLICATION_JSON);
             emitter.complete();
@@ -615,11 +615,6 @@ public class MatrixSprayStart implements CommandHandler {
             emitter.complete();
             return true;
         }
-        if (highVoltageValue == null) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 high_voltage_value 必填"), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return true;
-        }
         if (spacing == null) {
             emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "参数 spacing 必填"), MediaType.APPLICATION_JSON);
             emitter.complete();
diff --git a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java
index 08bb7d1..cdf10e6 100644
--- a/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java
+++ b/src/main/java/com/qyft/ms/app/handler/impl/NozzlePipelinePreFill.java
@@ -137,8 +137,8 @@ public class NozzlePipelinePreFill implements CommandHandler {
         //3.xy轴移动到废液位置
         latch = new CountDownLatch(2);
         deviceMessageHandler.setLatch(latch);
-        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "轴移动到废液位置"), MediaType.APPLICATION_JSON);
-        CMDToDevice motorXPositionSetCmdToDevice = DeviceCommandGenerator.motor_x_position_set(173.08, 2.0);//生成指令 移动x轴到指定位置 (TODO) 废液桶X轴位置应当可以配置
+        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "x轴移动到废液位置"), MediaType.APPLICATION_JSON);
+        CMDToDevice motorXPositionSetCmdToDevice = DeviceCommandGenerator.motor_x_position_set(173.08);//生成指令 移动x轴到指定位置 (TODO) 废液桶X轴位置应当可以配置
         CommandFuture motorXPositionSetCmdToDeviceFuture = new CommandFuture();
         motorXPositionSetCmdToDeviceFuture.setCmdToDevice(motorXPositionSetCmdToDevice);
         Integer motorXPositionSetCmdToDeviceCmdId = motorXPositionSetCmdToDevice.getCmdId();
@@ -169,7 +169,7 @@ public class NozzlePipelinePreFill implements CommandHandler {
         }
 
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "移动x轴到指定位置指令反馈", motorXPositionSetCmdToDeviceResult), MediaType.APPLICATION_JSON);
-        CMDToDevice motorYPositionSetCMDToDevice = DeviceCommandGenerator.motor_y_position_set(75.0, 2.0);//移动y轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置
+        CMDToDevice motorYPositionSetCMDToDevice = DeviceCommandGenerator.motor_y_position_set(75.0);//移动y轴到指定位置 (TODO) 废液桶Y轴位置应当可以配置
         CommandFuture motorYPositionSetCMDToDeviceFuture = new CommandFuture();
         motorYPositionSetCMDToDeviceFuture.setCmdToDevice(motorYPositionSetCMDToDevice);
         Integer motorYPositionSetCMDToDeviceCmdId = motorYPositionSetCMDToDevice.getCmdId();
@@ -209,7 +209,7 @@ public class NozzlePipelinePreFill implements CommandHandler {
         latch = new CountDownLatch(1);
         deviceMessageHandler.setLatch(latch);
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "下降z轴高度，防止飞溅"), MediaType.APPLICATION_JSON);
-        CMDToDevice motorZPositionSetDownCmdToDevice = DeviceCommandGenerator.motor_z_position_set(70.0, 2.0);//生成指令 移动z轴到指定位置  (TODO) 废液桶Y轴位置应当可以配置
+        CMDToDevice motorZPositionSetDownCmdToDevice = DeviceCommandGenerator.motor_z_position_set(70.0);//生成指令 移动z轴到指定位置  (TODO) 废液桶Y轴位置应当可以配置
         CommandFuture motorZPositionSetDownCmdToDeviceFuture = new CommandFuture();
         motorZPositionSetDownCmdToDeviceFuture.setCmdToDevice(motorZPositionSetDownCmdToDevice);
         Integer motorZPositionSetDownCmdToDeviceCmdId = motorZPositionSetDownCmdToDevice.getCmdId();
@@ -313,7 +313,7 @@ public class NozzlePipelinePreFill implements CommandHandler {
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "开启喷嘴阀指令反馈", nozzleValveOpenCMDToDeviceResult), MediaType.APPLICATION_JSON);
         //7.设置注射泵速度，推注射泵
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "设置注射泵速度，推注射泵"), MediaType.APPLICATION_JSON);
-        CMDToDevice syringePumpInjectionVolumeSetCMDToDevice = DeviceCommandGenerator.syringe_pump_forward(1.0);//推动移动注射泵
+        CMDToDevice syringePumpInjectionVolumeSetCMDToDevice = DeviceCommandGenerator.syringe_pump_forward(speed);//推动移动注射泵
         CommandFuture syringePumpInjectionVolumeSetCMDToDeviceFuture = new CommandFuture();
         syringePumpInjectionVolumeSetCMDToDeviceFuture.setCmdToDevice(syringePumpInjectionVolumeSetCMDToDevice);
         Integer syringePumpInjectionVolumeSetCMDToDeviceCmdId = syringePumpInjectionVolumeSetCMDToDevice.getCmdId();