diff --git a/a8000_protocol b/a8000_protocol
index d80b765..70de851 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit d80b7654e9b5343d12f15755a4f8e6b1f98e135a
+Subproject commit 70de85131a9ed15cbd296a887a180267b46fd114
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index 06eb879..990fb27 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -69,7 +69,7 @@ void PipetteModuleV2::initialize(int32_t id, config_t *config, hardward_config_t
 }
 
 void PipetteModuleV2::create_default_cfg(config_t *defaultcfg) {
-  defaultcfg->limit_ul                     = 250;
+  // defaultcfg->limit_ul                     = 250;
   defaultcfg->pump_acc                     = 18;
   defaultcfg->pump_dec                     = 18;
   defaultcfg->pump_vstart                  = 200;
@@ -155,7 +155,7 @@ int32_t PipetteModuleV2::module_xxx_reg_impl(int32_t param_id, bool read, int32_
     /***********************************************************************************************************************
      *                                                         CFG                                                         *
      ***********************************************************************************************************************/
-    XXX_CFG_REG(limit_ul);
+    // XXX_CFG_REG(limit_ul);
     XXX_CFG_REG(pump_acc);
     XXX_CFG_REG(pump_dec);
     XXX_CFG_REG(pump_vstart);
@@ -677,7 +677,7 @@ int32_t PipetteModuleV2::pipette_get_aspirate_infer_eigen_time_result(int32_t *r
 
 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_aspirate(pumpv, ul));
+    DO_IN_THREAD(m_smtp2.pump_move_to_ul(pumpv, ul));
     pump_waitfor_stop();
     m_smtp2.pump_stop();
   });
@@ -708,18 +708,13 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c
 
     // 1. 泵机移动到0位
     DO_IN_THREAD(m_smtp2.pump_distribut_all(m_cfg.pump_vmax));
+    pump_waitfor_stop();
 
     // 2. 读取初值
     DO_IN_THREAD(m_smtp2.pump_get_capacitance(&start_capacitance));
     DO_IN_THREAD(m_smtp2.pump_get_pressure(&start_pressure));
     start_motor_pos = m_zm->getXACTUAL();
 
-    // 先分配一点体积，消除一些误差。
-    // ZLOGI(TAG, "start lld before distribut %d ul", m_cfg.lld_prepare_pre_distribut_ul);
-    // DO_IN_THREAD(m_smtp2.pump_aspirate(m_cfg.pump_vmax, -m_cfg.lld_prepare_pre_distribut_ul));
-    // pump_waitfor_stop();
-    // ZLOGI(TAG, "lld before distribut ok");
-
     ZLOGI(TAG, "start lld");
     if (lldtype == kclld) {
       DO_IN_THREAD(m_smtp2.pump_clld(c_threshold));
@@ -777,6 +772,11 @@ int32_t PipetteModuleV2::pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c
   return 0;
 }
 
+int32_t PipetteModuleV2::pipette_lld_is_detect_liquid(int32_t *detect) {
+  *detect = m_state.detected_liquid;
+  return 0;
+}
+
 int32_t PipetteModuleV2::pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32_t pumpv, int32_t ul) {
   // pipette_aspirate
   if (ul < 0) {
@@ -784,11 +784,6 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32
     return err::kparam_out_of_range;
   }
 
-  if (ul > m_cfg.limit_ul) {
-    ZLOGE(TAG, "pipette_aspirate %d fail , final ul (%d)> limit ul %d", ul, ul, m_cfg.limit_ul);
-    return err::kparam_out_of_range;
-  }
-
   THREAD_START_WORK([this, llfrpm, llftpos, pumpv, ul]() {
     DO_IN_THREAD(m_smtp2.pump_aspirate(pumpv, ul));
 
@@ -869,6 +864,23 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32
   return 0;
 }
 
+int32_t PipetteModuleV2::pipette_clear_hanging_liquid(int32_t repeat_times) {
+  // llf_startz
+  // 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);
+      pump_waitfor_stop();
+
+      m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 50);
+      pump_waitfor_stop();
+    }
+    m_smtp2.pump_move_to_ul(m_cfg.pump_vmax, 0);
+    pump_waitfor_stop();
+  });
+  return 0;
+}
+
 /***********************************************************************************************************************
  *                                                    EXT_API_UTILS                                                    *
  ***********************************************************************************************************************/
@@ -1203,8 +1215,6 @@ int32_t PipetteModuleV2::bfcall(int32_t cmdid, uint8_t *param, int32_t len) {
   if (cmdid == kpipette_zmotor_measure_distance) goto check_motor_is_enable;
   if (cmdid == kpipette_zmotor_move_to) goto check_motor_has_moveto_zero;
 
-
-
   if (cmdid == kpipette_init_device) goto suc;
   if (cmdid == kpipette_put_tip) goto suc;
   if (cmdid == kpipette_pump_move_to) goto suc;
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
index c27fd39..ea908a5 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.hpp
@@ -52,7 +52,7 @@ class PipetteModuleV2 : public ZIModule {
   } snesor_sample_data_t;
 
   typedef struct {
-    int32_t limit_ul;           // 泵机限制
+    // int32_t limit_ul;           // 泵机限制
     int32_t pump_acc;           // 泵机速度参数
     int32_t pump_dec;           // 泵机速度参数
     int32_t pump_vstart;        // 泵机速度参数
@@ -98,7 +98,7 @@ class PipetteModuleV2 : public ZIModule {
   } config_t;
 
   typedef struct {
-    int32_t enable;  // 电机使能
+    int32_t enable;             // 电机使能
     int32_t pipette_is_inited;  // 泵机是否初始化
     int32_t dul;                // 吸吐变化量
     int32_t detected_liquid;    // 检测到液面
@@ -173,10 +173,12 @@ class PipetteModuleV2 : public ZIModule {
   virtual int32_t pipette_put_tip();
   virtual int32_t pipette_pump_move_to(int32_t pumpv, int32_t ul);
   virtual int32_t pipette_lld(int32_t lldtype, int32_t maxzpos, int32_t c_threshold, int32_t p_threshold);
+  virtual int32_t pipette_lld_is_detect_liquid(int32_t *detect);
+
   virtual int32_t pipette_aspirate(int32_t llfrpm, int32_t llftpos, int32_t pumpv, int32_t ul);
   virtual int32_t pipette_distribu(int32_t llfrpm, int32_t pumpv, int32_t ul);
   virtual int32_t pipette_shake_up(int32_t llfrpm, int32_t maxzpos, int32_t pumpv, int32_t ul, int32_t times);
-
+  virtual int32_t pipette_clear_hanging_liquid(int32_t repeat_times);
   /***********************************************************************************************************************
    *                                                     READ_STATE                                                      *
    ***********************************************************************************************************************/
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
index f13853f..ba6ee98 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
@@ -66,10 +66,22 @@ int32_t SMTP2V2::pump_get_ul(int32_t* ul) {
   return ret;
 }
 
-int32_t SMTP2V2::pump_set_io1_mode(int32_t mode) { return setstate(true, "/1u%d,%dR\r", kcfg_io1_mode, mode); }
-int32_t SMTP2V2::pump_set_io2_mode(int32_t mode) { return setstate(true, "/1u%d,%dR\r", kcfg_io2_mode, mode); }
-int32_t SMTP2V2::pump_set_tip_size(int32_t size) { return setstate(true, "/1u%d,%dR\r", kcfg_tip_size, size); }
-int32_t SMTP2V2::pump_enable_temp_compensation(int32_t enable) { return setstate(true, "/1u%d,%dR\r", kcfg_auto_temp_compensation, enable); }
+int32_t SMTP2V2::pump_set_io1_mode(int32_t mode) {
+  ZLOGI(TAG, "pump_set_io1_mode %d", mode);
+  return setstate(true, "/1u%d,%dR\r", kcfg_io1_mode, mode);
+}
+int32_t SMTP2V2::pump_set_io2_mode(int32_t mode) {
+  ZLOGI(TAG, "pump_set_io2_mode %d", mode);
+  return setstate(true, "/1u%d,%dR\r", kcfg_io2_mode, mode);
+}
+int32_t SMTP2V2::pump_set_tip_size(int32_t size) {
+  ZLOGI(TAG, "pump_set_tip_size %d", size);
+  return setstate(true, "/1u%d,%dR\r", kcfg_tip_size, size);
+}
+int32_t SMTP2V2::pump_enable_temp_compensation(int32_t enable) {
+  ZLOGI(TAG, "pump_enable_temp_compensation %d", enable);
+  return setstate(true, "/1u%d,%dR\r", kcfg_auto_temp_compensation, enable);
+}
 
 int32_t SMTP2V2::pump_stop() { return setstate(true, "/1TR\r"); }
 int32_t SMTP2V2::pump_set_vstart(int32_t vel) { return setstate(true, "/1N2v%dR\r", vel * 319); }
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.cpp b/sdk/components/zcancmder/zcan_protocol_parser.cpp
index eec6836..2f5f94f 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.cpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.cpp
@@ -166,6 +166,8 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(pipette_aspirate);
   REGFN(pipette_distribu);
   REGFN(pipette_shake_up);
+  REGFN(pipette_clear_hanging_liquid)
+  REGFN(pipette_lld_is_detect_liquid);
   REGFN(pipette_get_sensor_sample_data);
   REGFN(pipette_get_sensor_sample_data_num);
   REGFN(pipette_zmotor_read_zero_point_state);
@@ -915,150 +917,16 @@ 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]);
 }
-
-#if 0
-int32_t ZCanProtocolParser::pipette_init_device(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->pipette_init_device();
-}
-int32_t ZCanProtocolParser::pipette_put_tip(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->pipette_put_tip();
-}
-int32_t ZCanProtocolParser::pipette_lld_prepare(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->pipette_lld_prepare();
-}
-int32_t ZCanProtocolParser::pipette_lld(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->pipette_lld();
-}
-int32_t ZCanProtocolParser::pipette_aspirate_prepare(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->pipette_aspirate_prepare();
-}
-int32_t ZCanProtocolParser::pipette_set_llf_velocity(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_set_llf_velocity(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::pipette_set_aspirate_operation_verifi_p_thre(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_set_aspirate_operation_verifi_p_thre(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::pipette_set_aspirate_operation_verifi_eigen_time(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_set_aspirate_operation_verifi_eigen_time(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::pipette_set_aspirate_operation_verifi_tolerance(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_set_aspirate_operation_verifi_tolerance(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::pipette_aspirate(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_aspirate(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::pipette_aspirate_and_verify(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_aspirate_and_verify(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::pipette_shake_up(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(2);
-  return module->pipette_shake_up(cxt->params[0], cxt->params[1]);
-}
-int32_t ZCanProtocolParser::pipette_aspirate_infer_pressure(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_aspirate_infer_pressure(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::pipette_aspirate_infer_eigen_time(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_aspirate_infer_eigen_time(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::pipette_get_aspirate_infer_pressure_result(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->pipette_get_aspirate_infer_pressure_result(&ack[0]);
-}
-int32_t ZCanProtocolParser::pipette_get_aspirate_infer_eigen_time_result(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->pipette_get_aspirate_infer_eigen_time_result(&ack[0]);
-}
-int32_t ZCanProtocolParser::pipette_get_sensor_sample_data(cmdcontxt_t* cxt) {
+int32_t ZCanProtocolParser::pipette_clear_hanging_liquid(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(1);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 12;
-  return module->pipette_get_sensor_sample_data(cxt->params[0], &ack[0], &ack[1], &ack[2]);
-}
-int32_t ZCanProtocolParser::pipette_get_sensor_sample_data_num(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->pipette_get_sensor_sample_data_num(&ack[0]);
-}
-int32_t ZCanProtocolParser::pipette_zmotor_read_zero_point_state(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->pipette_zmotor_read_zero_point_state(&ack[0]);
-}
-int32_t ZCanProtocolParser::pipette_zmotor_read_dev_status_cache(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->pipette_zmotor_read_dev_status_cache(&ack[0]);
+  return module->pipette_clear_hanging_liquid(cxt->params[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]);
 }
-// pipette_lld_test
-int32_t ZCanProtocolParser::pipette_lld_test(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->pipette_lld_test();
-}
-
-int32_t ZCanProtocolParser::pipette_set_lld_startz(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_set_lld_startz(cxt->params[0]);
-}
-
-int32_t ZCanProtocolParser::pipette_set_lld_endz(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_set_lld_endz(cxt->params[0]);
-}
-
-int32_t ZCanProtocolParser::pipette_set_lld_type(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_set_lld_type(cxt->params[0]);
-}
-
-int32_t ZCanProtocolParser::pipette_set_lld_c_threshold(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_set_lld_c_threshold(cxt->params[0]);
-}
-
-int32_t ZCanProtocolParser::pipette_set_lld_p_threshold(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_set_lld_p_threshold(cxt->params[0]);
-}
-
-int32_t ZCanProtocolParser::pipette_set_llf_startz(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->pipette_set_llf_startz(cxt->params[0]);
-}
 
-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]);
-}
-#endif
 #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 b83ff02..bc13bd4 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.hpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.hpp
@@ -180,11 +180,12 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   CMDFN(pipette_aspirate);
   CMDFN(pipette_distribu);
   CMDFN(pipette_shake_up);
+  CMDFN(pipette_clear_hanging_liquid);
+  CMDFN(pipette_lld_is_detect_liquid);
   CMDFN(pipette_get_sensor_sample_data);
   CMDFN(pipette_get_sensor_sample_data_num);
   CMDFN(pipette_zmotor_read_zero_point_state);
   CMDFN(pipette_zmotor_read_dev_status_cache);
-
 };
 
 }  // namespace iflytop
\ No newline at end of file
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 9f75fbb..5edb9df 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           603
+#define PC_VERSION           604
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1