diff --git a/api/apibasic/cmdid.cpp b/api/apibasic/cmdid.cpp
index 666eee7..84980a8 100644
--- a/api/apibasic/cmdid.cpp
+++ b/api/apibasic/cmdid.cpp
@@ -74,7 +74,6 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kstep_motor_active_cfg),
     CMD_ITERM(kstep_motor_read_io_state),
     CMD_ITERM(kstep_motor_easy_move_to_end_point),
-    CMD_ITERM(kstep_motor_read_pos_and_enc_pos),
     CMD_ITERM(kstep_motor_read_tmc5130_status),
     CMD_ITERM(kstep_motor_read_tmc5130_state),
     CMD_ITERM(kstep_motor_read_io_index_in_stm32),
diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp
index 00610c4..d02d04f 100644
--- a/api/apibasic/cmdid.hpp
+++ b/api/apibasic/cmdid.hpp
@@ -65,7 +65,6 @@ typedef enum {
   kstep_motor_active_cfg             = CMDID(2, 41),  // para:{4}, ack:{}
   kstep_motor_read_io_state          = CMDID(2, 42),  // para:{4}, ack:{}
   kstep_motor_easy_move_to_end_point = CMDID(2, 44),  //
-  kstep_motor_read_pos_and_enc_pos   = CMDID(2, 45),  // para:{}, ack:{4,4}
 
   kstep_motor_read_tmc5130_status    = CMDID(2, 50),  //
   kstep_motor_read_tmc5130_state     = CMDID(2, 51),  // 调试使用
diff --git a/api/apibasic/reg_index.cpp b/api/apibasic/reg_index.cpp
index 8df991f..d279c74 100644
--- a/api/apibasic/reg_index.cpp
+++ b/api/apibasic/reg_index.cpp
@@ -117,8 +117,6 @@ static reginfo_t table[] = {
 
     REG_ITERM(kreg_step_motor_pos),
     REG_ITERM(kreg_step_motor_dpos),
-    REG_ITERM(kreg_step_motor_enc_val),
-    REG_ITERM(kreg_step_motor_denc_val),
     REG_ITERM(kreg_step_motor_shift),
     REG_ITERM(kreg_step_motor_shaft),
     REG_ITERM(kreg_step_motor_one_circle_pulse),
diff --git a/api/apibasic/reg_index.hpp b/api/apibasic/reg_index.hpp
index 6c84178..2c1557a 100644
--- a/api/apibasic/reg_index.hpp
+++ b/api/apibasic/reg_index.hpp
@@ -146,8 +146,6 @@ typedef enum {
    ***********************************************************************************************************************/
   kreg_step_motor_pos      = REG_INDEX(101, 0, 1),  // 机器人x坐标
   kreg_step_motor_dpos     = REG_INDEX(101, 0, 3),  // 执行完上一条指令后的相对位移
-  kreg_step_motor_enc_val  = REG_INDEX(101, 0, 4),
-  kreg_step_motor_denc_val = REG_INDEX(101, 0, 5),
 
   kreg_step_motor_shift                        = REG_INDEX(101, 50, 0),   // x偏移
   kreg_step_motor_shaft                        = REG_INDEX(101, 50, 1),   // x轴是否反转
diff --git a/api/zi_motor.hpp b/api/zi_motor.hpp
index 53d128c..c1a47de 100644
--- a/api/zi_motor.hpp
+++ b/api/zi_motor.hpp
@@ -138,7 +138,6 @@ class ZIStepMotor {
   virtual int32_t step_motor_active_cfg()                                        = 0;
   virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state)      = 0;
   virtual int32_t step_motor_easy_move_to_end_point()                            = 0;
-  virtual int32_t step_motor_read_pos_and_enc_pos(int32_t* pos, int32_t* encpos)  = 0;
 
   /***********************************************************************************************************************
    *                                                        DEBUG                                                        *