diff --git a/src/main/java/a8k/A8kApplication.java b/src/main/java/a8k/A8kApplication.java
new file mode 100644
index 0000000..85968fa
--- /dev/null
+++ b/src/main/java/a8k/A8kApplication.java
@@ -0,0 +1,20 @@
+package a8k;
+import org.springframework.web.bind.annotation.ControllerAdvice;
+import org.springframework.web.bind.annotation.ExceptionHandler;
+import org.springframework.web.bind.annotation.ResponseBody;
+
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.Map;
+@ControllerAdvice
+public class A8kApplication {
+	@ResponseBody
+	@ExceptionHandler(value=Exception.class)
+	public Map<String,Object> controllerExceptionHandler(Exception e){
+		Map<String,Object> map = new HashMap<>();
+		map.put("success",false);
+		map.put("message",String.format("%s\n\nStack Trace : \n%s",e.getMessage(), Arrays.toString(e.getStackTrace())));
+		map.put("data", null);
+		return map;
+	}
+}
diff --git a/src/main/java/a8k/controller/TmpTestController.java b/src/main/java/a8k/controller/TmpTestController.java
index 08ea25c..9e54831 100644
--- a/src/main/java/a8k/controller/TmpTestController.java
+++ b/src/main/java/a8k/controller/TmpTestController.java
@@ -3,14 +3,47 @@ import a8k.a8k_can_protocol.CmdId;
 import a8k.a8k_can_protocol.ModuleId;
 import a8k.appbean.HardwareException;
 import a8k.base_hardware.A8kCanBusService;
+import a8k.service.A8kDebugTaskExecutorService;
+import a8k.service.hardware.MotorTubeRackMoveCtrlService;
+import com.iflytop.uf.util.UfClassHelper;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.ResponseBody;
+import java.util.List;
+import java.util.Map;
 @Controller
 public class TmpTestController {
 	@Resource
 	private A8kCanBusService a8kCanBusService;
+	@Resource
+	private MotorTubeRackMoveCtrlService motorTubeRackMoveCtrlService;
+	@Resource
+	private A8kDebugTaskExecutorService a8kDebugTaskExecutorService;
+
+	@PostMapping("/api/tmp-test/execute-service-method")
+	@ResponseBody
+	public String executeServiceMethod( @RequestBody Map<String,Object> params ) throws NoSuchMethodException {
+		Object service = this.motorTubeRackMoveCtrlService;
+		String methodName = (String)params.get("method");
+		List<Object> methodArgs = (List<Object>)params.get("params");
+		Object result = UfClassHelper.invokeMethod(service, methodName, methodArgs);
+		return "OK";
+	}
+
+	@PostMapping("/api/tmp-test/update-service-params")
+	@ResponseBody
+	public String updateServiceParams( @RequestBody Map<String,Object> params ) {
+		return "OK";
+	}
+
+	@PostMapping("/api/tmp-test/get-service-params")
+	@ResponseBody
+	public String getServiceParams() {
+		return "OK";
+	}
 
 	@GetMapping("/tmp-test/a8k-can-bus-service-call")
 	@ResponseBody
diff --git a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
index af4685e..f6e3606 100644
--- a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
+++ b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
@@ -53,7 +53,8 @@ public class MotorTubeRackMoveCtrlService {
 	//
 
 	public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
-		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, 30*1000);
+		var params = this.serviceParameterDao.getParameter();
+		this.a8kCanBusService.callblockcmd(ModuleId.MotorTubeRackMoveModule, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.moveToZeroOvertime);
 	}