diff --git a/src/main/java/org/mgc/serial_comm/SerialComm.java b/src/main/java/org/mgc/serial_comm/SerialComm.java
index 6349eb1..792ca6c 100644
--- a/src/main/java/org/mgc/serial_comm/SerialComm.java
+++ b/src/main/java/org/mgc/serial_comm/SerialComm.java
@@ -66,7 +66,7 @@ public class SerialComm {
                                 }
                                 // 延时 1ms
                                 try {
-                                    Thread.sleep(5);
+                                    Thread.sleep(10);
                                 } catch (InterruptedException e) {
                                     Thread.currentThread().interrupt();
                                     log.error("Sleep interrupted", e);
diff --git a/src/main/java/org/mgc/serial_comm/SerialCommCtrl.java b/src/main/java/org/mgc/serial_comm/SerialCommCtrl.java
index 6c4bc25..2a05e2b 100644
--- a/src/main/java/org/mgc/serial_comm/SerialCommCtrl.java
+++ b/src/main/java/org/mgc/serial_comm/SerialCommCtrl.java
@@ -17,7 +17,7 @@ public class SerialCommCtrl {
     private static final int THREAD_POOL_SIZE = 5; // 线程池大小
     // linux 485 com ttyS1
     private final SerialComm serialComm = new SerialComm("ttyS1", 115200, 8, 1, 0);
-//    private final SerialComm serialComm = new SerialComm("COM17", 115200, 8, 1, 0);
+//    private final SerialComm serialComm = new SerialComm("COM7", 115200, 8, 1, 0);
     private final ExecutorService scheduler = Executors.newFixedThreadPool(THREAD_POOL_SIZE);;
     private boolean isRunning = false;
 
@@ -139,10 +139,22 @@ public class SerialCommCtrl {
             processQueue(waitQueue);
         }
     }
-    private void processQueue(Queue<Integer> waitQueue) {
+
+    public void pushEvent(BoardEvent event)
+    {
+        Queue<Integer> waitQueue = getKeyByValue(event);
+        processQueue(waitQueue);    // 打印queue
+        if (waitQueue.isEmpty()) {
+            log.warn("No commands waiting for event: " + event.toString());
+        } else {
+            log.info("Commands waiting for event: " + event.toString() + " - " + waitQueue);
+        }
+    }
+
+
+    public void processQueue(Queue<Integer> waitQueue) {
         for (Integer cmdID : new ArrayList<>(waitQueue)) {
             SerialResult result = new SerialResult(FrameSlaveIdInfo.commonSlaveID, cmdID, 0);
-
             SubSprayAppSingleton.getInstance().handleDeviceSerialMessageEvent(result);
             eventWaitCmd.remove(cmdID);
         }
diff --git a/src/main/java/org/mgc/server/command/command_handler/MotorDevice.java b/src/main/java/org/mgc/server/command/command_handler/MotorDevice.java
index b6e7762..a9f6d56 100644
--- a/src/main/java/org/mgc/server/command/command_handler/MotorDevice.java
+++ b/src/main/java/org/mgc/server/command/command_handler/MotorDevice.java
@@ -21,6 +21,10 @@ import org.mgc.utils.StringHelper;
 
 import java.io.IOException;
 import java.security.InvalidParameterException;
+import java.util.ArrayDeque;
+import java.util.ArrayList;
+import java.util.LinkedList;
+import java.util.Queue;
 import java.util.concurrent.ExecutionException;
 
 @Slf4j
@@ -120,15 +124,18 @@ public class MotorDevice extends BaseCommandHandler {
                     if (motorDirect == null || motorDirect == MotorDirect.MotorBackward) {
                         throw new InvalidParameterException("Motor [Direction]");
                     }
+                    int timeout = param.has("timeout") ? param.get("timeout").asInt() : MOVE_TIMEOUT_INTERVAL;
                     double absPosition = Math.abs(position);
                     position = motorDirect == MotorDirect.MotorForward ? absPosition : -absPosition;
-                    res = moveMotorToPosition(cmdId, axis_, position);
+                    res = moveMotorToPosition(cmdId, axis_, position, timeout);
                     log.info("[Motor {}] move To Position {}", axis_.getAxisValue(), position);
                 }
                 break;
             }
             case MotorActionOrigin: {
-                res = motorMoveToHome(cmdId, axis_);
+                JsonNode param = command.getParam();
+                int timeout = param != null && param.has("timeout") ? param.get("timeout").asInt() : HOME_TIMEOUT_INTERVAL;
+                res = motorMoveToHome(cmdId, axis_, timeout);
                 log.info("[Motor {}] Move to Home {}", axis_.getAxisValue(), axis_);
                 break;
             }
@@ -149,16 +156,16 @@ public class MotorDevice extends BaseCommandHandler {
         }
     }
 
-    public int motorMoveToHome(int cmdId, MotorAxis axis) {
+    public int motorMoveToHome(int cmdId, MotorAxis axis, int timeout) {
         int res = -1;
-        SerialCommand motorMoveHomeCommand = DeviceCommandGenerator.ctrlWaitCmdControl(cmdId, getMotorSlavedId(),
-                MOVE_HOME_ADDRESS, true, getMoveHomeFinishedEvent());
+        SerialCommand motorMoveHomeCommand = DeviceCommandGenerator.ctrlWaitCmdControl(cmdId, getMotorSlavedId(axis),
+                MOVE_HOME_ADDRESS, true, getMoveHomeFinishedEvent(axis));
         try {
             // 发送 485 指令
             DeviceCommandManager deviceCommandManager = SubSprayAppSingleton.getInstance().getDeviceCommandManager();;
             CommandFuture motorMoveHomeFuture = deviceCommandManager.sendCommand(motorMoveHomeCommand);
             // 等待 30 s
-            commandWait(HOME_TIMEOUT_INTERVAL, motorMoveHomeFuture);
+            commandWait(timeout, motorMoveHomeFuture);
 
             // 485 指令 转 data
             SerialResult result = motorMoveHomeFuture.getAckFuture().get();
@@ -178,7 +185,7 @@ public class MotorDevice extends BaseCommandHandler {
         // TODO Open Device
         // 拼 485 指令
         int res = 0;
-        SerialCommand ctrlCommand = DeviceCommandGenerator.ctrlSlaveSingleRegCmdControl(cmdId, getMotorSlavedId(), I_RUN_ADDRESS,
+        SerialCommand ctrlCommand = DeviceCommandGenerator.ctrlSlaveSingleRegCmdControl(cmdId, getMotorSlavedId(axis), I_RUN_ADDRESS,
                 current);
         try {
             // 发送 485 指令
@@ -201,7 +208,7 @@ public class MotorDevice extends BaseCommandHandler {
         return res;
     }
 
-    public int moveMotorToPosition(int cmdId, MotorAxis axis, double position) {
+    public int moveMotorToPosition(int cmdId, MotorAxis axis, double position, int timeout) {
         // 拼 485 指令
          double pos_limit = MotorAxis.getPosLimit(axis);
          if(Math.abs(position) > pos_limit)
@@ -214,14 +221,14 @@ public class MotorDevice extends BaseCommandHandler {
         int res = 0;
         short[] shortArray = IntToShortArray.intToShortArrayBigEndian(motorPos);
 
-        SerialCommand ctrlCommand = DeviceCommandGenerator.ctrlWaitMultiRegCmdControl(cmdId, getMotorSlavedId(), V_TARGET_POSITION_ADDRESS,
-                shortArray, getMoveFinishedEvent());
+        SerialCommand ctrlCommand = DeviceCommandGenerator.ctrlWaitMultiRegCmdControl(cmdId, getMotorSlavedId(axis), V_TARGET_POSITION_ADDRESS,
+                shortArray, getMoveFinishedEvent(axis));
         try {
             // 发送 485 指令
             DeviceCommandManager deviceCommandManager = SubSprayAppSingleton.getInstance().getDeviceCommandManager();;
             CommandFuture ctrlCommandFuture = deviceCommandManager.sendCommand(ctrlCommand);
             // 等待
-            commandWait(MOVE_TIMEOUT_INTERVAL, ctrlCommandFuture);
+            commandWait(timeout, ctrlCommandFuture);
 
             // 485 指令 转 data
             SerialResult result = ctrlCommandFuture.getAckFuture().get();
@@ -259,7 +266,7 @@ public class MotorDevice extends BaseCommandHandler {
 
         // 拼 485 指令
         int res = 0;
-        SerialCommand ctrlCommand = DeviceCommandGenerator.ctrlSlaveMultiRegCmdControl(cmdId, getMotorSlavedId(), V_SPEED_ADDRESS,
+        SerialCommand ctrlCommand = DeviceCommandGenerator.ctrlSlaveMultiRegCmdControl(cmdId, getMotorSlavedId(axis), V_SPEED_ADDRESS,
                 shortArray);
         try {
             // 发送 485 指令
@@ -287,9 +294,9 @@ public class MotorDevice extends BaseCommandHandler {
         return 0;
     }
 
-    int getMotorSlavedId()
+    int getMotorSlavedId(MotorAxis axis)
     {
-        switch (axis_)
+        switch (axis)
         {
             case X -> {
                 return FrameSlaveIdInfo.MotorXSlavaID;
@@ -304,24 +311,24 @@ public class MotorDevice extends BaseCommandHandler {
         return 0;
     }
 
-    BoardEvent getMoveFinishedEvent() {
-        switch (axis_)
+    BoardEvent getMoveFinishedEvent(MotorAxis axis) {
+        switch (axis)
         {
-        case X -> {
-            return BoardEvent.MOTOR_X_MOVE_FINISHED;
-        }
-        case Y -> {
+            case X -> {
+                return BoardEvent.MOTOR_X_MOVE_FINISHED;
+            }
+            case Y -> {
                 return BoardEvent.MOTOR_Y_MOVE_FINISHED;
-        }
-        case Z -> {
+            }
+            case Z -> {
                 return BoardEvent.MOTOR_Z_MOVE_FINISHED;
-        }
+            }
         }
         return null;
     }
 
-    BoardEvent getMoveHomeFinishedEvent() {
-        switch (axis_)
+    BoardEvent getMoveHomeFinishedEvent(MotorAxis axis) {
+        switch (axis)
         {
             case X -> {
                 return BoardEvent.MOTOR_X_HOME_FINISHED;
@@ -339,7 +346,7 @@ public class MotorDevice extends BaseCommandHandler {
     public int stopMotor(int cmdId, MotorAxis axis) {
         // 拼 485 指令
         int res = 0;
-        SerialCommand ctrlCommand = DeviceCommandGenerator.ctrlSlaveCmdControl(cmdId, getMotorSlavedId(), STOP_ADDRESS,
+        SerialCommand ctrlCommand = DeviceCommandGenerator.ctrlSlaveCmdControl(cmdId, getMotorSlavedId(axis), STOP_ADDRESS,
                 true);
         try {
             // 发送 485 指令
@@ -351,6 +358,10 @@ public class MotorDevice extends BaseCommandHandler {
             // 485 指令 转 data
             SerialResult result = ctrlCommandFuture.getAckFuture().get();
             res = result.getCode();
+
+            deviceCommandManager.pushEvent(getMoveHomeFinishedEvent(axis));
+            deviceCommandManager.pushEvent(getMoveFinishedEvent(axis));
+            log.info("\nMotor stopped\n");
             // 返回data
         } catch (IOException e) {
             res = -1;
@@ -359,6 +370,7 @@ public class MotorDevice extends BaseCommandHandler {
         } catch (InterruptedException e) {
             res = -1;
         }
+
         return res;
     }
 
diff --git a/src/main/java/org/mgc/service/DeviceCommandManager.java b/src/main/java/org/mgc/service/DeviceCommandManager.java
index 9614055..55e67e8 100644
--- a/src/main/java/org/mgc/service/DeviceCommandManager.java
+++ b/src/main/java/org/mgc/service/DeviceCommandManager.java
@@ -1,10 +1,12 @@
 package org.mgc.service;
 
 import lombok.extern.slf4j.Slf4j;
+import org.mgc.serial_comm.BoardEvent;
 import org.mgc.serial_comm.SerialCommCtrl;
 import org.mgc.server.CommandFuture;
 
 import java.io.IOException;
+import java.util.Queue;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.ConcurrentMap;
 
@@ -44,6 +46,10 @@ public class DeviceCommandManager {
         return commandFuture;
     }
 
+    public void pushEvent(BoardEvent event) {
+        serialComm.pushEvent(event);
+    }
+
     public void handleDeviceResult(SerialResult deviceResult) {
         completeCommandAck(deviceResult);
     }