diff --git a/a8000_protocol b/a8000_protocol
index e4ccf30..86de5f6 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit e4ccf301ebe4edb258ec95a90c2389d8caa394c1
+Subproject commit 86de5f61c4bcbb488ba1f03b67e5a5b95bdc074f
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v1.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v1.cpp
index 37f8bc5..167d8bf 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v1.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v1.cpp
@@ -728,7 +728,7 @@
 //   creg.module_errorcode = 0;
 //   m_state.dul           = 0;
 //   DO(module_active_cfg());
-//   DO(m_smtp2.pump_get_motor_pos_ul(&m_state.pump_before_pos_ul));
+//   DO(m_smtp2.pump_get_ul(&m_state.pump_before_pos_ul));
 
 //   return 0;
 // }
@@ -748,7 +748,7 @@
 //   err         = creg.module_errorcode;
 //   if (err != 0) goto tag_err;
 
-//   err = m_smtp2.pump_get_motor_pos_ul(&m_state.pump_after_pos_ul);
+//   err = m_smtp2.pump_get_ul(&m_state.pump_after_pos_ul);
 //   if (err != 0) goto tag_err;
 
 //   m_state.dul = m_state.pump_after_pos_ul - m_state.pump_before_pos_ul;
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index c715acc..d721c29 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -33,10 +33,10 @@
 
 #define THREAD_START_WORK(...) thread_start_work(__FUNCTION__, __VA_ARGS__)
 
-#define PIPETTE_PREPARE_POS       250
+#define PIPETTE_PREPARE_POS       450
 #define LLD_PREPARE_DISTRIBUT_POS 50
 // #define LLF_DPOS                  1000
-#define ASPIRATE_POS 150
+#define ASPIRATE_POS 200
 
 using namespace iflytop;
 // using namespace pipette_module_v3;
@@ -324,6 +324,7 @@ int32_t PipetteModuleV2::pipette_init_device() {
 int32_t PipetteModuleV2::pipette_put_tip() {
   THREAD_START_WORK([this]() {
     DO_IN_THREAD(m_smtp2.pump_put_tip());
+    m_state.lld_prepared = 0;
     pump_waitfor_stop();
   });
   return 0;
@@ -331,11 +332,6 @@ int32_t PipetteModuleV2::pipette_put_tip() {
 
 int32_t PipetteModuleV2::pipette_lld_prepare() {
   THREAD_START_WORK([this]() {
-    if (m_state.lld_prepared == 1) {
-      ZLOGI(TAG, "has already prepared");
-      return;
-    }
-
     ZLOGI(TAG, "zmotor move to zero");
     zm_move_to(0, m_cfg.zm_default_velocity);
     zm_waitfor_stop();
@@ -347,6 +343,9 @@ int32_t PipetteModuleV2::pipette_lld_prepare() {
       DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0));  // 移动到零点
       pump_waitfor_stop();
     }
+    ZLOGI(TAG, "pump move to 0");
+    DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0));  // 移动到中点
+    pump_waitfor_stop();
 
     ZLOGI(TAG, "pump move to lld_prepare_pos %d", m_cfg.lld_prepare_pos);
     DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, m_cfg.lld_prepare_pos));  // 移动到中点
@@ -375,17 +374,22 @@ int32_t PipetteModuleV2::pipette_aspirate_prepare() {
     ZLOGI(TAG, "pipette_aspirate_prepare");
     m_state.load_val_ul = 0;
     int32_t nowpos      = zm_get_now_pos();
-    int32_t bak         = nowpos - 100;
+    int32_t bak         = nowpos - 200;
     if (bak < 0) bak = 0;
 
     zm_move_to(bak, m_cfg.zm_default_velocity);
     zm_waitfor_stop();
 
-    DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0));
-    pump_waitfor_stop();
+    // DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0));
+    // pump_waitfor_stop();
 
-    DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, ASPIRATE_POS));
-    pump_waitfor_stop();
+    int32_t nowul;
+    DO_IN_THREAD(m_smtp2.pump_get_ul(&nowul));
+
+    if (nowul > ASPIRATE_POS) {
+      DO_IN_THREAD(m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, ASPIRATE_POS));
+      pump_waitfor_stop();
+    }
 
     zm_move_to(nowpos, m_cfg.zm_default_velocity);
     zm_waitfor_stop();
@@ -483,12 +487,12 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
     pump_waitfor_stop();
 
     // 全部排空时，多分配10ul去掉挂液
-    if ((m_state.load_val_ul + dul) == 0) {
-      m_smtp2.pump_aspirate(m_cfg.aspirate_pump_vel, -50);
-      pump_waitfor_stop();
-      // for (size_t i = 0; i < 3; i++) {
-      // }
-    }
+    // if ((m_state.load_val_ul + dul) == 0) {
+    //   m_smtp2.pump_move_to_ul(m_cfg.aspirate_pump_vel, 0);
+    //   pump_waitfor_stop();
+    //   // for (size_t i = 0; i < 3; i++) {
+    //   // }
+    // }
 
     // stop
     m_zm->stop();
@@ -538,6 +542,31 @@ int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
   return 0;
 }
 
+int32_t PipetteModuleV2::pipette_clear_hanging_liquid(int32_t repeat_times) {
+  // llf_startz
+  // llf_endz
+  THREAD_START_WORK([this, repeat_times]() {
+    // 全部排空时，多分配10ul去掉挂液
+    m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0);
+    pump_waitfor_stop();
+    m_state.load_val_ul = 0;
+
+    int32_t nowpos = zm_get_now_pos();
+    int32_t pos1   = nowpos - 100;
+    int32_t pos2   = nowpos - 10;
+    if (pos1 < 0) pos1 = 0;
+    if (pos2 < 0) pos2 = 0;
+
+    for (int i = 0; i < repeat_times; i++) {
+      zm_move_to(pos1, m_cfg.zm_default_velocity);
+      zm_waitfor_stop();
+      zm_move_to(pos2, m_cfg.zm_default_velocity);
+      zm_waitfor_stop();
+    }
+  });
+  return 0;
+}
+
 int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
   if (m_state.load_val_ul != 0) {
     ZLOGE(TAG, "pipette_shake_up fail, load_val_ul %d != 0", m_state.load_val_ul);
@@ -1077,7 +1106,7 @@ void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn)
     try {
       // before do
       int32_t startpos = zm_get_now_pos();
-      // DO_IN_THREAD(m_smtp2.pump_get_motor_pos_ul(&pump_before_pos_ul));
+      // DO_IN_THREAD(m_smtp2.pump_get_ul(&pump_before_pos_ul));
 
       // do fn
       if (fn) fn();
@@ -1086,7 +1115,7 @@ void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn)
       m_smtp2.pump_stop();
 
       // after do
-      // DO_IN_THREAD(m_smtp2.pump_get_motor_pos_ul(&pump_after_pos_ul));
+      // DO_IN_THREAD(m_smtp2.pump_get_ul(&pump_after_pos_ul));
       int32_t endpos = zm_get_now_pos();
       // m_state.dul    = pump_after_pos_ul - pump_before_pos_ul;
       m_state.dpos       = endpos - startpos;
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
index dc6f67b..02d0070 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
@@ -202,6 +202,8 @@ class PipetteModuleV2 : public ZIModule {
   virtual int32_t pipette_aspirate_and_verify(int32_t ul);
   virtual int32_t pipette_shake_up(int32_t ul, int32_t times);
 
+  virtual int32_t pipette_clear_hanging_liquid(int32_t repeat_times);
+
   virtual int32_t pipette_aspirate_infer_pressure(int32_t ul);
   virtual int32_t pipette_aspirate_infer_eigen_time(int32_t ul);
   virtual int32_t pipette_get_aspirate_infer_pressure_result(int32_t *result);
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
index ea67c23..1d27bae 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
@@ -48,6 +48,10 @@ int32_t SMTP2V2::pump_get_state_as_int(int32_t state_index, int32_t* val) {
   return err::ksucc;
 }
 
+
+
+// pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
+
 int32_t SMTP2V2::pump_get_capacitance(int32_t* capacitance) { return pump_get_state_as_int(kstate_capacitance, capacitance); }
 int32_t SMTP2V2::pump_get_pressure(int32_t* pressure) {  //
   return pump_get_state_as_int(kstate_pressure_ad, pressure);
@@ -55,7 +59,7 @@ int32_t SMTP2V2::pump_get_pressure(int32_t* pressure) {  //
 
 int32_t SMTP2V2::pump_get_tip_state(int32_t* tipison) { return pump_get_state_as_int(kstate_tip_state, tipison); }
 
-int32_t SMTP2V2::pump_get_motor_pos_ul(int32_t* ul) {
+int32_t SMTP2V2::pump_get_ul(int32_t* ul) {
   int32_t nl  = 0;
   int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, &nl);
   if (ret != 0) return ret;
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
index 9455f57..a39d2b1 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
@@ -165,10 +165,12 @@ class SMTP2V2 {
   int32_t pump_get_capacitance(int32_t* capacitance);
   int32_t pump_get_pressure(int32_t* pressure);
   int32_t pump_get_tip_state(int32_t* tipison);
-  int32_t pump_get_motor_pos_ul(int32_t* ul);
+  int32_t pump_get_ul(int32_t* ul);
 
   int32_t pump_get_state_as_int(int32_t state_index, int32_t* val);
 
+  // pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
+
   /***********************************************************************************************************************
    *                                                       CONFIG                                                        *
    ***********************************************************************************************************************/
diff --git a/sdk/components/zcancmder/basic.cpp b/sdk/components/zcancmder/basic.cpp
index ac8ec59..c6a76d2 100644
--- a/sdk/components/zcancmder/basic.cpp
+++ b/sdk/components/zcancmder/basic.cpp
@@ -29,7 +29,7 @@ uint8_t *CanPacketRxBuffer::get_params() {
 uint16_t CanPacketRxBuffer::get_params_len() { return rxdataSize - sizeof(zcr_cmd_header_t); }
 void     CanPacketRxBuffer::clear() {
   id = 0;
-  memset(&m_canPacket, 0, sizeof(m_canPacket) / sizeof(m_canPacket[0]));
+  memset(&m_canPacket, 0, sizeof(m_canPacket)); //fix 
   m_canPacketNum = 0;
   m_npacket      = 0;
   memset(rxdata, 0, sizeof(rxdata));
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.cpp b/sdk/components/zcancmder/zcan_protocol_parser.cpp
index 2cb5b93..1c89714 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.cpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.cpp
@@ -188,6 +188,7 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(pipette_set_lld_p_threshold);
   REGFN(pipette_set_llf_startz);
   REGFN(pipette_set_llf_endz);
+  REGFN(pipette_clear_hanging_liquid);
 }
 void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
 void ZCanProtocolParser::registerModule(ZIModule* module) {
@@ -1119,7 +1120,11 @@ int32_t ZCanProtocolParser::pipette_set_llf_endz(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
   return module->pipette_set_llf_endz(cxt->params[0]);
 }
-
+// pipette_clear_hanging_liquid
+int32_t ZCanProtocolParser::pipette_clear_hanging_liquid(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(1);
+  return module->pipette_clear_hanging_liquid(cxt->params[0]);
+}
 
 
 #undef MODULE_CLASS
\ No newline at end of file
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.hpp b/sdk/components/zcancmder/zcan_protocol_parser.hpp
index c172f5b..e75c4ef 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.hpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.hpp
@@ -221,6 +221,7 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   CMDFN(pipette_set_lld_p_threshold);
   CMDFN(pipette_set_llf_startz);
   CMDFN(pipette_set_llf_endz);
+  CMDFN(pipette_clear_hanging_liquid);