diff --git a/a8000_protocol b/a8000_protocol
index 8f3e18d..40ada07 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 8f3e18d35b26becec3236055a1324e31e8d0f40c
+Subproject commit 40ada078fcd4420b6779ba894c5756acf0a071de
diff --git a/src/tab/id_card_read_tab.cpp b/src/tab/id_card_read_tab.cpp
index 215743f..c9f1991 100644
--- a/src/tab/id_card_read_tab.cpp
+++ b/src/tab/id_card_read_tab.cpp
@@ -156,7 +156,16 @@ void IDCardReaderTab::construct(QTabWidget *fathertab) {
       for (int i = 0; i < EEPROM_MAX_ADD; i += 4) {
         uint32_t writeval = A8kIdCardWriter::instance()->readEepromWriteData(i);
         ZQUI::ins()->ishow("write 0x%04x 0x%02x 0x%02x 0x%02x 0x%02x", i, (writeval >> 0) & 0xff, (writeval >> 8) & 0xff, (writeval >> 16) & 0xff, (writeval >> 24) & 0xff);
-        ICM->callcmd2(getDeviceId(), ka8000_idcard_write_raw, i, writeval);
+
+        for (size_t j = 0; j < 3; j++) {
+          if (j != 0) Sleep(100);
+          try {
+            ICM->callcmd2(getDeviceId(), ka8000_idcard_write_raw, i, writeval);
+          } catch (const std::exception &e) {
+            std::cerr << e.what() << '\n';
+          }
+          break;
+        }
       }
       ZQUI::ins()->ishow("write all done.");
     });
diff --git a/src/tab/mini_servo_tab.cpp b/src/tab/mini_servo_tab.cpp
index 2a34d29..bffcd85 100644
--- a/src/tab/mini_servo_tab.cpp
+++ b/src/tab/mini_servo_tab.cpp
@@ -44,6 +44,7 @@ void MiniServoTab::construct(QTabWidget *fathertab) {
     box->newFunc("扭矩模式-旋转", {"torque"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kmini_servo_rotate_with_torque, atoi(args[0])); });
 
     box->newFunc("设置中点", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kmini_servo_set_mid_point); });
+    box->newFunc("设置当前位置(1->3599)", {"pos"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kmini_servo_set_cur_pos,atoi(args[0])); });
     box->newFunc("读取IO状态", {"ioindex"}, [this](int argn, const char **args) {
       ICM->callcmd1(getDeviceId(), kmini_servo_read_io_state, atoi(args[0]));
       ZQUI::ins()->ishow("IO:%d", ICM->getAck(0));
@@ -65,7 +66,6 @@ void MiniServoTab::construct(QTabWidget *fathertab) {
           return true;
         });
 
-
     tableBox->addReg("pos", kreg_mini_servo_pos, ZRegItem::krw | ZRegItem::kdec);
     tableBox->addReg("limit-torque(位置模式,速度模式有效)", kreg_mini_servo_limit_torque, ZRegItem::krw | ZRegItem::kdec);
     tableBox->addReg("limit-velocity(位置模式有效)", kreg_mini_servo_limit_velocity, ZRegItem::krw | ZRegItem::kdec);
diff --git a/src/tab/step_motor_ctrl_tab.cpp b/src/tab/step_motor_ctrl_tab.cpp
index 7c07751..15f6442 100644
--- a/src/tab/step_motor_ctrl_tab.cpp
+++ b/src/tab/step_motor_ctrl_tab.cpp
@@ -95,11 +95,8 @@ void StepMotorCtrlTab::construct(QTabWidget *fathertab) {
     box->newFunc("相对移动", {"distance"}, [this](int argn, const char **args) { ICM->step_motor_easy_move_by(getDeviceId(), atoi(args[0])); });
     box->newFunc("移动到", {"position"}, [this](int argn, const char **args) { ICM->step_motor_easy_move_to(getDeviceId(), atoi(args[0])); });
     box->newFunc("移动到IO", {"ioindex", "direction"}, [this](int argn, const char **args) { ICM->step_motor_easy_move_to_io(getDeviceId(), atoi(args[0]), atoi(args[1])); });
-    box->newFunc("往复运动", {"startPos", "endPos","times"}, [this](int argn, const char **args) {
-          ICM->callcmd3(getDeviceId(), kstep_motor_easy_reciprocating_motion, atoi(args[0]), atoi(args[1]), atoi(args[2]));
-    });
-
-    
+    box->newFunc("往复运动", {"startPos", "endPos", "times"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kstep_motor_easy_reciprocating_motion, atoi(args[0]), atoi(args[1]), atoi(args[2])); });
+    box->newFunc("快速归零", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kstep_motor_easy_move_to_zero_point_quick); });
   }
 
   {
@@ -140,6 +137,10 @@ void StepMotorCtrlTab::construct(QTabWidget *fathertab) {
     tableBox->addReg("tzerowait", kreg_step_motor_tzerowait, ZRegItem::krw | ZRegItem::kdec);
     tableBox->addReg("enc_resolution", kreg_step_motor_enc_resolution, ZRegItem::krw | ZRegItem::kdec);
     tableBox->addReg("enable_enc", kreg_step_motor_enable_enc, ZRegItem::krw | ZRegItem::kdec);
+    tableBox->addReg("dzero_pos", kreg_step_motor_dzero_pos, ZRegItem::krw | ZRegItem::kdec);
+    tableBox->addReg("pos_devi_toleranc", kreg_step_motor_pos_devi_tolerance, ZRegItem::krw | ZRegItem::kdec);
+    tableBox->addReg("io_trigger_append_distance", kreg_step_motor_io_trigger_append_distance, ZRegItem::krw | ZRegItem::kdec);
+
   }
 
   tab->addSpacer();
diff --git a/src/tab/xyrobot_tab.cpp b/src/tab/xyrobot_tab.cpp
index 3d2ceee..a792c73 100644
--- a/src/tab/xyrobot_tab.cpp
+++ b/src/tab/xyrobot_tab.cpp
@@ -59,8 +59,8 @@ void XYRobotTab::construct(QTabWidget *fathertab) {
     });
 
     box->newFunc("设置位置", {"x", "y"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kxymotor_set_pos, atoi(args[0]), atoi(args[1])); });
-    box->newFunc("相对移动", {"dx", "dy", "velocity"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_move_by, atoi(args[0]), atoi(args[1]), atoi(args[2])); });
-    box->newFunc("绝对移动", {"x", "y", "velocity"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_move_to, atoi(args[0]), atoi(args[1]), atoi(args[2])); });
+    box->newFunc("相对移动", {"dx", "dy"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kxymotor_move_by, atoi(args[0]), atoi(args[1])); });
+    box->newFunc("绝对移动", {"x", "y"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kxymotor_move_to, atoi(args[0]), atoi(args[1])); });
     box->newFunc("直接控制电机相对移动", {"motor1_dpos", "motor2_dpos"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kxymotor_motor_move_by_direct, atoi(args[0]), atoi(args[1])); });
 
     box->newFunc("读取全部输入IO", {}, [this](int argn, const char **args) {
@@ -135,6 +135,9 @@ void XYRobotTab::construct(QTabWidget *fathertab) {
     tableBox->addReg("look_zero_edge_speed", kreg_xyrobot_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec);
     tableBox->addReg("shift_x", kreg_xyrobot_shift_x, ZRegItem::krw | ZRegItem::kdec);
     tableBox->addReg("shift_y", kreg_xyrobot_shift_y, ZRegItem::krw | ZRegItem::kdec);
+    tableBox->addReg("pos_devi_tolerance", kreg_xyrobot_pos_devi_tolerance, ZRegItem::krw | ZRegItem::kdec);
+    tableBox->addReg("io_trigger_append_distance", kreg_xyrobot_io_trigger_append_distance, ZRegItem::krw | ZRegItem::kdec);
+
     tableBox->addReg("default_velocity", kreg_xyrobot_default_velocity, ZRegItem::krw | ZRegItem::kdec);
 
     tableBox->addSpacer();