diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java
index 5357673..e086f03 100644
--- a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java
+++ b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelinePreFill.java
@@ -52,8 +52,7 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
             webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "预充速度不能大于100"));
             throw new RuntimeException("预充速度不能大于100");
         }
-        deviceStatus.setPrefilling(true);
-        return runAsync(() -> {
+        try {
             //2.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴
             DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();
             CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
@@ -68,34 +67,42 @@ public class NozzlePipelinePreFill extends BaseCommandHandler {
             SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
             double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
             if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴
-                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, speed);
+                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, 20.0);
                 CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
                 commandWait(motorZPositionSetCommandFuture);
             }
             Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
             //3.x轴移动到废液位置
-            DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), speed);
+            DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
             CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
             commandWait(motorXPositionSetCommandFuture);
             //4.下降z轴高度，防止飞溅
-            DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), speed);
+            DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 20.0);
             CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
             commandWait(motorZPositionSetCommandFuture);
 
-            //7.开启喷嘴阀
+            //5.开启喷嘴阀
             DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 开启喷嘴阀
             CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
             commandWait(nozzleValveOpenCommandFuture);
 
             //5.打开三通阀注射器管路
-            DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();
-            CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenNozzlePipelineCommand);
-            commandWait(threeWayValveOpenNozzlePipelineCommandFuture);
+//            DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();
+//            CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenNozzlePipelineCommand);
+//            commandWait(threeWayValveOpenNozzlePipelineCommandFuture);
             Thread.sleep(500);
-            //7.设置注射泵速度，推注射泵
+            //6.设置注射泵速度，推注射泵
             DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpForward(speed); // 生成移动注射泵指令
             CommandFuture syringePumpStartCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStartCommand);
             commandWait(syringePumpStartCommandFuture);
+
+            deviceStatus.setPrefilling(true);
+        } catch (Exception e) {
+            deviceStatus.setPrefilling(false);
+            throw new RuntimeException(e);
+        }
+        return runAsync(() -> {
+
         });
 
     }
diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java
index 53edf39..3b1c27f 100644
--- a/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java
+++ b/src/main/java/com/qyft/ms/app/front/cmd/business/NozzlePipelineWash.java
@@ -25,6 +25,7 @@ import java.util.concurrent.CompletableFuture;
 
 /**
  * 喷嘴管路_清洗喷嘴管路
+ * 废弃
  */
 @Slf4j
 @Component
@@ -43,50 +44,51 @@ public class NozzlePipelineWash extends BaseCommandHandler {
         if (deviceStatus.isCleaningSyringePipeline() || deviceStatus.isCleaningNozzlePipeline()) {
             throw new RuntimeException("正在清洗喷嘴管路或注射器管路，无法开启清洗注射器管路");
         }
-        deviceStatus.setCleaningNozzlePipeline(true);
-        return runAsync(() -> {
-            try {
-                //1.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴
-                DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();
-                CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
-                commandWait(motorXyzPositionGetCommandFuture);
-                JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
-                Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
-                if (zAxisPosition == null) {
-                    webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
-                    throw new RuntimeException("获得电机XYZ相对原点坐标失败");
-                }
-                zAxisPosition = Math.abs(zAxisPosition);
-                SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
-                double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
-                if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴
-                    DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, 15.0);
-                    CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
-                    commandWait(motorZPositionSetCommandFuture);
-                }
-                Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
-                //2.轴移动到废液位置
-                DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
-                CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
-                commandWait(motorXPositionSetCommandFuture);
-                //3.下降z轴高度，防止飞溅
-                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 15.0);
+        try {
+            //1.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴
+            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();
+            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
+            commandWait(motorXyzPositionGetCommandFuture);
+            JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
+            Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
+            if (zAxisPosition == null) {
+                webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
+                throw new RuntimeException("获得电机XYZ相对原点坐标失败");
+            }
+            zAxisPosition = Math.abs(zAxisPosition);
+            SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
+            double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
+            if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴
+                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, 15.0);
                 CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
                 commandWait(motorZPositionSetCommandFuture);
-                //4.开启三通阀到喷嘴管路
-                DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline(); // 打开三通阀喷嘴管路
-                CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
-                commandWait(threeWayValveOpenSyringePipelineCommandFuture);
+            }
+            Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
+            //2.轴移动到废液位置
+            DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
+            CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
+            commandWait(motorXPositionSetCommandFuture);
+            //3.下降z轴高度，防止飞溅
+            DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 15.0);
+            CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
+            commandWait(motorZPositionSetCommandFuture);
+            //4.开启三通阀到喷嘴管路
+            DeviceCommand threeWayValveOpenSyringePipelineCommand = DeviceCommandGenerator.threeWayValveOpenSyringePipeline(); // 打开三通阀喷嘴管路
+            CommandFuture threeWayValveOpenSyringePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenSyringePipelineCommand);
+            commandWait(threeWayValveOpenSyringePipelineCommandFuture);
 
-                //6.打开清洗阀
-                DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
-                CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenCommand);
-                commandWait(washValveOpenCommandFuture);
+            //6.打开清洗阀
+            DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
+            CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenCommand);
+            commandWait(washValveOpenCommandFuture);
+
+            deviceStatus.setCleaningNozzlePipeline(true);
+        } catch (Exception e) {
+            deviceStatus.setCleaningNozzlePipeline(false);
+            throw new RuntimeException(e);
+        }
+        return runAsync(() -> {
 
-            } catch (Exception e) {
-                deviceStatus.setCleaningNozzlePipeline(false);
-                throw new RuntimeException(e);
-            }
 
         });
 
diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java b/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java
index 60b93ac..5c52294 100644
--- a/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java
+++ b/src/main/java/com/qyft/ms/app/front/cmd/business/SyringePipelineWash.java
@@ -52,61 +52,68 @@ public class SyringePipelineWash extends BaseCommandHandler {
             webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "清洗速度不能大于100"));
             throw new RuntimeException("预充速度不能大于100");
         }
-        deviceStatus.setCleaningSyringePipeline(true);
-        return runAsync(() -> {
-            try {
-                //2.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴
-                DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();
-                CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
-                commandWait(motorXyzPositionGetCommandFuture);
-                JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
-                Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
-                if (zAxisPosition == null) {
-                    webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
-                    throw new RuntimeException("获得电机XYZ相对原点坐标失败");
-                }
-                zAxisPosition = Math.abs(zAxisPosition);
-                SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
-                double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
-                if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴
-                    DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, speed);
-                    CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
-                    commandWait(motorZPositionSetCommandFuture);
-                }
-                Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
-                //3.x轴移动到废液位置
-                DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), speed);
-                CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
-                commandWait(motorXPositionSetCommandFuture);
-                //4.下降z轴高度，防止飞溅
-                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), speed);
+
+        try {
+            //2.判断z轴是否在安全距离，如果不在安全距离可以不抬升z轴
+            DeviceCommand motorXyzPositionGetCommand = DeviceCommandGenerator.motorXyzPositionGet();
+            CommandFuture motorXyzPositionGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXyzPositionGetCommand);
+            commandWait(motorXyzPositionGetCommandFuture);
+            JSONObject motorXyzPositionGetCommandDeviceResult = motorXyzPositionGetCommandFuture.getResponseResult();
+            Double zAxisPosition = motorXyzPositionGetCommandDeviceResult.getJSONObject("data").getDouble("zAxisPosition");
+            if (zAxisPosition == null) {
+                webSocketService.pushCMDResponseMsg(FrontResponseGenerator.generateJson(form.getCmdId(), form.getCmdCode(), CommandStatus.DEVICE_ERROR, "获得电机XYZ相对原点坐标失败", motorXyzPositionGetCommandDeviceResult));
+                throw new RuntimeException("获得电机XYZ相对原点坐标失败");
+            }
+            zAxisPosition = Math.abs(zAxisPosition);
+            SysSettings safeZHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper<SysSettings>().eq(SysSettings::getCode, "safe_z_height"));
+            double safeZHeight = Double.parseDouble(safeZHeightSysSettings.getValue());
+            if (zAxisPosition > safeZHeight) { //z轴超出安全距离，抬升z轴
+                DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(safeZHeight, 15.0);
                 CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
                 commandWait(motorZPositionSetCommandFuture);
-
-                //5.打开三通阀注射器管路
-                DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();
-                CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenNozzlePipelineCommand);
-                commandWait(threeWayValveOpenNozzlePipelineCommandFuture);
-
-                //6.打开清洗阀
-                DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
-                CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenCommand);
-                commandWait(washValveOpenCommandFuture);
-
-                //7.开启喷嘴阀
-                DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 开启喷嘴阀
-                CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
-                commandWait(nozzleValveOpenCommandFuture);
-
-
-                //7.设置注射泵速度，推注射泵
-                DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpForward(speed); // 生成移动注射泵指令
-                CommandFuture syringePumpStartCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStartCommand);
-                commandWait(syringePumpStartCommandFuture);
-            } catch (Exception e) {
-                deviceStatus.setCleaningSyringePipeline(false);
-                throw new RuntimeException(e);
             }
+            Position wasteLiquor = positionService.getOne(new LambdaQueryWrapper<Position>().eq(Position::getPointCode, "waste_liquor"));
+            //3.x轴移动到废液位置
+            DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(wasteLiquor.getX(), 20.0);
+            CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
+            commandWait(motorXPositionSetCommandFuture);
+            //4.下降z轴高度，防止飞溅
+            DeviceCommand motorZPositionSetCommand = DeviceCommandGenerator.motorZPositionSet(wasteLiquor.getZ(), 20.0);
+            CommandFuture motorZPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionSetCommand);
+            commandWait(motorZPositionSetCommandFuture);
+
+            //5.开启喷嘴阀
+            DeviceCommand nozzleValveOpenCommand = DeviceCommandGenerator.nozzleValveOpen(); // 开启喷嘴阀
+            CommandFuture nozzleValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), nozzleValveOpenCommand);
+            commandWait(nozzleValveOpenCommandFuture);
+            Thread.sleep(500);
+
+            //6.设置注射泵速度，推注射泵
+            DeviceCommand syringePumpStartCommand = DeviceCommandGenerator.syringePumpForward(speed); // 生成移动注射泵指令
+            CommandFuture syringePumpStartCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpStartCommand);
+            commandWait(syringePumpStartCommandFuture);
+
+
+            //5.打开三通阀注射器管路
+//            DeviceCommand threeWayValveOpenNozzlePipelineCommand = DeviceCommandGenerator.threeWayValveOpenNozzlePipeline();
+//            CommandFuture threeWayValveOpenNozzlePipelineCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), threeWayValveOpenNozzlePipelineCommand);
+//            commandWait(threeWayValveOpenNozzlePipelineCommandFuture);
+
+            //6.打开清洗阀
+//            DeviceCommand washValveOpenCommand = DeviceCommandGenerator.washValveOpen(); // 生成打开清洗阀指令
+//            CommandFuture washValveOpenCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenCommand);
+//            commandWait(washValveOpenCommandFuture);
+
+
+
+            deviceStatus.setCleaningSyringePipeline(true);
+        } catch (Exception e) {
+            deviceStatus.setCleaningSyringePipeline(false);
+            throw new RuntimeException(e);
+        }
+
+        return runAsync(() -> {
+
         });
 
     }