diff --git a/ultraArm/ultraarm/scripts/slider_control.py b/ultraArm/ultraarm/scripts/slider_control.py
index 504c990..0d9953f 100755
--- a/ultraArm/ultraarm/scripts/slider_control.py
+++ b/ultraArm/ultraarm/scripts/slider_control.py
@@ -13,8 +13,20 @@ import time
 import rospy
 from sensor_msgs.msg import JointState
 
-from pymycobot.ultraArm import ultraArm
 import math
+import pymycobot
+from packaging import version
+# min low version require
+MAX_REQUIRE_VERSION = '3.5.3'
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    from pymycobot.ultraArmP340 import ultraArmP340
+    class_name = 'new'
+else:
+    from pymycobot.ultraArm import ultraArm
+    class_name = 'old'
+    print("Note: This class is no longer maintained since v3.6.0, please refer to the project documentation: https://github.com/elephantrobotics/pymycobot/blob/main/README.md")
 
 ua = None
 
@@ -27,7 +39,7 @@ def callback(data):
         radians_to_angles = round(math.degrees(value), 2)
         data_list.append(radians_to_angles)
         
-    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
     ua.set_angles(data_list, 25)
 
 
@@ -35,14 +47,18 @@ def listener():
     global ua
     rospy.init_node("control_slider", anonymous=True)
 
-    rospy.Subscriber("joint_states", JointState, callback)
     port = rospy.get_param("~port", "/dev/ttyUSB0") # Select connected device. 选择连接设备
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
-    ua = ultraArm(port, baud)
+    if class_name == 'old':
+        ua = ultraArm(port, baud)
+    else:
+        ua = ultraArmP340(port, baud)
     ua.power_on()
     ua.go_zero()
     
+    rospy.Subscriber("joint_states", JointState, callback)
+    
     # spin() simply keeps python from exiting until this node is stopped
     # spin() 只是阻止python退出，直到该节点停止
     print("spin ...")
diff --git a/ultraArm/ultraarm_communication/scripts/ultraArm_services.py b/ultraArm/ultraarm_communication/scripts/ultraArm_services.py
index cd50beb..d993285 100755
--- a/ultraArm/ultraarm_communication/scripts/ultraArm_services.py
+++ b/ultraArm/ultraarm_communication/scripts/ultraArm_services.py
@@ -3,7 +3,20 @@
 import time
 import rospy
 from ultraarm_communication.srv import *
-from pymycobot.ultraArm import ultraArm
+import pymycobot
+from packaging import version
+# min low version require
+MAX_REQUIRE_VERSION = '3.5.3'
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    from pymycobot.ultraArmP340 import ultraArmP340
+    class_name = 'new'
+else:
+    from pymycobot.ultraArm import ultraArm
+    class_name = 'old'
+    print("Note: This class is no longer maintained since v3.6.0, please refer to the project documentation: https://github.com/elephantrobotics/pymycobot/blob/main/README.md")
+
 
 ua = None
 
@@ -15,7 +28,10 @@ def create_handle():
     port = rospy.get_param("~port")
     baud = rospy.get_param("~baud")
     rospy.loginfo("%s,%s" % (port, baud))
-    ua = ultraArm(port, baud)
+    if class_name == 'old':
+        ua = ultraArm(port, baud)
+    else:
+        ua = ultraArmP340(port, baud)
     
     # Power on the robotic arm
     ua.power_on()
diff --git a/ultraArm/ultraarm_communication/scripts/ultraArm_topics.py b/ultraArm/ultraarm_communication/scripts/ultraArm_topics.py
index aeed934..6d09265 100755
--- a/ultraArm/ultraarm_communication/scripts/ultraArm_topics.py
+++ b/ultraArm/ultraarm_communication/scripts/ultraArm_topics.py
@@ -7,7 +7,6 @@ import signal
 import threading
 
 import rospy
-from pymycobot.ultraArm import ultraArm
 
 from ultraarm_communication.msg import(
     ultraArmAngles,
@@ -17,6 +16,19 @@ from ultraarm_communication.msg import(
     ultraArmGripperStatus,
     ultraArmPumpStatus,
 )
+import pymycobot
+from packaging import version
+# min low version require
+MAX_REQUIRE_VERSION = '3.5.3'
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    from pymycobot.ultraArmP340 import ultraArmP340
+    class_name = 'new'
+else:
+    from pymycobot.ultraArm import ultraArm
+    class_name = 'old'
+    print("Note: This class is no longer maintained since v3.6.0, please refer to the project documentation: https://github.com/elephantrobotics/pymycobot/blob/main/README.md")
 
 
 class Watcher:
@@ -72,7 +84,10 @@ class ultraArmTopics(object):
         port = rospy.get_param("~port", "/dev/ttyUSB0")
         baud = rospy.get_param("~baud", 115200)
         rospy.loginfo("%s,%s" % (port, baud))
-        self.ua = ultraArm(port, baud)
+        if class_name == 'old':
+            self.ua = ultraArm(port, baud)
+        else:
+            self.ua = ultraArmP340(port, baud)
         self.ua.go_zero()
         self.lock = threading.Lock()
 
diff --git a/ultraArm/ultraarm_communication/scripts/ultraArm_topics_seeed.py b/ultraArm/ultraarm_communication/scripts/ultraArm_topics_seeed.py
index 7c13c00..cb4e787 100755
--- a/ultraArm/ultraarm_communication/scripts/ultraArm_topics_seeed.py
+++ b/ultraArm/ultraarm_communication/scripts/ultraArm_topics_seeed.py
@@ -16,7 +16,20 @@ from ultraarm_communication.msg import (
     ultraArmGripperStatus,
     ultraArmPumpStatus,
 )
-from pymycobot.ultraArm import ultraArm
+import pymycobot
+from packaging import version
+# min low version require
+MAX_REQUIRE_VERSION = '3.5.3'
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    from pymycobot.ultraArmP340 import ultraArmP340
+    class_name = 'new'
+else:
+    from pymycobot.ultraArm import ultraArm
+    class_name = 'old'
+    print("Note: This class is no longer maintained since v3.6.0, please refer to the project documentation: https://github.com/elephantrobotics/pymycobot/blob/main/README.md")
+
 
 
 class Watcher:
@@ -73,7 +86,10 @@ class ultraArmTopics(object):
         port = rospy.get_param("~port", "/dev/ttyUSB0")
         baud = rospy.get_param("~baud", 115200)
         rospy.loginfo("%s,%s" % (port, baud))
-        self.ua = ultraArm(port,baud)
+        if class_name == 'old':
+            self.ua = ultraArm(port,baud)
+        else:
+            self.ua = ultraArmP340(port ,baud)
         self.ua.go_zero()
         self.lock = threading.Lock()
 
diff --git a/ultraArm/ultraarm_moveit/scripts/sync_plan.py b/ultraArm/ultraarm_moveit/scripts/sync_plan.py
index 70026f4..e4fff59 100644
--- a/ultraArm/ultraarm_moveit/scripts/sync_plan.py
+++ b/ultraArm/ultraarm_moveit/scripts/sync_plan.py
@@ -2,7 +2,20 @@
 import math
 import rospy
 from sensor_msgs.msg import JointState
-from pymycobot.ultraArm import ultraArm
+import pymycobot
+from packaging import version
+# min low version require
+MAX_REQUIRE_VERSION = '3.5.3'
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) > version.parse(MAX_REQUIRE_VERSION):
+    from pymycobot.ultraArmP340 import ultraArmP340
+    class_name = 'new'
+else:
+    from pymycobot.ultraArm import ultraArm
+    class_name = 'old'
+    print("Note: This class is no longer maintained since v3.6.0, please refer to the project documentation: https://github.com/elephantrobotics/pymycobot/blob/main/README.md")
+
 
 
 ua = None
@@ -24,13 +37,17 @@ def listener():
     global ua
     rospy.init_node("control_slider", anonymous=True)
 
-    rospy.Subscriber("joint_states", JointState, callback)
     port = rospy.get_param("~port", "/dev/ttyUSB0") # Select connected device. 选择连接设备
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
-    ua = ultraArm(port, baud)
+    if class_name == 'old':
+        ua = ultraArm(port, baud)
+    else:
+        ua = ultraArmP340(port, baud)
     ua.power_on()
     ua.go_zero()
+    
+    rospy.Subscriber("joint_states", JointState, callback)
 
     # spin() simply keeps python from exiting until this node is stopped
     # spin() 只是阻止python退出，直到该节点停止