update

src/main/java/a8k/canbus/protocol/A8kEcode.java

@@ -30,6 +30,8 @@ public enum A8kEcode {
 	PullPlateFail(24, "钩板卡板"),//
 	ShakeModGripperYSVInXYPublicArea(25, "摇匀模组抓手在XY公共区域"),//
 	ZMNotAtZPosWhenHbotTryMove(26, "HBOT启动时，Z轴电机没有在原点"),//
+	TakeTipFail(27, "取Tip失败"),//
+	PutTipFail(28, "放Tip失败"),//
 
 	//
 	//	FOR HARDWARE

src/main/java/a8k/service/hardware/HbotControlService.java

@@ -381,6 +381,11 @@ public class HbotControlService implements HardwareCtrlModule {
 
 		canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, tipPos.pickUpZPos - 100, getActionOvertime());
 		canBus.pipetteCtrlPutTipBlock(MId.PipetteMod);
+
+		if(canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1){
+			throw new HardwareException(A8kEcode.PutTipFail);
+		}
+
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime());
 		return ret;
 	}
@@ -392,6 +397,10 @@ public class HbotControlService implements HardwareCtrlModule {
 		Map<String, String> result = new HashMap<>();
 		for (int i = startFrom; i < TipPickUpPosInfo.cgetTipNum(); i++) {
 			var ret = takeTipTestStep(groupId, i);
+			if(!ret.getData()){
+				throw new HardwareException(A8kEcode.TakeTipFail);
+			}
+
 			result.put("Tip" + i, ret.getData() ? "suc" : "fail");
 			logger.info("Take Tip {}-{} => {}", groupId, i, ret.getData());
 			if (!testTakeTipFlag) {