diff --git a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
index 741c45d..a50b0ef 100644
--- a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
+++ b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
@@ -45,6 +45,42 @@ public class MotorTubeRackMoveCtrlService {
 	@Resource
 	MotorTubeRackMoveCtrlServiceParameterDao serviceParameterDao;
 
+	public void setEnable( Boolean enable ) throws HardwareException {
+		this.a8kCanBusService.callcmd(
+			ModId.FeedingModXM,
+			CmdId.kstep_motor_enable,
+			enable ? 1 : 0
+		);
+		this.a8kCanBusService.callcmd(
+			ModId.FeedingModInfeedM,
+			CmdId.kstep_motor_enable,
+			enable ? 1 : 0
+		);
+		this.a8kCanBusService.callcmd(
+			ModId.FeedingModOutfeedM,
+			CmdId.kstep_motor_enable,
+			enable ? 1 : 0
+		);
+	}
+
+	public void stop() throws HardwareException {
+		this.a8kCanBusService.callcmd(
+			ModId.FeedingModXM,
+			CmdId.kstep_motor_stop,
+			1
+		);
+		this.a8kCanBusService.callcmd(
+			ModId.FeedingModInfeedM,
+			CmdId.kstep_motor_stop,
+			1
+		);
+		this.a8kCanBusService.callcmd(
+			ModId.FeedingModOutfeedM,
+			CmdId.kstep_motor_stop,
+			1
+		);
+	}
+
 
 	//
 	// 电机基础控制
@@ -54,8 +90,7 @@ public class MotorTubeRackMoveCtrlService {
 		var params = this.serviceParameterDao;
 		this.a8kCanBusService.callblockcmd(
 			ModId.FeedingModXM, 
-			CmdId.kstep_motor_easy_move_to_zero, 
-			new Integer[]{}, 
+			CmdId.kstep_motor_easy_move_to_zero,
 			params.getMoveToZeroOvertime()
 		);
 	}
@@ -63,10 +98,10 @@ public class MotorTubeRackMoveCtrlService {
 
 	public void moveToZero() throws HardwareException, InterruptedException {
 		var params            = this.serviceParameterDao;
-		var beforePosResponse = this.a8kCanBusService.callcmd(ModId.FeedingModXM, CmdId.kstep_motor_read_pos, new Integer[]{0});
+		var beforePosResponse = this.a8kCanBusService.callcmd(ModId.FeedingModXM, CmdId.kstep_motor_read_pos);
 		var beforePos         = beforePosResponse.getContentI32(0);
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to_zero, new Integer[]{}, params.getMoveToZeroOvertime());
-		var afterPosResponse = this.a8kCanBusService.callcmd(ModId.FeedingModXM, CmdId.kstep_motor_read_pos, new Integer[]{0});
+		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to_zero, params.getMoveToZeroOvertime());
+		var afterPosResponse = this.a8kCanBusService.callcmd(ModId.FeedingModXM, CmdId.kstep_motor_read_pos);
 		var afterPos         = afterPosResponse.getContentI32(0);
 		var distance         = beforePos - afterPos;
 
@@ -100,7 +135,7 @@ public class MotorTubeRackMoveCtrlService {
 		this.a8kCanBusService.callblockcmd(
 			ModId.FeedingModXM,
 			CmdId.kstep_motor_easy_move_to,
-			new Integer[]{params.getTubeRackEnterPos()},
+			params.getTubeRackEnterPos(),
 			params.getActionOvertime()
 		);
 	}
@@ -113,7 +148,7 @@ public class MotorTubeRackMoveCtrlService {
 		this.a8kCanBusService.callblockcmd(
 			ModId.FeedingModXM,
 			CmdId.kstep_motor_easy_move_to,
-			new Integer[]{params.getTubeExistJudgmentPos()},
+			params.getTubeRackExitPos(),
 			params.getActionOvertime()
 		);
 	}
@@ -126,7 +161,7 @@ public class MotorTubeRackMoveCtrlService {
 		this.a8kCanBusService.callblockcmd(
 			ModId.FeedingModXM,
 			CmdId.kstep_motor_easy_move_to,
-			new Integer[]{params.getTubeRackScanCodePos()},
+			params.getTubeRackScanCodePos(),
 			params.getActionOvertime()
 		);
 	}
@@ -136,10 +171,10 @@ public class MotorTubeRackMoveCtrlService {
 	 */
 	public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
 		this.moveTubeRackToScanPos();
-		this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_start_scan, new Integer[]{});
-		Thread.sleep(500);
-		var response = this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
-		this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_stop_scan, new Integer[]{});
+		this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_start_scan);
+		Thread.sleep(5000);
+		var response = this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_read_scaner_result);
+		this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_stop_scan);
 		var contentBytes = response.getCmdContent();
 		return new String(contentBytes);
 	}
@@ -156,12 +191,11 @@ public class MotorTubeRackMoveCtrlService {
 	 */
 	public void moveTubeToScanPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
 		var params   = this.serviceParameterDao;
-		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
-		var scanPos  = params.getTubeScanPos() + tubeIndex * tubeInfo.tubeSpacing;
+		var scanPos  = params.getTubeScanPos() + tubeIndex * params.getTubeSpacing();
 		this.a8kCanBusService.callblockcmd(
 			ModId.FeedingModXM,
 			CmdId.kstep_motor_easy_move_to,
-			new Integer[]{scanPos},
+			scanPos,
 			params.getActionOvertime()
 		);
 	}
@@ -174,10 +208,10 @@ public class MotorTubeRackMoveCtrlService {
 	public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
 		this.moveTubeToScanPos(tubeType, tubeIndex);
 
-		this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_start_scan, new Integer[]{});
-		Thread.sleep(500);
-		var response = this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_read_scaner_result, new Integer[]{});
-		this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_stop_scan, new Integer[]{});
+		this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_start_scan);
+		Thread.sleep(5000);
+		var response = this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_read_scaner_result);
+		this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.kcode_scaner_stop_scan);
 		var contentBytes = response.getCmdContent();
 		return new String(contentBytes);
 	}
@@ -189,9 +223,13 @@ public class MotorTubeRackMoveCtrlService {
 	 */
 	public void moveTubeToHeighJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
 		var params    = this.serviceParameterDao;
-		var tubeInfo  = this.tubeInfoDao.getTubeInfo(tubeType);
-		var detectPos = params.getTubeHeighJudgmentPos() + tubeIndex * tubeInfo.tubeSpacing;
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{detectPos}, params.getActionOvertime());
+		var detectPos = params.getTubeHeighJudgmentPos() + tubeIndex * params.getTubeSpacing();
+		this.a8kCanBusService.callblockcmd(
+			ModId.FeedingModXM,
+			CmdId.kstep_motor_easy_move_to,
+			detectPos,
+			params.getActionOvertime()
+		);
 	}
 
 	/**
@@ -201,9 +239,13 @@ public class MotorTubeRackMoveCtrlService {
 	 */
 	public void moveTubeToPreProcessPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
 		var params   = this.serviceParameterDao;
-		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
-		var pos      = params.getTubePreProcessPos() + tubeIndex * tubeInfo.tubeSpacing;
-		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.getActionOvertime());
+		var pos      = params.getTubePreProcessPos() + tubeIndex * params.getTubeSpacing();
+		this.a8kCanBusService.callblockcmd(
+			ModId.FeedingModXM,
+			CmdId.kstep_motor_easy_move_to,
+			pos,
+			params.getActionOvertime()
+		);
 	}
 
 	//
@@ -217,18 +259,17 @@ public class MotorTubeRackMoveCtrlService {
 	 */
 	public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
 		var params   = this.serviceParameterDao;
-		var tubeInfo = this.tubeInfoDao.getTubeInfo(tubeType);
-		var pos      = params.getTubeRackExitPos() + tubeIndex * tubeInfo.tubeSpacing;
+		var pos      = params.getTubeRackExitPos() + tubeIndex * params.getTubeSpacing();
 		this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.kstep_motor_easy_move_to, new Integer[]{pos}, params.getActionOvertime());
 	}
 
 	public boolean isTubeRackInEnterPos() throws HardwareException {
-		var response = this.a8kCanBusService.callcmd(ModId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{3});
+		var response = this.a8kCanBusService.callcmd(ModId.FeedingModBoard, CmdId.kxymotor_read_inio, 3);
 		return response.getContentI32(0) == 1;
 	}
 
 	public boolean isTubeRackInExitPos() throws HardwareException {
-		var response = this.a8kCanBusService.callcmd(ModId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{5});
+		var response = this.a8kCanBusService.callcmd(ModId.FeedingModBoard, CmdId.kxymotor_read_inio, 5);
 		return response.getContentI32(0) == 1;
 	}
 
@@ -237,7 +278,7 @@ public class MotorTubeRackMoveCtrlService {
 	 * @param photoelectricIndex 0:里光电，1:外光电
 	 * @return true, 光电触发 false,光电没有触发
 	 */
-	public boolean getMoveChannelPhotoelectricState(int photoelectricIndex) throws HardwareException {
+	public boolean getMoveChannelPhotoelectricState(Integer photoelectricIndex) throws HardwareException {
 		var index    = 0 == photoelectricIndex ? 2 : 1;
 		var response = this.a8kCanBusService.callcmd(ModId.FeedingModBoard, CmdId.kxymotor_read_inio, new Integer[]{index});
 		return response.getContentI32(0) == 1;