diff --git a/usrc/subboards/subboard20_plate_clamp_case/pri_board.h b/usrc/subboards/subboard20_plate_clamp_case/pri_board.h
index 55303d2..b47da18 100644
--- a/usrc/subboards/subboard20_plate_clamp_case/pri_board.h
+++ b/usrc/subboards/subboard20_plate_clamp_case/pri_board.h
@@ -40,7 +40,7 @@
 #define MOTOR1_REFR_MIRROR true
 
 #define MOTOR1_MOTOR_SHAFT                        true
-#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             20  // 板夹仓移动
+#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             60  // 板夹仓移动
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR1_STEPMOTOR_IHOLD                    3
 #define MOTOR1_STEPMOTOR_IRUN                     16
@@ -74,7 +74,7 @@
 #define MOTOR2_REFR_MIRROR true
 
 #define MOTOR2_MOTOR_SHAFT                        true
-#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             20  // 板夹仓推出电机
+#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             80  // 板夹仓推出电机
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR2_STEPMOTOR_IHOLD                    1
 #define MOTOR2_STEPMOTOR_IRUN                     8
diff --git a/usrc/subboards/subboard30_shake_module/pri_board.h b/usrc/subboards/subboard30_shake_module/pri_board.h
index 9b789c6..0b630f4 100644
--- a/usrc/subboards/subboard30_shake_module/pri_board.h
+++ b/usrc/subboards/subboard30_shake_module/pri_board.h
@@ -68,7 +68,7 @@
 #define MOTOR2_REFR_MIRROR     false
 
 #define MOTOR2_MOTOR_SHAFT                        false
-#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             20  // 摇匀升降电机
+#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             200  // 摇匀升降电机
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR2_STEPMOTOR_IHOLD                    10
 #define MOTOR2_STEPMOTOR_IRUN                     25
diff --git a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
index bf5027e..610ab4a 100644
--- a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
+++ b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
@@ -77,7 +77,7 @@
 #define MOTOR2_AMAX   500
 
 #define MOTOR2_MOTOR_SHAFT                        false
-#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             40  // 试管架平移电机
+#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             80  // 试管架平移电机
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR2_STEPMOTOR_IHOLD                    3
 #define MOTOR2_STEPMOTOR_IRUN                     25
diff --git a/usrc/subboards/subboard70_incubation_turntable/pri_board.h b/usrc/subboards/subboard70_incubation_turntable/pri_board.h
index b2d8dee..9ee2198 100644
--- a/usrc/subboards/subboard70_incubation_turntable/pri_board.h
+++ b/usrc/subboards/subboard70_incubation_turntable/pri_board.h
@@ -45,13 +45,13 @@
 #define MOTOR1_REFR_MIRROR true
 
 #define MOTOR1_MOTOR_SHAFT                        true
-#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             400  // 400 在 90减速比的情况下，转盘一圈的脉冲数90*400 = 3600
+#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             200  // 400 在 90减速比的情况下，转盘一圈的脉冲数90*400 = 3600
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR1_STEPMOTOR_IHOLD                    10
 #define MOTOR1_STEPMOTOR_IRUN                     31
 #define MOTOR1_STEPMOTOR_IHOLDDELAY               100
 #define MOTOR1_STEPMOTOR_IGLOBALSCALER            64
-#define MOTOR1_MOTOR_DEFAULT_VELOCITY             1200
+#define MOTOR1_MOTOR_DEFAULT_VELOCITY             2500
 #define MOTOR1_MIN_D                              TMC5130_DEFAULT__MIN_D
 #define MOTOR1_MAX_D                              TMC5130_DEFAULT__MAX_D
 #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            1200
@@ -80,7 +80,7 @@
 #define MOTOR2_REFR_MIRROR true
 
 #define MOTOR2_MOTOR_SHAFT                        false
-#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             400
+#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             200
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR2_STEPMOTOR_IHOLD                    1
 #define MOTOR2_STEPMOTOR_IRUN                     10
diff --git a/usrc/subboards/subboard80_cliptip/pri_board.h b/usrc/subboards/subboard80_cliptip/pri_board.h
index 6a34f0e..59a197c 100644
--- a/usrc/subboards/subboard80_cliptip/pri_board.h
+++ b/usrc/subboards/subboard80_cliptip/pri_board.h
@@ -40,7 +40,7 @@
 #define MOTOR1_REFR_MIRROR true
 
 #define MOTOR1_MOTOR_SHAFT                        false  //
-#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             20     // 移液枪升降直线模组
+#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             80     // 移液枪升降直线模组
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1      //
 #define MOTOR1_STEPMOTOR_IHOLD                    1
 #define MOTOR1_STEPMOTOR_IRUN                     8