diff --git a/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java
index 8b7c71b..06440c1 100644
--- a/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java
+++ b/src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java
@@ -72,19 +72,23 @@ public class DeviceCommandGenerator {
     public static DeviceCommandBundle doorEnable() {
         return controlMotorCmd(CmdDevice.door_motor, CmdAction.enable, null, "门 使能");
     }
-
     /**
-     * x轴设置参数
+     * 门 开启抱闸
      *
-     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle transferXSet(Double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(CmdDevice.x_motor, CmdAction.set, params, "x轴设置参数");
+    public static DeviceCommandBundle doorOpenClamp() {
+        return controlMotorCmd(CmdDevice.door_motor, CmdAction.open_clamp, null, "门 开启抱闸");
+    }
+    /**
+     * 门 关闭抱闸
+     *
+     */
+    public static DeviceCommandBundle doorCloseClamp() {
+        return controlMotorCmd(CmdDevice.door_motor, CmdAction.close_clamp, null, "门 关闭抱闸");
     }
 
 
+
     /**
      * z轴设置参数
      *
@@ -97,37 +101,33 @@ public class DeviceCommandGenerator {
     }
 
     /**
-     * 加液位升降电机参数设置
+     * z轴 失能
      *
-     * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle liquidMotorSet(Double speed) {
-        DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
-        return setInfoCmd(CmdDevice.liquid_motor, CmdAction.set, params, "加液臂电机设置参数");
+    public static DeviceCommandBundle transferZDisable() {
+        return controlMotorCmd(CmdDevice.z_motor, CmdAction.disable, null, "z轴 失能");
     }
-
-
     /**
-     * 转运 x轴回原点
+     * z轴 使能
+     *
      */
-    public static DeviceCommandBundle transferXOrigin() {
-        return controlMotorCmd(CmdDevice.x_motor, CmdAction.origin, null, "x轴回原点");
+    public static DeviceCommandBundle transferZEnable() {
+        return controlMotorCmd(CmdDevice.z_motor, CmdAction.enable, null, "z轴 使能");
     }
 
     /**
-     * z轴 失能
+     * z轴 开启抱闸
      *
      */
-    public static DeviceCommandBundle transferZDisable() {
-        return controlMotorCmd(CmdDevice.z_motor, CmdAction.disable, null, "z轴 失能");
+    public static DeviceCommandBundle transferZOpenClamp() {
+        return controlMotorCmd(CmdDevice.z_motor, CmdAction.open_clamp, null, "z轴  开启抱闸");
     }
     /**
-     * z轴 使能
+     * z轴 关闭抱闸
      *
      */
-    public static DeviceCommandBundle transferZEnable() {
-        return controlMotorCmd(CmdDevice.z_motor, CmdAction.enable, null, "z轴 使能");
+    public static DeviceCommandBundle transferZCloseClamp() {
+        return controlMotorCmd(CmdDevice.z_motor, CmdAction.close_clamp, null, "z轴  关闭抱闸");
     }
     /**
      * z轴回原点
@@ -135,59 +135,78 @@ public class DeviceCommandGenerator {
     public static DeviceCommandBundle transferZOrigin() {
         return controlMotorCmd(CmdDevice.z_motor, CmdAction.origin, null, "z轴回原点");
     }
-    /**
-     * 加液位升降电机回原点
-     */
-    public static DeviceCommandBundle motorLiquidOrigin() {
-        return controlMotorCmd(CmdDevice.liquid_motor, CmdAction.origin, null, "加液位电机 回原点");
-    }
 
     /**
-     * x轴移动
+     * z轴移动
      *
      * @param position 位置 单位 mm
      */
-    public static DeviceCommandBundle transferXMove(Double position) {
+    public static DeviceCommandBundle transferZMove(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlMotorCmd(CmdDevice.x_motor, CmdAction.move, params, "x轴绝对移动");
+        return controlMotorCmd(CmdDevice.z_motor, CmdAction.move, params, "z轴移动");
     }
-
-
     /**
-     * z轴移动
+     * z轴停止
+     */
+    public static DeviceCommandBundle transferZStop() {
+        return controlMotorCmd(CmdDevice.z_motor, CmdAction.stop, null, "z轴停止");
+    }
+    /**
+     * z轴相对移动
      *
      * @param position 位置 单位 mm
      */
-    public static DeviceCommandBundle transferZMove(Double position) {
+    public static DeviceCommandBundle transferZMoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlMotorCmd(CmdDevice.z_motor, CmdAction.move, params, "z轴移动");
+        return controlMotorCmd(CmdDevice.z_motor, CmdAction.move_by, params, "z轴相对移动");
     }
-
     /**
-     * x轴相对移动
+     * 加液位升降电机回原点
+     */
+    public static DeviceCommandBundle motorLiquidOrigin() {
+        return controlMotorCmd(CmdDevice.liquid_motor, CmdAction.origin, null, "加液位电机 回原点");
+    }
+    /**
+     * x轴设置参数
+     *
+     * @param speed 速度 单位 mm/s
+     */
+    public static DeviceCommandBundle transferXSet(Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.x_motor, CmdAction.set, params, "x轴设置参数");
+    }
+    /**
+     * x轴 回原点
+     */
+    public static DeviceCommandBundle transferXOrigin() {
+        return controlMotorCmd(CmdDevice.x_motor, CmdAction.origin, null, "x轴回原点");
+    }
+    /**
+     * x轴移动
      *
      * @param position 位置 单位 mm
      */
-    public static DeviceCommandBundle transferXMoveBy(Double position) {
+    public static DeviceCommandBundle transferXMove(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlMotorCmd(CmdDevice.x_motor, CmdAction.move_by, params, "x轴相对移动");
+        return controlMotorCmd(CmdDevice.x_motor, CmdAction.move, params, "x轴绝对移动");
     }
 
-
     /**
-     * z轴相对移动
+     * x轴相对移动
      *
      * @param position 位置 单位 mm
      */
-    public static DeviceCommandBundle transferZMoveBy(Double position) {
+    public static DeviceCommandBundle transferXMoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlMotorCmd(CmdDevice.z_motor, CmdAction.move_by, params, "z轴相对移动");
+        return controlMotorCmd(CmdDevice.x_motor, CmdAction.move_by, params, "x轴相对移动");
     }
 
+
     /**
      * x轴停止
      */
@@ -210,13 +229,31 @@ public class DeviceCommandGenerator {
     }
 
     /**
-     * z轴停止
+     * x轴 开启抱闸
+     *
      */
-    public static DeviceCommandBundle transferZStop() {
-        return controlMotorCmd(CmdDevice.z_motor, CmdAction.stop, null, "z轴停止");
+    public static DeviceCommandBundle transferXOpenClamp() {
+        return controlMotorCmd(CmdDevice.x_motor, CmdAction.open_clamp, null, "x轴  开启抱闸");
+    }
+    /**
+     * x轴 关闭抱闸
+     *
+     */
+    public static DeviceCommandBundle transferXCloseClamp() {
+        return controlMotorCmd(CmdDevice.x_motor, CmdAction.close_clamp, null, "x轴  关闭抱闸");
     }
 
     /**
+     * 加液位升降电机参数设置
+     *
+     * @param speed 速度 单位 mm/s
+     */
+    public static DeviceCommandBundle liquidMotorSet(Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.liquid_motor, CmdAction.set, params, "加液臂电机设置参数");
+    }
+    /**
      * 加液位电机停止
      */
     public static DeviceCommandBundle liquidMotorStop() {
@@ -260,6 +297,21 @@ public class DeviceCommandGenerator {
     }
 
     /**
+     * 加液机械臂 开启抱闸
+     *
+     */
+    public static DeviceCommandBundle liquidMotorOpenClamp() {
+        return controlMotorCmd(CmdDevice.liquid_motor, CmdAction.open_clamp, null, "加液机械臂  开启抱闸");
+    }
+    /**
+     * 加液机械臂 关闭抱闸
+     *
+     */
+    public static DeviceCommandBundle liquidMotorCloseClamp() {
+        return controlMotorCmd(CmdDevice.liquid_motor, CmdAction.close_clamp, null, "加液机械臂  关闭抱闸");
+    }
+
+    /**
      * 加液泵设置参数
      *
      * @param speed 速度 单位 mm/s
diff --git a/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java
index aa3eb4a..1e741ad 100644
--- a/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java
+++ b/src/main/java/com/iflytop/sgs/common/enums/cmd/CmdAction.java
@@ -6,5 +6,5 @@ public enum CmdAction {
     open, close, stop, start, set, get,
     open_power, close_power, open_circle, close_circle,
     open_heart, close_heart, open_cool, close_cool, take_photo,
-    enable,disable
+    enable,disable,open_clamp,close_clamp,
 }