diff --git a/api/apibasic/cmdid.cpp b/api/apibasic/cmdid.cpp
index ab7d26d..3cd5943 100644
--- a/api/apibasic/cmdid.cpp
+++ b/api/apibasic/cmdid.cpp
@@ -48,6 +48,7 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kstep_motor_easy_move_by),
     CMD_ITERM(kstep_motor_easy_move_to),
     CMD_ITERM(kstep_motor_easy_move_to_zero),
+    CMD_ITERM(kstep_motor_easy_move_to_end_point),
     CMD_ITERM(kstep_motor_easy_set_current_pos),
     CMD_ITERM(kstep_motor_easy_move_to_io),
     CMD_ITERM(kstep_motor_active_cfg),
diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp
index f4c7e18..b67a7e3 100644
--- a/api/apibasic/cmdid.hpp
+++ b/api/apibasic/cmdid.hpp
@@ -51,18 +51,19 @@ typedef enum {
    *                                                     STEP_MOTOR                                                      *
    ***********************************************************************************************************************/
 
-  kstep_motor_enable               = CMDID(2, 1),   // para:{1}, ack:{}
-  kstep_motor_read_pos             = CMDID(2, 11),  // para:{}, ack:{4}
-  kstep_motor_easy_rotate          = CMDID(2, 17),  // para:{4}, ack:{}
-  kstep_motor_easy_move_by         = CMDID(2, 18),  // para:{4}, ack:{}
-  kstep_motor_easy_move_to         = CMDID(2, 19),  // para:{4}, ack:{}
-  kstep_motor_easy_move_to_zero    = CMDID(2, 20),  // para:{1}, ack:{}
-  kstep_motor_easy_set_current_pos = CMDID(2, 21),  // para:{4}, ack:{}
-  kstep_motor_easy_move_to_io      = CMDID(2, 22),  // para:{4,4}, ack:{}
-  kstep_motor_stop                 = CMDID(2, 40),  // para:{4}, ack:{}
-  kstep_motor_active_cfg           = CMDID(2, 41),  // para:{4}, ack:{}
-  kstep_motor_read_io_state        = CMDID(2, 42),  // para:{4}, ack:{}
-  kstep_motor_read_tmc5130_status  = CMDID(2, 43),  //
+  kstep_motor_enable                 = CMDID(2, 1),   // para:{1}, ack:{}
+  kstep_motor_read_pos               = CMDID(2, 11),  // para:{}, ack:{4}
+  kstep_motor_easy_rotate            = CMDID(2, 17),  // para:{4}, ack:{}
+  kstep_motor_easy_move_by           = CMDID(2, 18),  // para:{4}, ack:{}
+  kstep_motor_easy_move_to           = CMDID(2, 19),  // para:{4}, ack:{}
+  kstep_motor_easy_move_to_zero      = CMDID(2, 20),  // para:{1}, ack:{}
+  kstep_motor_easy_set_current_pos   = CMDID(2, 21),  // para:{4}, ack:{}
+  kstep_motor_easy_move_to_io        = CMDID(2, 22),  // para:{4,4}, ack:{}
+  kstep_motor_stop                   = CMDID(2, 40),  // para:{4}, ack:{}
+  kstep_motor_active_cfg             = CMDID(2, 41),  // para:{4}, ack:{}
+  kstep_motor_read_io_state          = CMDID(2, 42),  // para:{4}, ack:{}
+  kstep_motor_read_tmc5130_status    = CMDID(2, 43),  //
+  kstep_motor_easy_move_to_end_point = CMDID(2, 44),  //
 
   /***********************************************************************************************************************
    *                                                     MINI_SERVO                                                      *
diff --git a/api/zi_motor.hpp b/api/zi_motor.hpp
index badd3aa..d86fe04 100644
--- a/api/zi_motor.hpp
+++ b/api/zi_motor.hpp
@@ -37,6 +37,7 @@ class ZIStepMotor {
   virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) = 0;
   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;
 
   /***********************************************************************************************************************
    *                                                        DEBUG                                                        *