diff --git a/a8000_protocol b/a8000_protocol
index befb0cf..60bf493 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit befb0cfa58db25acb9e3a496e5e4414ac8797f88
+Subproject commit 60bf4933a4ad9ef89802826dd5cc253efe4af94d
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index 633e5b3..bcdaa06 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -60,6 +60,10 @@ void PipetteModuleV2::initialize(int32_t id, config_t *config, hardward_config_t
   m_zm   = hardwaredcfg->zmotor;
   m_zm0p = hardwaredcfg->zmotor_0point;
 
+  // m_smtp2.pump_init(m_cfg.pump_vmax);
+  // osDelay(3000);
+  // m_smtp2.write_cmd("/1?23R\r");
+
   m_zm->getGState();  // 读取状态，清空下复位标识
   module_active_cfg();
 }
@@ -75,7 +79,7 @@ void PipetteModuleV2::create_default_cfg(config_t *defaultcfg) {
   defaultcfg->aspirate_zmotor_max_move_by  = 400;  // 50mm,tip头的长度
   defaultcfg->lld_pump_vel                 = 100;  // lld推荐使用速度为50->200,这里
   defaultcfg->lld_motor_vel_rpm            = 200;
-  defaultcfg->lld_detect_period_ms         = 10;  // 100ms
+  defaultcfg->lld_detect_period_ms         = 5;  // 100ms
   defaultcfg->lld_prepare_pos              = PIPETTE_PREPARE_POS;
   defaultcfg->lld_prepare_pre_distribut_ul = LLD_PREPARE_DISTRIBUT_POS;
 
@@ -324,9 +328,15 @@ int32_t PipetteModuleV2::pipette_put_tip() {
 }
 
 int32_t PipetteModuleV2::pipette_lld_prepare() {
-  if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
-
   THREAD_START_WORK([this]() {
+    ZLOGI(TAG, "zmotor move to zero");
+    zm_move_to(0, m_cfg.zm_default_velocity);
+    zm_waitfor_stop();
+    ZLOGI(TAG, "pump move to 0 pos");
+    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 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
     pump_waitfor_stop();
     m_state.lld_prepared = 1;
@@ -335,17 +345,11 @@ int32_t PipetteModuleV2::pipette_lld_prepare() {
 }
 int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t zdpos, int32_t c_threshold, int32_t p_threshold) {
   // 检查泵机是否初始化过
-  if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
 
   if (lldtype < 0 || lldtype > klldtypemax) {
     return err::kparam_out_of_range;
   }
 
-  // 检查tip头状态
-  int32_t tipstate = 0;
-  DO(m_smtp2.pump_get_tip_state(&tipstate));
-  if (tipstate != 0) return err::kpipette_error_tipisload_when_lld_prepare;
-
   THREAD_START_WORK([this, lldtype, zdpos, c_threshold, p_threshold]() {  //
     m_state.lld_prepared = 0;                                             // 失效m_state.lld_prepared
 
@@ -435,9 +439,12 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t zdpos, int32_t c_t
   return 0;
 }
 
-int32_t PipetteModuleV2::pipette_aspirate_prepare() {
-  if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
+int32_t PipetteModuleV2::pipette_lld_is_detect_liquid(int32_t *detect) {
+  *detect = m_state.detected_liquid;
+  return 0;
+}
 
+int32_t PipetteModuleV2::pipette_aspirate_prepare() {
   THREAD_START_WORK([this]() {  //
     ZLOGI(TAG, "pipette_aspirate_prepare");
     m_state.aspirate_cfg_eigen_time = 0;
@@ -473,8 +480,6 @@ int32_t PipetteModuleV2::pipette_aspirate_set_operation_verifi_tolerance(int32_t
 }
 
 int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
-  if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
-
   THREAD_START_WORK([this, ul]() {
     m_state.lld_prepared = 0;
 
@@ -501,8 +506,6 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
   return 0;
 }
 int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
-  if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
-
   THREAD_START_WORK([this, ul]() {
     m_state.lld_prepared = 0;
 
@@ -525,8 +528,6 @@ int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
 }
 
 int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
-  if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
-
   THREAD_START_WORK([this, ul, times]() {
     //
     int32_t dpos = 0;
@@ -566,8 +567,6 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) {
 }
 
 int32_t PipetteModuleV2::pipette_aspirate_infer_pressure(int32_t ul) {
-  if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
-
   THREAD_START_WORK([this, ul]() {
     //
     ZLOGI(TAG, "pipette_aspirate_infer_pressure %d", ul);
@@ -584,8 +583,6 @@ int32_t PipetteModuleV2::pipette_get_aspirate_infer_pressure_result(int32_t *res
   return 0;
 }
 int32_t PipetteModuleV2::pipette_aspirate_infer_eigen_time(int32_t ul) {
-  if (m_state.pipette_is_inited == 0) return err::kpipette_error_uninited;
-
   //
   THREAD_START_WORK([this, ul]() {
     //
@@ -820,39 +817,38 @@ int32_t PipetteModuleV2::bfcall(int32_t cmdid, uint8_t *param, int32_t len) {
     MODULE_BFCALL_DUMP_FN_CALL(cmdid, param32, paramNum);
   }
 
-  if (cmdid == kpipette_zmotor_move_zero) goto check;
-  if (cmdid == kpipette_zmotor_move_to_zero_point_quick) {
-    if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
-    goto check;
-  }
-  if (cmdid == kpipette_zmotor_measure_distance) goto check;
-  if (cmdid == kpipette_zmotor_read_measure_distance_result) goto check;
-  if (cmdid == kpipette_zmotor_move_by) goto check;
-  if (cmdid == kpipette_zmotor_move_to) {
-    if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
-    goto check;
-  }
+  if (cmdid == kpipette_zmotor_move_zero) goto motor_check_bf_run;
+  if (cmdid == kpipette_zmotor_move_to_zero_point_quick) goto motor_move_to_check;
+  if (cmdid == kpipette_zmotor_measure_distance) goto motor_move_to_check;
+  if (cmdid == kpipette_zmotor_move_by) goto motor_check_bf_run;
+  if (cmdid == kpipette_zmotor_move_to) goto motor_move_to_check;
+
   if (cmdid == kpipette_init_device) goto check;
   if (cmdid == kpipette_put_tip) goto check;
   if (cmdid == kpipette_lld_prepare) goto check;
-  if (cmdid == kpipette_lld) goto check;
+  if (cmdid == kpipette_lld) goto motor_check_bf_run;
   if (cmdid == kpipette_aspirate_prepare) goto check;
   if (cmdid == kpipette_aspirate_set_llf_velocity) goto check;
   if (cmdid == kpipette_aspirate_set_operation_verifi_p_thre) goto check;
   if (cmdid == kpipette_aspirate_set_operation_verifi_eigen_time) goto check;
   if (cmdid == kpipette_aspirate_set_operation_verifi_tolerance) goto check;
-  if (cmdid == kpipette_aspirate) goto check;
-  if (cmdid == kpipette_aspirate_and_verify) goto check;
-  if (cmdid == kpipette_shake_up) goto check;
+  if (cmdid == kpipette_aspirate) goto motor_check_bf_run;
+  if (cmdid == kpipette_aspirate_and_verify) goto motor_check_bf_run;
+  if (cmdid == kpipette_shake_up) goto motor_check_bf_run;
   if (cmdid == kpipette_aspirate_infer_pressure) goto check;
   if (cmdid == kpipette_aspirate_infer_eigen_time) goto check;
 
   return 0;
 
+motor_move_to_check:
+  if (m_state.has_move_to_zero == 0) return err::kstep_motor_not_move_to_zero;
+  goto motor_check_bf_run;
+
+motor_check_bf_run:
+  if (m_state.enable == 0) return err::kstep_motor_not_enable;
+  goto check;
+
 check:
-  if (!m_state.enable) {
-    return err::kstep_motor_not_enable;
-  }
   if (creg.module_errorcode == err::kstep_motor_subic_reset) {
     return creg.module_errorcode;
   } else if (creg.module_errorcode == err::kstep_motor_drv_err) {
@@ -899,17 +895,17 @@ void PipetteModuleV2::runingcheck() {
 
   // 检查电机状态
   {
-    // auto state = m_zm->getGState();
-    // if (state.reset) {
-    //   ZLOGE(TAG, "motor reset when run");
-    //   throw zapp_exception(err::kstep_motor_subic_reset);
-    // } else if (state.uv_cp) {
-    //   ZLOGE(TAG, "motor uv_cp when run");
-    //   throw zapp_exception(err::kstep_motor_uv_cp);
-    // } else if (state.drv_err) {
-    //   ZLOGE(TAG, "motor drv_err when run");
-    //   throw zapp_exception(err::kstep_motor_drv_err);
-    // }
+    auto state = m_zm->getGState();
+    if (state.reset) {
+      ZLOGE(TAG, "motor reset when run");
+      throw zapp_exception(err::kstep_motor_subic_reset);
+    } else if (state.uv_cp) {
+      ZLOGE(TAG, "motor uv_cp when run");
+      throw zapp_exception(err::kstep_motor_uv_cp);
+    } else if (state.drv_err) {
+      ZLOGE(TAG, "motor drv_err when run");
+      throw zapp_exception(err::kstep_motor_drv_err);
+    }
   }
 }
 
@@ -925,6 +921,10 @@ void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn)
   creg.module_status    = 1;
   creg.module_errorcode = 0;
 
+  m_state.detected_liquid       = 0;
+  m_asynchronous_result.result0 = 0;
+  m_asynchronous_result.result1 = 0;
+
   m_thread.start([this, fnname, fn]() {
     osDelay(1);
     ZLOGI(TAG, "start work -> %s", fnname);
@@ -958,7 +958,6 @@ void PipetteModuleV2::thread_start_work(const char *fnname, function<void()> fn)
       m_smtp2.pump_stop();
       creg.module_errorcode = e.ecode();
     }
-
     creg.module_status = 0;
     ZLOGI(TAG, "<- end work");
   });
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
index 0e9374d..c7e587c 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
@@ -171,6 +171,8 @@ class PipetteModuleV2 : public ZIModule {
   virtual int32_t pipette_put_tip();
   virtual int32_t pipette_lld_prepare();
   virtual int32_t pipette_lld(int32_t lldtype /*kclld = 0,kplld = 1, kmixlld = 2, */, int32_t zdpos, int32_t c_threshold, int32_t p_threshold);
+  virtual int32_t pipette_lld_is_detect_liquid(int32_t *detect);
+
   virtual int32_t pipette_aspirate_prepare();
   virtual int32_t pipette_aspirate_set_llf_velocity(int32_t llf_zm_rpm);
   virtual int32_t pipette_aspirate_set_operation_verifi_p_thre(int32_t p_thre);
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
index 9f3d649..ed36f65 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
@@ -48,6 +48,8 @@ int32_t SMTP2V2::pump_get_state_as_int(int32_t state_index, int32_t* val) {
   return err::ksucc;
 }
 
+
+
 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);
diff --git a/sdk/components/tmc/ic/ztmc5130.cpp b/sdk/components/tmc/ic/ztmc5130.cpp
index 4009e10..f19e55f 100644
--- a/sdk/components/tmc/ic/ztmc5130.cpp
+++ b/sdk/components/tmc/ic/ztmc5130.cpp
@@ -133,11 +133,12 @@ uint8_t TMC51X0::reset() {
 }
 int32_t TMC51X0::getXACTUAL() { return to_user_pos(readInt(TMC5130_XACTUAL)); }
 void    TMC51X0::setXACTUAL(int32_t value) {
-  // change mode to vel
-  // set xactual to val
-  // set xtarget to val
-
+  /**
+   * @brief 切换到速度模式之后再调整位置，防止电机异常移动
+   */
+  rotate(0);
   writeInt(TMC5130_XACTUAL, to_motor_pos(value));
+  writeInt(TMC5130_XTARGET, to_motor_pos(value));
 }
 int32_t TMC51X0::getVACTUAL() { return to_user_pos(readInt(TMC5130_VACTUAL)); }
 void    TMC51X0::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX, (int32_t)(to_motor_acc(accelerationpps2))); }  // 设置最大加速度
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.cpp b/sdk/components/zcancmder/zcan_protocol_parser.cpp
index aa7a9de..92eee79 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.cpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.cpp
@@ -178,6 +178,7 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(pipette_get_sensor_sample_data_num);
   REGFN(pipette_zmotor_read_zero_point_state);
   REGFN(pipette_zmotor_read_dev_status_cache);
+  REGFN(pipette_lld_is_detect_liquid);
 }
 void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
 void ZCanProtocolParser::registerModule(ZIModule* module) {
@@ -1063,4 +1064,11 @@ int32_t ZCanProtocolParser::pipette_zmotor_read_dev_status_cache(cmdcontxt_t* cx
   cxt->acklen  = 4;
   return module->pipette_zmotor_read_dev_status_cache(&ack[0]);
 }
+int32_t ZCanProtocolParser::pipette_lld_is_detect_liquid(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 4;
+  return module->pipette_lld_is_detect_liquid(&ack[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 caee362..6e42505 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.hpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.hpp
@@ -212,6 +212,7 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   CMDFN(pipette_get_sensor_sample_data_num);
   CMDFN(pipette_zmotor_read_zero_point_state);
   CMDFN(pipette_zmotor_read_dev_status_cache);
+  CMDFN(pipette_lld_is_detect_liquid);
 };
 
 }  // namespace iflytop
\ No newline at end of file