diff --git a/Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-39.pyc b/Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-39.pyc
index f2d025b..2f71328 100644
Binary files a/Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-39.pyc and b/Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-39.pyc differ
diff --git a/Massage/MassageControl/hardware/dobot_nova5.py b/Massage/MassageControl/hardware/dobot_nova5.py
index 574db20..05624cb 100644
--- a/Massage/MassageControl/hardware/dobot_nova5.py
+++ b/Massage/MassageControl/hardware/dobot_nova5.py
@@ -164,28 +164,20 @@ class dobot_nova5:
                 break
             sleep(0.1)
 
-    def ServoJoint(self,joints_list,t=-1,aheadtime=-1,gain=-1):
-        # 关节空间伺服
-        recvmovemess = self.dashboard.ServoJ(*joints_list,t,aheadtime,gain)
-        print("ServoJ:",recvmovemess)
-        print(self.parseResultId(recvmovemess))
-        currentCommandID = self.parseResultId(recvmovemess)[1]
-        print("指令 ID", currentCommandID)
-        while True:
-            currentCommandID = self.parseResultId(self.dashboard.GetCurrentCommandID())[1]
-            if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11: 
-                self.dashboard.Stop()
-                self.dashboard.EmergencyStop()
-                print("当前工作停止，机械臂处于急停状态")
-            if self.feedbackData.robotMode == 10: # 10 当前工程暂停
-                print("机械臂为暂停状态")
-                res = self.dashboard.Continue()
-                code = int(res[0])
-                if code == 0:
-                    print("机械臂继续已暂停的运动指令")
-            if self.feedbackData.robotMode == 5 and self.feedbackData.robotCurrentCommandID == currentCommandID:
-                print("完成一次伺服动作")
-                break
+    def ServoJoint(self,joints_list):
+        tcp_command = f"servoj({joints_list[0]},{joints_list[1]},{joints_list[2]},{joints_list[3]},{joints_list[4]},{joints_list[5]},t=0.008,aheadtime=20,gain=200)"
+        self.dashboard.sendRecvMsg(tcp_command)
+        print("ServoJ:",tcp_command)
+        if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11: 
+            self.dashboard.Stop()
+            self.dashboard.EmergencyStop()
+            print("当前工作停止，机械臂处于急停状态")
+        if self.feedbackData.robotMode == 10: # 10 当前工程暂停
+            print("机械臂为暂停状态")
+            res = self.dashboard.Continue()
+            code = int(res[0])
+            if code == 0:
+                print("机械臂继续已暂停的运动指令")
             
     
     def ServoPose(self,poses_list,t=-1,aheadtime=-1,gain=-1):
@@ -405,9 +397,9 @@ if __name__ == "__main__":
     dobot.RunPoint_P_inJoint(posJ)
     sleep(1)
     
-    # for i in range(200):
-    #     posJ[2] += 0.04
-    #     dobot.ServoJoint(joints_list=posJ,t=0.008,aheadtime=20,gain=200) 
-    #     sleep(0.008)
+    for i in range(400):
+        posJ[2] += 0.04
+        dobot.ServoJoint(posJ)
+        sleep(0.007)
     
     dobot.disableRobot()
\ No newline at end of file