diff --git a/cmdid.hpp b/cmdid.hpp
index 2f6e038..c01b796 100644
--- a/cmdid.hpp
+++ b/cmdid.hpp
@@ -69,7 +69,7 @@ typedef enum {
   kmotor_motor_move_to_zero_forward_and_calculated_shift  = CMDID(2, 13),  // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
   kmotor_motor_move_to_zero_backward_and_calculated_shift = CMDID(2, 14),  // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
   kmotor_move_to_torque                                   = CMDID(2, 15),  // para:{4,4,4}, ack:{}
-  
+  kmotor_calculated_pos_by_move_to_zero                   = CMDID(2, 16),  // para:{}, ack:{}
 
 #if 0
   virtual ~ZIXYMotor() {}
diff --git a/protocol_parser.cpp b/protocol_parser.cpp
index ca1f11f..bd6c681 100644
--- a/protocol_parser.cpp
+++ b/protocol_parser.cpp
@@ -200,6 +200,9 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
   virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机
 
+  virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
+
+
 #endif
   PROCESS_PACKET_10(kmotor_enable, ZIMotor, motor_enable);
   PROCESS_PACKET_30(kmotor_rotate, ZIMotor, motor_rotate);
@@ -216,6 +219,7 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
   PROCESS_PACKET_40(kmotor_motor_move_to_zero_forward_and_calculated_shift, ZIMotor, motor_move_to_zero_forward_and_calculated_shift);
   PROCESS_PACKET_40(kmotor_motor_move_to_zero_backward_and_calculated_shift, ZIMotor, motor_move_to_zero_backward_and_calculated_shift);
   PROCESS_PACKET_30(kmotor_move_to_torque, ZIMotor, motor_move_to_torque);
+  PROCESS_PACKET_00(kmotor_calculated_pos_by_move_to_zero, ZIMotor, motor_calculated_pos_by_move_to_zero);
 
   /*******************************************************************************
    *                                   xymotor                                  *
diff --git a/protocol_proxy.cpp b/protocol_proxy.cpp
index d754448..871fc17 100644
--- a/protocol_proxy.cpp
+++ b/protocol_proxy.cpp
@@ -130,6 +130,7 @@ int32_t ZIProtocolProxy::module_enable(int32_t para0) { PROXY_IMPL_10(kmodule_en
 
   virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机
+  virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 
 #endif
 
@@ -153,6 +154,7 @@ int32_t ZIProtocolProxy::motor_move_to_zero_forward_and_calculated_shift(int32_t
 int32_t ZIProtocolProxy::motor_move_to_zero_backward_and_calculated_shift(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_motor_move_to_zero_backward_and_calculated_shift, 30); };
 
 int32_t ZIProtocolProxy::motor_move_to_torque(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to_torque, 30); }
+int32_t ZIProtocolProxy::motor_calculated_pos_by_move_to_zero() { PROXY_IMPL_00(kmotor_calculated_pos_by_move_to_zero, 30); }
 
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
diff --git a/protocol_proxy.hpp b/protocol_proxy.hpp
index fdb21fd..82ab019 100644
--- a/protocol_proxy.hpp
+++ b/protocol_proxy.hpp
@@ -80,6 +80,7 @@ class ZIProtocolProxy : public ZIMotor,    //
 
   virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机
+  virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 
 #endif
 
@@ -103,6 +104,7 @@ class ZIProtocolProxy : public ZIMotor,    //
   virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
 
   virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) override;
+  virtual int32_t motor_calculated_pos_by_move_to_zero() override;
 
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
diff --git a/zmodule_device_manager.cpp b/zmodule_device_manager.cpp
index 5fca6e0..95d382c 100644
--- a/zmodule_device_manager.cpp
+++ b/zmodule_device_manager.cpp
@@ -72,6 +72,7 @@ int32_t ZModuleDeviceManager::module_start(uint16_t id) { PROXY_IMPL(ZIModule, m
 
   virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机
+  virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 
 #endif
 int32_t ZModuleDeviceManager::motor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIMotor, motor_enable, enable); }
@@ -89,6 +90,7 @@ int32_t ZModuleDeviceManager::motor_set_current_pos_by_change_shift(uint16_t id,
 int32_t ZModuleDeviceManager::motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_forward_and_calculated_shift, findzerospeed, findzeroedge_speed, acc, overtime); }
 int32_t ZModuleDeviceManager::motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_backward_and_calculated_shift, findzerospeed, findzeroedge_speed, acc, overtime); }
 int32_t ZModuleDeviceManager::motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_torque, pos, torque, overtime); }
+int32_t ZModuleDeviceManager::motor_calculated_pos_by_move_to_zero(uint16_t id) { PROXY_IMPL(ZIMotor, motor_calculated_pos_by_move_to_zero); }
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
  *******************************************************************************/
diff --git a/zmodule_device_manager.hpp b/zmodule_device_manager.hpp
index eeb56a4..60b0f97 100644
--- a/zmodule_device_manager.hpp
+++ b/zmodule_device_manager.hpp
@@ -110,6 +110,7 @@ class ZModuleDeviceManager {
 
   virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机
+  virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 
 #endif
   virtual int32_t motor_enable(uint16_t id, int32_t enable);
@@ -127,6 +128,7 @@ class ZModuleDeviceManager {
   virtual int32_t motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
   virtual int32_t motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
   virtual int32_t motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime);
+  virtual int32_t motor_calculated_pos_by_move_to_zero(uint16_t id);
 
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
diff --git a/zmodule_device_script_cmder_paser.cpp b/zmodule_device_script_cmder_paser.cpp
index 193a59a..6cf564e 100644
--- a/zmodule_device_script_cmder_paser.cpp
+++ b/zmodule_device_script_cmder_paser.cpp
@@ -115,7 +115,7 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
   PROCESS_PACKET_10(module_flush_cfg, "(mid)");
   PROCESS_PACKET_10(module_active_cfg, "(mid)");
   cancmder->regCMD("module_read_raw", "(mid, readsize)", 2, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) {
-    if (atoi(paraV[2]) > sizeof(ack->rawdata)) {
+    if (atoi(paraV[2]) > (int32_t)sizeof(ack->rawdata)) {
       ack->ecode = err::kbuffer_not_enough;
       return;
     }
@@ -146,6 +146,7 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
 
   virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机
+  virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 #endif
 
   PROCESS_PACKET_20(motor_enable, "(mid, enable)");
@@ -168,6 +169,7 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
 
   PROCESS_PACKET_50(motor_move_to_zero_forward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
   PROCESS_PACKET_50(motor_move_to_zero_backward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
+  PROCESS_PACKET_10(motor_calculated_pos_by_move_to_zero, "(mid)");
 
 #if 0
   virtual ~ZIXYMotor() {}