diff --git a/components/step_motor_ctrl_module/tmc51x0_motor.cpp b/components/step_motor_ctrl_module/tmc51x0_motor.cpp
index d5f4fe3..6bcce96 100644
--- a/components/step_motor_ctrl_module/tmc51x0_motor.cpp
+++ b/components/step_motor_ctrl_module/tmc51x0_motor.cpp
@@ -194,7 +194,7 @@ int32_t TMC51X0Motor::move_to_zero_with_calibrate(int32_t nowx, action_cb_status
     m_param.motor_shift = calibrate_x;
 
     m_stepM1->setXACTUAL(0);
-          m_stepM1->setENCVAL(0);
+    m_stepM1->setENCVAL(0);
 
     call_exec_status_cb(erro, status_cb);
     return;
@@ -713,6 +713,9 @@ int32_t TMC51X0Motor::motor_get_subdevice_reg(int32_t reg_addr, int32_t* reg_val
 }
 
 int32_t TMC51X0Motor::motor_read_enc_val(int32_t* enc_val) {
+  if (m_motor_enc_resolution == 0) {
+    return motor_read_pos(enc_val);
+  }
   inverse_kinematics(m_stepM1->getENCVAL(), *enc_val);
   return 0;
 }