diff --git a/a8000_protocol b/a8000_protocol
index 70de851..ba614e6 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 70de85131a9ed15cbd296a887a180267b46fd114
+Subproject commit ba614e601a4ec166fa2d6511f2fe0b4c14f60f85
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index 990fb27..8abe480 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -145,7 +145,7 @@ int32_t PipetteModuleV2::module_xxx_reg_impl(int32_t param_id, bool read, int32_
     /***********************************************************************************************************************
      *                                                        STATE                                                        *
      ***********************************************************************************************************************/
-    XXX_STATE_REG(kreg_pipette_pos_ul, /*             */ pump_read_pos_ul(&val));
+    XXX_STATE_REG(kreg_pipette_pos_nl, /*             */ pump_read_pos_nl(&val));
     XXX_STATE_REG(kreg_pipette_capactitance_val, /*   */ pump_read_capactitance(&val));
     XXX_STATE_REG(kreg_pipette_tip_state, /*          */ pump_read_tip_state(&val));
     XXX_STATE_REG(kreg_pipette_zm_pos, assign_int32(&val, zm_get_now_pos()));
@@ -317,10 +317,10 @@ int32_t PipetteModuleV2::pipette_init_device() {
     DO_IN_THREAD(m_smtp2.pump_init(m_cfg.pump_vmax));
     pump_waitfor_stop();
 
-    m_smtp2.pump_set_io1_mode(0);              // lld输入高
-    m_smtp2.pump_set_io2_mode(0);              // 通用输入
-    m_smtp2.pump_set_tip_size(1);              // 250ul
-    m_smtp2.pump_enable_temp_compensation(1);  // 温度补偿
+    DO_IN_THREAD(m_smtp2.pump_set_io1_mode(0));              // lld输入高
+    DO_IN_THREAD(m_smtp2.pump_set_io2_mode(0));              // 通用输入
+    DO_IN_THREAD(m_smtp2.pump_set_tip_size(1));              // 250ul
+    DO_IN_THREAD(m_smtp2.pump_enable_temp_compensation(0));  // 温度补偿
 
     //
     // m_state.load_val_ul = 0;
@@ -338,346 +338,10 @@ int32_t PipetteModuleV2::pipette_put_tip() {
   });
   return 0;
 }
-#if 0
-int32_t PipetteModuleV2::pipette_lld_prepare() {
-  THREAD_START_WORK([this]() {
-    ZLOGI(TAG, "zmotor move to zero");
-    zm_move_to(0, m_cfg.zm_default_velocity);
-    zm_waitfor_stop();
-
-    int32_t tipstate = 0;
-    pump_read_tip_state(&tipstate);
-    if (tipstate != 0) {
-      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 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
-    pump_waitfor_stop();
-    m_state.lld_prepared = 1;
-    m_state.load_val_ul  = 0;
-  });
-  return 0;
-}
-
-int32_t PipetteModuleV2::pipette_lld_test() {  //
-  return do_pipette_lld(true, kplld, m_state.lld_startz, m_state.lld_endz - m_state.lld_startz, 100, 1000);
-}
-
-int32_t PipetteModuleV2::pipette_lld() {  //
-  return do_pipette_lld(false, m_state.lld_type, m_state.lld_startz, m_state.lld_endz - m_state.lld_startz, m_state.lld_c_threshold, m_state.lld_p_threshold);
-}
-
-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.load_val_ul = 0;
-    int32_t nowpos      = zm_get_now_pos();
-    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();
-
-    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();
-    ZLOGI(TAG, "pipette_aspirate_prepare end...");
-  });
-  return 0;
-}
-
-int32_t PipetteModuleV2::pipette_set_lld_startz(int32_t startz) {
-  ZLOGI(TAG, "pipette_set_lld_startz %d", startz);
-  m_state.lld_startz = startz;
-  return 0;
-}
-int32_t PipetteModuleV2::pipette_set_lld_endz(int32_t endz) {
-  ZLOGI(TAG, "pipette_set_lld_endz %d", endz);
-  m_state.lld_endz = endz;
-  return 0;
-}
-
-int32_t PipetteModuleV2::pipette_set_lld_type(int32_t lld_type) {
-  ZLOGI(TAG, "pipette_set_lld_type %d", lld_type);
-  m_state.lld_type = lld_type;
-  return 0;
-}
-int32_t PipetteModuleV2::pipette_set_lld_c_threshold(int32_t c_threshold) {
-  ZLOGI(TAG, "pipette_set_lld_c_threshold %d", c_threshold);
-  m_state.lld_c_threshold = c_threshold;
-  return 0;
-}
-int32_t PipetteModuleV2::pipette_set_lld_p_threshold(int32_t p_threshold) {
-  ZLOGI(TAG, "pipette_set_lld_p_threshold %d", p_threshold);
-  m_state.lld_p_threshold = p_threshold;
-  return 0;
-}
-
-int32_t PipetteModuleV2::pipette_set_llf_velocity(int32_t llf_zm_rpm) {
-  m_state.aspirate_cfg_llf_zm_rpm = llf_zm_rpm;
-  ZLOGI(TAG, "pipette_set_llf_velocity %d", llf_zm_rpm);
-  return 0;
-}
-
-int32_t PipetteModuleV2::pipette_set_llf_startz(int32_t startz) {
-  m_state.llf_startz = startz;
-  ZLOGI(TAG, "pipette_set_llf_startz %d", startz);
-  return 0;
-}
-int32_t PipetteModuleV2::pipette_set_llf_endz(int32_t endz) {
-  m_state.llf_endz = endz;
-  ZLOGI(TAG, "pipette_set_llf_end %d", endz);
-  return 0;
-}
-int32_t PipetteModuleV2::pipette_set_aspirate_operation_verifi_p_thre(int32_t p_thre) {
-  m_state.aspirate_cfg_p_thre = p_thre;
-  ZLOGI(TAG, "pipette_set_aspirate_operation_verifi_p_thre %d", p_thre);
-  return 0;
-}
-int32_t PipetteModuleV2::pipette_set_aspirate_operation_verifi_eigen_time(int32_t characteristic_time) {
-  m_state.aspirate_cfg_eigen_time = characteristic_time;
-  ZLOGI(TAG, "pipette_set_aspirate_operation_verifi_eigen_time %d", characteristic_time);
-  return 0;
-}
-
-int32_t PipetteModuleV2::pipette_set_aspirate_operation_verifi_tolerance(int32_t tolerance) {
-  m_state.aspirate_cfg_tolerance = tolerance;
-  ZLOGI(TAG, "pipette_set_aspirate_operation_verifi_tolerance %d", tolerance);
-  return 0;
-}
-
-int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) {
-  // pipette_aspirate
-  if (m_state.load_val_ul + ul > m_cfg.limit_ul) {
-    ZLOGE(TAG, "pipette_aspirate %d fail , final ul (%d + %d)> limit ul %d", ul, m_state.load_val_ul, ul, m_cfg.limit_ul);
-    return err::kparam_out_of_range;
-  }
-
-  // llf_startz
-  // llf_endz
-
-  THREAD_START_WORK([this, ul]() {
-    m_state.lld_prepared = 0;
-
-    int dul = m_state.load_val_ul + ul <= 0 ? -m_state.load_val_ul : ul;
-    DO_IN_THREAD(m_smtp2.pump_aspirate(m_cfg.aspirate_pump_vel, dul));
-
-    // int32_t dpos = ul > 0 ? m_cfg.aspirate_zmotor_max_move_by : -m_cfg.aspirate_zmotor_max_move_by;
-
-    if (m_state.aspirate_cfg_llf_zm_rpm != 0) {
-      if (ul >= 0) {
-        zm_move_to(m_state.llf_endz, m_state.aspirate_cfg_llf_zm_rpm);
-      } else {
-        zm_move_to(m_state.llf_startz, m_state.aspirate_cfg_llf_zm_rpm);
-      }
-    }
-
-    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_move_to_ul(m_cfg.aspirate_pump_vel, 0);
-    //   pump_waitfor_stop();
-    //   // for (size_t i = 0; i < 3; i++) {
-    //   // }
-    // }
-
-    // stop
-    m_zm->stop();
-    m_smtp2.pump_stop();
-
-    m_state.load_val_ul = m_state.load_val_ul + ul;
-    if (m_state.load_val_ul < 0) m_state.load_val_ul = 0;
-  });
-  return 0;
-}
-int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) {
-  if (m_state.load_val_ul + ul > m_cfg.limit_ul) {
-    ZLOGE(TAG, "pipette_aspirate %d fail , final ul (%d + %d)> limit ul %d", ul, m_state.load_val_ul, ul, m_cfg.limit_ul);
-    return err::kparam_out_of_range;
-  }
-
-  THREAD_START_WORK([this, ul]() {
-    m_state.lld_prepared = 0;
-
-    // zmotor and pump  move
-
-    int dul = m_state.load_val_ul + ul <= 0 ? -m_state.load_val_ul : ul;
-    DO_IN_THREAD(m_smtp2.pump_aspirate_and_verify(m_cfg.aspirate_pump_vel, dul,     //
-                                                  m_state.aspirate_cfg_p_thre,      //
-                                                  m_state.aspirate_cfg_eigen_time,  //
-                                                  m_state.aspirate_cfg_tolerance));
-
-    // int32_t dpos = ul > 0 ? m_cfg.aspirate_zmotor_max_move_by : -m_cfg.aspirate_zmotor_max_move_by;
-    // if (m_state.aspirate_cfg_llf_zm_rpm != 0) zm_move_by(dpos, m_state.aspirate_cfg_llf_zm_rpm);
-    if (m_state.aspirate_cfg_llf_zm_rpm != 0) {
-      if (ul >= 0) {
-        zm_move_to(m_state.llf_endz, m_state.aspirate_cfg_llf_zm_rpm);
-      } else {
-        zm_move_to(m_state.llf_startz, m_state.aspirate_cfg_llf_zm_rpm);
-      }
-    }
-
-    // wait...
-    pump_waitfor_stop();
-    // stop
-    m_zm->stop();
-    m_smtp2.pump_stop();
-
-    m_state.load_val_ul = m_state.load_val_ul + ul;
-    if (m_state.load_val_ul < 0) m_state.load_val_ul = 0;
-  });
-  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);
-    return err::kpipette_error_pump_load_val_is_not_empty;
-  }
-
-  if (m_state.load_val_ul + ul > m_cfg.limit_ul) {
-    ZLOGE(TAG, "pipette_aspirate %d fail , final ul (%d + %d)> limit ul %d", ul, m_state.load_val_ul, ul, m_cfg.limit_ul);
-    return err::kparam_out_of_range;
-  }
-
-  THREAD_START_WORK([this, ul, times]() {
-    //
-    int32_t dpos = 0;
-
-    int32_t startpos = m_zm->getXACTUAL();
-    int32_t endpos   = 0;
-    // first aspirate
-    // if (m_state.aspirate_cfg_llf_zm_rpm) zm_move_by(LLF_DPOS, m_state.aspirate_cfg_llf_zm_rpm);
-    if (m_state.aspirate_cfg_llf_zm_rpm != 0) {
-      zm_move_to(m_state.llf_endz, m_state.aspirate_cfg_llf_zm_rpm);
-    }
-
-    DO_IN_THREAD(m_smtp2.pump_aspirate(m_cfg.aspirate_pump_vel, ul));
-    pump_waitfor_stop();
-
-    m_zm->stop();
-    m_smtp2.pump_stop();
-    endpos = m_zm->getXACTUAL();
-
-    for (int i = 0; i < times - 1; i++) {
-      // distribute
-      if (m_state.aspirate_cfg_llf_zm_rpm) zm_move_to(startpos, m_state.aspirate_cfg_llf_zm_rpm);
-      DO_IN_THREAD(m_smtp2.pump_aspirate(m_cfg.aspirate_pump_vel, -ul));
-      pump_waitfor_stop();
-      zm_waitfor_stop();
-
-      // aspirate
-      if (m_state.aspirate_cfg_llf_zm_rpm) zm_move_to(endpos, m_state.aspirate_cfg_llf_zm_rpm);
-      DO_IN_THREAD(m_smtp2.pump_aspirate(m_cfg.aspirate_pump_vel, ul));
-      pump_waitfor_stop();
-      zm_waitfor_stop();
-    }
-
-    // final distribute
-    if (m_state.aspirate_cfg_llf_zm_rpm) zm_move_to(startpos, m_state.aspirate_cfg_llf_zm_rpm);
-    DO_IN_THREAD(m_smtp2.pump_aspirate(m_cfg.aspirate_pump_vel, -ul));
-    pump_waitfor_stop();
-    zm_waitfor_stop();
-  });
-  return 0;
-}
-
-int32_t PipetteModuleV2::pipette_aspirate_infer_pressure(int32_t ul) {
-  THREAD_START_WORK([this, ul]() {
-    //
-    ZLOGI(TAG, "pipette_aspirate_infer_pressure %d", ul);
-    m_asynchronous_result.result0 = 0;
-    DO_IN_THREAD(m_smtp2.pump_aspirate_infer_pressure(m_cfg.aspirate_pump_vel, ul));
-    pump_waitfor_stop();
-    m_smtp2.pump_get_infer_pressure(&m_asynchronous_result.result0);
-    ZLOGI(TAG, "pipette_aspirate_infer_pressure %d", m_asynchronous_result.result0);
-  });
-  return 0;
-}
-int32_t PipetteModuleV2::pipette_get_aspirate_infer_pressure_result(int32_t *result) {
-  *result = m_asynchronous_result.result0;
-  return 0;
-}
-int32_t PipetteModuleV2::pipette_aspirate_infer_eigen_time(int32_t ul) {
-  //
-  THREAD_START_WORK([this, ul]() {
-    //
-    ZLOGI(TAG, "pipette_aspirate_infer_eigen_time %d", ul);
-    m_asynchronous_result.result0 = 0;
-    DO_IN_THREAD(m_smtp2.pump_aspirate_infer_eigen_time(m_cfg.aspirate_pump_vel, ul));
-
-    //
-    while (true) {
-      ZLOGI(TAG, "wait for pump stop....");
-
-      int32_t isbusy = 0;
-      m_smtp2.pump_get_state(&isbusy);  // PS: 这里不做错误检查的原因是，pump_aspirate_infer_eigen_time指令一定会触发错误
-      if (isbusy == 0) break;
-      thread_delay(100);
-    }
-
-    m_smtp2.pump_get_infer_eigen_time(&m_asynchronous_result.result0);
-    ZLOGI(TAG, "pipette_aspirate_infer_eigen_time %d", m_asynchronous_result.result0);
-  });
-  return 0;
-}
-
-int32_t PipetteModuleV2::pipette_get_aspirate_infer_eigen_time_result(int32_t *result) {
-  *result = m_asynchronous_result.result0;
-  return 0;
-}
-#endif
 
-int32_t PipetteModuleV2::pipette_pump_move_to(int32_t pumpv, int32_t ul) {
-  THREAD_START_WORK([this, pumpv, ul]() {
-    DO_IN_THREAD(m_smtp2.pump_move_to_ul(pumpv, ul));
+int32_t PipetteModuleV2::pipette_pump_move_to(int32_t pumpv, int32_t nl) {
+  THREAD_START_WORK([this, pumpv, nl]() {
+    DO_IN_THREAD(m_smtp2.pump_move_to_nl(pumpv, nl));
     pump_waitfor_stop();
     m_smtp2.pump_stop();
   });
@@ -777,15 +441,15 @@ int32_t PipetteModuleV2::pipette_lld_is_detect_liquid(int32_t *detect) {
   return 0;
 }
 
-int32_t PipetteModuleV2::pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32_t pumpv, int32_t ul) {
+int32_t PipetteModuleV2::pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32_t pumpv, int32_t nl) {
   // pipette_aspirate
-  if (ul < 0) {
-    ZLOGE(TAG, "pipette_aspirate %d fail , ul < 0", ul);
+  if (nl < 0) {
+    ZLOGE(TAG, "pipette_aspirate %d fail , ul < 0", nl);
     return err::kparam_out_of_range;
   }
 
-  THREAD_START_WORK([this, llfrpm, llftpos, pumpv, ul]() {
-    DO_IN_THREAD(m_smtp2.pump_aspirate(pumpv, ul));
+  THREAD_START_WORK([this, llfrpm, llftpos, pumpv, nl]() {
+    DO_IN_THREAD(m_smtp2.pump_aspirate_nl(pumpv, nl));
 
     if (llfrpm != 0) zm_move_to(llftpos, llfrpm);
 
@@ -796,15 +460,15 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32
   });
   return 0;
 }
-int32_t PipetteModuleV2::pipette_distribu(int32_t llfrpm, int32_t pumpv, int32_t ul) {
+int32_t PipetteModuleV2::pipette_distribu(int32_t llfrpm, int32_t pumpv, int32_t nl) {
   // pipette_aspirate
-  if (ul < 0) {
-    ZLOGE(TAG, "pipette_distribu %d fail , ul < 0", ul);
+  if (nl < 0) {
+    ZLOGE(TAG, "pipette_distribu %d fail , nl < 0", nl);
     return err::kparam_out_of_range;
   }
 
-  THREAD_START_WORK([this, llfrpm, pumpv, ul]() {
-    DO_IN_THREAD(m_smtp2.pump_aspirate(pumpv, -ul));
+  THREAD_START_WORK([this, llfrpm, pumpv, nl]() {
+    DO_IN_THREAD(m_smtp2.pump_aspirate_nl(pumpv, -nl));
 
     if (llfrpm != 0) zm_move_to(0, llfrpm);
 
@@ -815,18 +479,8 @@ int32_t PipetteModuleV2::pipette_distribu(int32_t llfrpm, int32_t pumpv, int32_t
   });
   return 0;
 }
-int32_t PipetteModuleV2::pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32_t pumpv, 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);
-  //   return err::kpipette_error_pump_load_val_is_not_empty;
-  // }
-
-  // if (m_state.load_val_ul + ul > m_cfg.limit_ul) {
-  //   ZLOGE(TAG, "pipette_aspirate %d fail , final ul (%d + %d)> limit ul %d", ul, m_state.load_val_ul, ul, m_cfg.limit_ul);
-  //   return err::kparam_out_of_range;
-  // }
-
-  THREAD_START_WORK([this, llfrpm, maxzpos, pumpv, ul, times]() {
+int32_t PipetteModuleV2::pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32_t pumpv, int32_t nl, int32_t times) {
+  THREAD_START_WORK([this, llfrpm, maxzpos, pumpv, nl, times]() {
     //
     int32_t dpos = 0;
 
@@ -835,7 +489,7 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32
 
     if (llfrpm != 0) zm_move_to(maxzpos, llfrpm);
 
-    DO_IN_THREAD(m_smtp2.pump_aspirate(pumpv, ul));
+    DO_IN_THREAD(m_smtp2.pump_aspirate_nl(pumpv, nl));
     pump_waitfor_stop();
     m_zm->stop();
     m_smtp2.pump_stop();
@@ -844,20 +498,20 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32
     for (int i = 0; i < times - 1; i++) {
       // distribute
       if (llfrpm) zm_move_to(startpos, llfrpm);
-      DO_IN_THREAD(m_smtp2.pump_aspirate(pumpv, -ul));
+      DO_IN_THREAD(m_smtp2.pump_aspirate_nl(pumpv, -nl));
       pump_waitfor_stop();
       zm_waitfor_stop();
 
       // aspirate
       if (llfrpm) zm_move_to(endpos, llfrpm);
-      DO_IN_THREAD(m_smtp2.pump_aspirate(pumpv, ul));
+      DO_IN_THREAD(m_smtp2.pump_aspirate_nl(pumpv, nl));
       pump_waitfor_stop();
       zm_waitfor_stop();
     }
 
     // final distribute
     if (llfrpm) zm_move_to(startpos, llfrpm);
-    DO_IN_THREAD(m_smtp2.pump_aspirate(pumpv, -ul));
+    DO_IN_THREAD(m_smtp2.pump_aspirate_nl(pumpv, -nl));
     pump_waitfor_stop();
     zm_waitfor_stop();
   });
@@ -869,13 +523,13 @@ int32_t PipetteModuleV2::pipette_clear_hanging_liquid(int32_t repeat_times) {
   // llf_endz
   THREAD_START_WORK([this, repeat_times]() {
     for (int i = 0; i < repeat_times; i++) {
-      m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0);
+      m_smtp2.pump_move_to_nl(m_cfg.pump_vmax, 0);
       pump_waitfor_stop();
 
-      m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 50);
+      m_smtp2.pump_move_to_nl(m_cfg.pump_vmax, 100 * 1000);
       pump_waitfor_stop();
     }
-    m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0);
+    m_smtp2.pump_move_to_nl(m_cfg.pump_vmax, 0);
     pump_waitfor_stop();
   });
   return 0;
@@ -1131,12 +785,12 @@ void PipetteModuleV2::pump_waitfor_stop() {
   }
 }
 
-int32_t PipetteModuleV2::pump_read_pos_ul(int32_t *val) {
+int32_t PipetteModuleV2::pump_read_pos_nl(int32_t *val) {
   //
   // *val = m_state.load_val_ul;
   // *val = pum
-  // pump_read_pos_ul(val);
-  m_smtp2.pump_get_ul(val);
+  // pump_read_pos_nl(val);
+  m_smtp2.pump_get_nl(val);
   return 0;
 }
 int32_t PipetteModuleV2::pump_read_capactitance(int32_t *val) {
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
index ea908a5..94dd875 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
@@ -212,7 +212,7 @@ class PipetteModuleV2 : public ZIModule {
 
   void zm_waitfor_stop();
 
-  int32_t pump_read_pos_ul(int32_t *val);
+  int32_t pump_read_pos_nl(int32_t *val);
   int32_t pump_read_capactitance(int32_t *val);
   int32_t pump_read_tip_state(int32_t *val);
   void    pump_waitfor_stop();
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
index ba6ee98..ed06c80 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
@@ -57,12 +57,10 @@ 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_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;
+int32_t SMTP2V2::pump_get_nl(int32_t* nl) {
 
-  *ul = nl / 1000.0 + 0.5;
+  int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, nl);
+  if (ret != 0) return ret;
   return ret;
 }
 
@@ -109,38 +107,25 @@ static int32_t Get1fromfloat(const float& val) {
 }
 #endif
 
-int32_t SMTP2V2::pump_move_to_ul(int32_t v, int32_t ul) {
-  /**
-   * @brief 分辨率在0.319ul进行操作
-   *
-   * 模式0:  0...3143
-   *
-   * ul:0->1000
-   */
-  ZLOGI(TAG, "pump_move_to_ul %d", ul);
-  int stepNum = ul * 1000;  //+0.5 是为了浮点数强转成正数时采用四舍五入的方式
-  return pump_move_to_nl(v, ul * 1000);
-}
-
 int32_t SMTP2V2::pump_move_to_nl(int32_t v, int32_t nl) {
   ZLOGI(TAG, "pump_move_to_nl %d", nl);
   return runaction(true, "/1V%dA%dR\r", v * 319, nl);
 }
 
-int32_t SMTP2V2::pump_aspirate(int32_t v, int32_t ul) {
-  ZLOGI(TAG, "pump_aspirate %d", ul);
+int32_t SMTP2V2::pump_aspirate_nl(int32_t v, int32_t nl) {
+  ZLOGI(TAG, "pump_aspirate %d", nl);
   int32_t nownl;
 
   int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
   if (ret != 0) return ret;
 
-  int targetnl = nownl + ul * 1000;
+  int targetnl = nownl + nl;
   if (targetnl < 0) targetnl = 0;
   return pump_move_to_nl(v, targetnl);
 }
 
-int32_t SMTP2V2::pump_distribut(int32_t v, int32_t ul) { return pump_aspirate(v, -ul); }
-int32_t SMTP2V2::pump_distribut_all(int32_t v) { return pump_aspirate(v, -1000); }
+int32_t SMTP2V2::pump_distribut_nl(int32_t v, int32_t nl) { return pump_aspirate_nl(v, -nl); }
+int32_t SMTP2V2::pump_distribut_all(int32_t v) { return pump_aspirate_nl(v, -1000 * 1000); }
 
 // int32_t SMTP2V2::pump_distribut(int32_t v, int32_t ul) {
 //   ZLOGI(TAG, "pump_distribut %d", ul);
@@ -155,7 +140,7 @@ int32_t SMTP2V2::pump_distribut_all(int32_t v) { return pump_aspirate(v, -1000);
 //   return pump_move_to_nl(v, targetnl);
 // }
 
-int32_t SMTP2V2::pump_aspirate_and_verify(int32_t v, int32_t ul, int32_t eigen_time, int32_t p_thre, int32_t tolerance) {
+int32_t SMTP2V2::pump_aspirate_and_verify(int32_t v, int32_t nl, int32_t eigen_time, int32_t p_thre, int32_t tolerance) {
   /**
    * @brief
    *    p_thro     压力阈值
@@ -166,27 +151,27 @@ int32_t SMTP2V2::pump_aspirate_and_verify(int32_t v, int32_t ul, int32_t eigen_t
    *  <n2> 0…2047  压力阈值，用于识别堵塞的Tip
    *
    */
-  ZLOGI(TAG, "pump_aspirate %d", ul);
+  ZLOGI(TAG, "pump_aspirate %d", nl);
   int32_t nownl;
 
   int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
   if (ret != 0) return ret;
 
-  int targetnl = nownl + ul * 1000;
+  int targetnl = nownl + nl;
   if (targetnl < 0) targetnl = 0;
   return runaction(true, "/1%%%dq%d,%dV%dA%dR\r", tolerance, eigen_time, p_thre, v * 319, targetnl);
 }
 
-int32_t SMTP2V2::pump_aspirate_infer_pressure(int32_t v, int32_t ul) {
+int32_t SMTP2V2::pump_aspirate_infer_pressure(int32_t v, int32_t nl) {
   // V2000f1A600f0R
 
-  ZLOGI(TAG, "pump_aspirate_infer_pressure %d", ul);
+  ZLOGI(TAG, "pump_aspirate_infer_pressure %d", nl);
   int32_t nownl;
 
   int32_t ret = pump_get_state_as_int(kstate_pump_pos_nl, &nownl);
   if (ret != 0) return ret;
 
-  int targetnl = nownl + ul * 1000;
+  int targetnl = nownl + nl;
   if (targetnl < 0) targetnl = 0;
   return runaction(true, "/1V%df1A%df0R\r", v * 319, targetnl);
 }
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
index 9306000..2c01f10 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
@@ -165,7 +165,7 @@ 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_ul(int32_t* ul);
+  int32_t pump_get_nl(int32_t* nl);
 
   int32_t pump_get_state_as_int(int32_t state_index, int32_t* val);
 
@@ -192,7 +192,6 @@ class SMTP2V2 {
   int32_t pump_reset();                            // 泵机复位
   int32_t pump_stop();                             // 停止
   int32_t pump_put_tip();                          // 丢弃TIP
-  int32_t pump_move_to_ul(int32_t v, int32_t ul);  //
   int32_t pump_move_to_nl(int32_t v, int32_t nl);  //
 
 
@@ -205,8 +204,8 @@ class SMTP2V2 {
   int32_t pump_distribut_mlld(int32_t pumpv, int32_t c_threshold, int32_t pressure_threshold);  //
   int32_t pump_distribut_mlld_get_state(int32_t* detected);
 
-  int32_t pump_aspirate(int32_t v, int32_t ul);
-  int32_t pump_distribut(int32_t v, int32_t ul);
+  int32_t pump_aspirate_nl(int32_t v, int32_t nl);
+  int32_t pump_distribut_nl(int32_t v, int32_t nl);
   int32_t pump_distribut_all(int32_t v);
   
   int32_t pump_aspirate_and_verify(int32_t v, int32_t ul, int32_t eigen_time, int32_t p_thre, int32_t tolerance);