diff --git a/cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp b/cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp
index 3ac77065..1f6de9b7 100644
--- a/cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp
+++ b/cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp
@@ -413,7 +413,7 @@ Result HuayanRobot::speedL(const CartesianVelocity& velocity,
     return wait_result;
 }
 
-Result HuayanRobot::stopL(const double acceleration)
+Result HuayanRobot::stopL(std::optional<double> acceleration = std::nullopt)
 {
     (void)acceleration;
     return stopMotion();
diff --git a/cmvr-es/devices/arm/huayan_arm/huayan_arm.h b/cmvr-es/devices/arm/huayan_arm/huayan_arm.h
index 32909710..92a3d1a3 100644
--- a/cmvr-es/devices/arm/huayan_arm/huayan_arm.h
+++ b/cmvr-es/devices/arm/huayan_arm/huayan_arm.h
@@ -53,7 +53,7 @@ public:
     Result stopJ(double acceleration) override;
     Result moveL(const CartesianPose& target, const MotionOptions& options, FrameType frame = FrameType::Base) override;
     Result speedL(const CartesianVelocity& velocity, double acceleration, double duration, FrameType frame = FrameType::Base) override;
-    Result stopL(double acceleration) override;
+    Result stopL(const std::optional<double> acceleration) override;
     Result stopMotion() override;
 
     Result startServoMode(const ServoOptions& options) override;