diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftDownCommandHandler.java b/src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftDownCommandHandler.java
index 655408b..0272217 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftDownCommandHandler.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftDownCommandHandler.java
@@ -26,8 +26,15 @@ public class CoverElevatorLiftDownCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
+            Double distance = cmdDTO.getDoubleParam("distance");
             Double velocity = cmdDTO.getDoubleParam("velocity");
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(velocity);
+
+            if(velocity != null){
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorSet(velocity);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
+            }
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(distance);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             commandWait(deviceCommandFuture);
         });
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftUpCommandHandler.java b/src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftUpCommandHandler.java
index 369fbc6..8105667 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftUpCommandHandler.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftUpCommandHandler.java
@@ -27,8 +27,15 @@ public class CoverElevatorLiftUpCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
+            Double distance = cmdDTO.getDoubleParam("distance");
             Double velocity = cmdDTO.getDoubleParam("velocity");
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(velocity);
+
+            if(velocity != null){
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorSet(velocity);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
+            }
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(distance);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             commandWait(deviceCommandFuture);
         });
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawOpenCommandHandler.java b/src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawOpenCommandHandler.java
index dd915c6..77f248a 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawOpenCommandHandler.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawOpenCommandHandler.java
@@ -26,6 +26,12 @@ public class HoldingJawOpenCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
+            Double velocity = cmdDTO.getDoubleParam("velocity");
+            if(velocity != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawSet(velocity);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
+            }
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(100.0);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             commandWait(deviceCommandFuture);
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmRotateCommandHandler.java b/src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmRotateCommandHandler.java
index 7edb7bd..e249c2b 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmRotateCommandHandler.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmRotateCommandHandler.java
@@ -11,6 +11,8 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
+import java.util.List;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -28,12 +30,32 @@ public class LiquidArmRotateCommandHandler extends BaseCommandHandler {
         return runAsync(() -> {
             Double largeArmAngle = cmdDTO.getDoubleParam("largeArmAngle");
             Double smallArmAngle = cmdDTO.getDoubleParam("smallArmAngle");
-            DeviceCommandBundle deviceCommandJoint1 = DeviceCommandGenerator.dualRobotJoint1Move(largeArmAngle);
-            CommandFuture deviceCommandJoint1Future = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommandJoint1);
-            commandWait(deviceCommandJoint1Future);
-            DeviceCommandBundle deviceCommandJoint2 = DeviceCommandGenerator.dualRobotJoint2Move(smallArmAngle);
-            CommandFuture deviceCommandJoint2Future = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommandJoint2);
-            commandWait(deviceCommandJoint1Future, deviceCommandJoint2Future);
+            Double largeArmRotationVelocity = cmdDTO.getDoubleParam("largeArmRotationVelocity");
+            Double smallArmRotationVelocity = cmdDTO.getDoubleParam("smallArmRotationVelocity");
+            if (largeArmRotationVelocity != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Set(largeArmRotationVelocity);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
+            }
+            if (smallArmRotationVelocity != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Set(smallArmRotationVelocity);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
+            }
+
+            List<CommandFuture> futuresList = new ArrayList<>();
+            if (largeArmAngle != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Move(largeArmAngle);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                futuresList.add(deviceCommandFuture);
+            }
+            if (largeArmAngle != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Move(smallArmAngle);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                futuresList.add(deviceCommandFuture);
+            }
+
+            commandWait(futuresList.toArray(new CommandFuture[0]));
         });
     }
 }
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java b/src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java
index 7bc2c28..fdb6626 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java
@@ -30,8 +30,26 @@ public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
             Integer index = cmdDTO.getIntegerParam("index");
             String direction = cmdDTO.getStringParam("direction");
             Double volume = cmdDTO.getDoubleParam("volume");
+            Double velocity = cmdDTO.getDoubleParam("velocity");
             CmdDirection directionEnum = CmdDirection.valueOf(direction);
             DeviceCommandBundle deviceCommand;
+            if(velocity != null) {
+                switch (index) {
+                    case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Set(velocity);
+                    case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Set(velocity);
+                    case 3 -> deviceCommand = DeviceCommandGenerator.acidPump3Set(velocity);
+                    case 4 -> deviceCommand = DeviceCommandGenerator.acidPump4Set(velocity);
+                    case 5 -> deviceCommand = DeviceCommandGenerator.acidPump5Set(velocity);
+                    case 6 -> deviceCommand = DeviceCommandGenerator.acidPump6Set(velocity);
+                    case 7 -> deviceCommand = DeviceCommandGenerator.acidPump7Set(velocity);
+                    case 8 -> deviceCommand = DeviceCommandGenerator.acidPump8Set(velocity);
+                    default -> throw new RuntimeException("index 未找到");
+                }
+
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
+            }
+
             switch (index) {
                 case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Move(directionEnum, volume);
                 case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Move(directionEnum, volume);
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java b/src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java
index 3e420c3..3a95822 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java
@@ -29,7 +29,23 @@ public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
         return runAsync(() -> {
             Integer index = cmdDTO.getIntegerParam("index");
             Double distance = cmdDTO.getDoubleParam("distance");
+            Double velocity = cmdDTO.getDoubleParam("velocity");
             DeviceCommandBundle deviceCommand;
+
+            if(velocity != null) {
+                switch (index) {
+                    case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
+                    case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
+                    case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
+                    case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
+                    case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
+                    case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
+                    default -> throw new RuntimeException("index 未找到");
+                }
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
+            }
+
             switch (index) {
                 case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
                 case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java b/src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java
index cd38710..8b6976b 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java
@@ -28,7 +28,23 @@ public class PalletElevatorLiftUpCommandHandler extends BaseCommandHandler {
         return runAsync(() -> {
             Integer index = cmdDTO.getIntegerParam("index");
             Double distance = cmdDTO.getDoubleParam("distance");
+            Double velocity = cmdDTO.getDoubleParam("velocity");
             DeviceCommandBundle deviceCommand;
+
+            if(velocity != null) {
+                switch (index) {
+                    case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
+                    case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
+                    case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
+                    case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
+                    case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
+                    case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
+                    default -> throw new RuntimeException("index 未找到");
+                }
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
+            }
+
             switch (index) {
                 case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
                 case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStartCommandHandler.java b/src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStartCommandHandler.java
index 17a490e..c6b26a9 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStartCommandHandler.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStartCommandHandler.java
@@ -26,6 +26,13 @@ public class ShakerStartCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
+            Double velocity = cmdDTO.getDoubleParam("velocity");
+            if(velocity != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.shakeMotorSet(velocity);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
+            }
+
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.shakeMotorStart();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             commandWait(deviceCommandFuture);
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java b/src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java
index 240daa8..9b2be1b 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java
@@ -28,22 +28,44 @@ public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Double x = cmdDTO.getDoubleParam("xDimDistance");
-            Double y = cmdDTO.getDoubleParam("yDimDistance");
-            Double z = cmdDTO.getDoubleParam("zDimDistance");
+            Double xDimDistance = cmdDTO.getDoubleParam("xDimDistance");
+            Double yDimDistance = cmdDTO.getDoubleParam("yDimDistance");
+            Double zDimDistance = cmdDTO.getDoubleParam("zDimDistance");
+
+            Double xDimvelocity = cmdDTO.getDoubleParam("xDimvelocity");
+            Double yDimvelocity = cmdDTO.getDoubleParam("yDimvelocity");
+            Double zDimvelocity = cmdDTO.getDoubleParam("zDimvelocity");
             List<CommandFuture> futuresList = new ArrayList<>();
-            if (x != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(x);
+            if(xDimvelocity != null){
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(xDimvelocity);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                futuresList.add(deviceCommandFuture);
+            }
+            if(yDimvelocity != null){
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYSet(yDimvelocity);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                futuresList.add(deviceCommandFuture);
+            }
+            if(zDimvelocity != null){
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(zDimvelocity);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                futuresList.add(deviceCommandFuture);
+            }
+            commandWait(futuresList.toArray(new CommandFuture[0]));
+
+            futuresList.clear();
+            if (xDimDistance != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(xDimDistance);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }
-            if (y != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(y);
+            if (yDimDistance != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(yDimDistance);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }
-            if (z != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(z);
+            if (zDimDistance != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(zDimDistance);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }
diff --git a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
index 428e56c..a0bcfce 100644
--- a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
+++ b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
@@ -47,7 +47,7 @@ public class DeviceCommandGenerator {
     /**
      * 门 设置参数
      *
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
     public static DeviceCommandBundle doorSet(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
@@ -72,12 +72,10 @@ public class DeviceCommandGenerator {
     /**
      * 摇匀电机 设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 r/s
+     * @param speed 速度 单位 r/s
      */
-    public static DeviceCommandBundle shakeMotorSet(Integer current, Double speed) {
+    public static DeviceCommandBundle shakeMotorSet(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.shake_motor, CmdAction.set, params, "摇匀 设置参数");
     }
@@ -121,12 +119,10 @@ public class DeviceCommandGenerator {
     /**
      * 拍子升降电机 设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle trayMotorSet(Integer current, Double speed) {
+    public static DeviceCommandBundle trayMotorSet(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.tray_motor, CmdAction.set, params, "拍子升降电机 设置参数");
     }
@@ -234,12 +230,10 @@ public class DeviceCommandGenerator {
     /**
      * 龙门架 x轴设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle gantryXSet(Integer current, Double speed) {
+    public static DeviceCommandBundle gantryXSet(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.gantry_x, CmdAction.set, params, "龙门架 x轴设置参数");
     }
@@ -247,12 +241,10 @@ public class DeviceCommandGenerator {
     /**
      * 龙门架 y轴设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle gantryYSet(Integer current, Double speed) {
+    public static DeviceCommandBundle gantryYSet(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.gantry_y, CmdAction.set, params, "龙门架 y轴设置参数");
     }
@@ -260,12 +252,10 @@ public class DeviceCommandGenerator {
     /**
      * 龙门架 z轴设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle gantryZSet(Integer current, Double speed) {
+    public static DeviceCommandBundle gantryZSet(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.gantry_z, CmdAction.set, params, "龙门架 z轴设置参数");
     }
@@ -383,12 +373,10 @@ public class DeviceCommandGenerator {
     /**
      * 加热区顶升电机 加热位1设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle heaterMotor1Set(Integer current, Double speed) {
+    public static DeviceCommandBundle heaterMotor1Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.heater_motor_1, CmdAction.set, params, "加热区顶升电机 加热位1设置参数");
     }
@@ -396,12 +384,10 @@ public class DeviceCommandGenerator {
     /**
      * 加热区顶升电机 加热位2设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle heaterMotor2Set(Integer current, Double speed) {
+    public static DeviceCommandBundle heaterMotor2Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.heater_motor_2, CmdAction.set, params, "加热区顶升电机 加热位2设置参数");
     }
@@ -409,12 +395,10 @@ public class DeviceCommandGenerator {
     /**
      * 加热区顶升电机 加热位3设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle heaterMotor3Set(Integer current, Double speed) {
+    public static DeviceCommandBundle heaterMotor3Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.heater_motor_3, CmdAction.set, params, "加热区顶升电机 加热位3设置参数");
     }
@@ -422,12 +406,10 @@ public class DeviceCommandGenerator {
     /**
      * 加热区顶升电机 加热位4设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle heaterMotor4Set(Integer current, Double speed) {
+    public static DeviceCommandBundle heaterMotor4Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.heater_motor_4, CmdAction.set, params, "加热区顶升电机 加热位4设置参数");
     }
@@ -435,12 +417,10 @@ public class DeviceCommandGenerator {
     /**
      * 加热区顶升电机 加热位5设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle heaterMotor5Set(Integer current, Double speed) {
+    public static DeviceCommandBundle heaterMotor5Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.heater_motor_5, CmdAction.set, params, "加热区顶升电机 加热位5设置参数");
     }
@@ -448,12 +428,10 @@ public class DeviceCommandGenerator {
     /**
      * 加热区顶升电机 加热位6设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle heaterMotor6Set(Integer current, Double speed) {
+    public static DeviceCommandBundle heaterMotor6Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.heater_motor_6, CmdAction.set, params, "加热区顶升电机 加热位6设置参数");
     }
@@ -679,12 +657,10 @@ public class DeviceCommandGenerator {
     /**
      * 加液泵 泵1设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle acidPump1Set(Integer current, Double speed) {
+    public static DeviceCommandBundle acidPump1Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.acid_pump_1, CmdAction.set, params, "加液泵1 设置参数");
     }
@@ -692,12 +668,10 @@ public class DeviceCommandGenerator {
     /**
      * 加液泵 泵2设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle acidPump2Set(Integer current, Double speed) {
+    public static DeviceCommandBundle acidPump2Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.acid_pump_2, CmdAction.set, params, "加液泵2 设置参数");
     }
@@ -705,12 +679,10 @@ public class DeviceCommandGenerator {
     /**
      * 加液泵 泵3设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle acidPump3Set(Integer current, Double speed) {
+    public static DeviceCommandBundle acidPump3Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.acid_pump_3, CmdAction.set, params, "加液泵3 设置参数");
     }
@@ -718,12 +690,10 @@ public class DeviceCommandGenerator {
     /**
      * 加液泵 泵4设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle acidPump4Set(Integer current, Double speed) {
+    public static DeviceCommandBundle acidPump4Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.acid_pump_4, CmdAction.set, params, "加液泵4 设置参数");
     }
@@ -731,12 +701,10 @@ public class DeviceCommandGenerator {
     /**
      * 加液泵 泵5设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle acidPump5Set(Integer current, Double speed) {
+    public static DeviceCommandBundle acidPump5Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.acid_pump_5, CmdAction.set, params, "加液泵5 设置参数");
     }
@@ -744,12 +712,10 @@ public class DeviceCommandGenerator {
     /**
      * 加液泵 泵6设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle acidPump6Set(Integer current, Double speed) {
+    public static DeviceCommandBundle acidPump6Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.acid_pump_6, CmdAction.set, params, "加液泵6 设置参数");
     }
@@ -757,12 +723,10 @@ public class DeviceCommandGenerator {
     /**
      * 加液泵 泵7设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle acidPump7Set(Integer current, Double speed) {
+    public static DeviceCommandBundle acidPump7Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.acid_pump_7, CmdAction.set, params, "加液泵7 设置参数");
     }
@@ -770,12 +734,10 @@ public class DeviceCommandGenerator {
     /**
      * 加液泵 泵8设置参数
      *
-     * @param current 电流 [0-31]
-     * @param speed   速度 单位 mm/s
+     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle acidPump8Set(Integer current, Double speed) {
+    public static DeviceCommandBundle acidPump8Set(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.acid_pump_8, CmdAction.set, params, "加液泵8 设置参数");
     }