diff --git a/a8000_protocol b/a8000_protocol
index 590c891..ffd9442 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 590c89179513d49d36fd9ad9cb678e3d9e34be7a
+Subproject commit ffd944277ed3f6f63e01d3ab2ea1c14d01fec752
diff --git a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
index 28460d8..10920db 100644
--- a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -108,6 +108,9 @@ int32_t StepMotorCtrlModule::module_set_reg(int32_t regindex, int32_t val) {
     MODULE_REG_CASE__SET_REG_TO(kreg_step_motor_one_circle_pulse, (m_cfg.motor_one_circle_pulse));
     MODULE_REG_CASE__SET_REG_TO(kreg_step_motor_one_circle_pulse_denominator, (m_cfg.motor_one_circle_pulse_denominator));
     MODULE_REG_CASE__SET_REG_TO(kreg_step_motor_default_velocity, (m_cfg.motor_default_velocity));
+    MODULE_REG_CASE__SET_REG_TO(kreg_step_motor_low_velocity, (m_cfg.motor_low_velocity));
+    MODULE_REG_CASE__SET_REG_TO(kreg_step_motor_mid_velocity, (m_cfg.motor_mid_velocity));
+    MODULE_REG_CASE__SET_REG_TO(kreg_step_motor_high_velocity, (m_cfg.motor_high_velocity));
     MODULE_REG_CASE__SET_REG_TO(kreg_step_motor_run_to_zero_speed, (m_cfg.motor_run_to_zero_speed));
     MODULE_REG_CASE__SET_REG_TO(kreg_step_motor_look_zero_edge_speed, (m_cfg.motor_look_zero_edge_speed));
     MODULE_REG_CASE__SET_REG_TO(kreg_step_motor_ihold, (m_cfg.stepmotor_ihold));
@@ -183,6 +186,9 @@ int32_t StepMotorCtrlModule::module_get_reg(int32_t regindex, int32_t* val) {
     MODULE_CFG_CASE__GET_REG_FROM(kreg_step_motor_one_circle_pulse, m_cfg.motor_one_circle_pulse);
     MODULE_CFG_CASE__GET_REG_FROM(kreg_step_motor_one_circle_pulse_denominator, m_cfg.motor_one_circle_pulse_denominator);
     MODULE_CFG_CASE__GET_REG_FROM(kreg_step_motor_default_velocity, m_cfg.motor_default_velocity);
+    MODULE_CFG_CASE__GET_REG_FROM(kreg_step_motor_low_velocity, (m_cfg.motor_low_velocity));
+    MODULE_CFG_CASE__GET_REG_FROM(kreg_step_motor_mid_velocity, (m_cfg.motor_mid_velocity));
+    MODULE_CFG_CASE__GET_REG_FROM(kreg_step_motor_high_velocity, (m_cfg.motor_high_velocity));
     MODULE_CFG_CASE__GET_REG_FROM(kreg_step_motor_run_to_zero_speed, m_cfg.motor_run_to_zero_speed);
     MODULE_CFG_CASE__GET_REG_FROM(kreg_step_motor_look_zero_edge_speed, m_cfg.motor_look_zero_edge_speed);
     MODULE_CFG_CASE__GET_REG_FROM(kreg_step_motor_ihold, m_cfg.stepmotor_ihold);
@@ -573,21 +579,26 @@ int32_t StepMotorCtrlModule::check_befor_run() {
   return 0;
 }
 
-int32_t StepMotorCtrlModule::step_motor_easy_rotate(int32_t direction) {
+int32_t StepMotorCtrlModule::step_motor_easy_rotate(int32_t direction) { return step_motor_rotate(direction, 0); }
+int32_t StepMotorCtrlModule::step_motor_rotate(int32_t direction, int32_t speedlevel) {
   ZLOGI(TAG, "m%d motor_rotate %d", module_id, direction);
 
   int32_t ecode = check_befor_run();
   if (ecode != 0) return ecode;
 
-  return do_step_motor_easy_rotate(direction);
+  return do_step_motor_easy_rotate(direction, speedlevel);
 }
-int32_t StepMotorCtrlModule::step_motor_easy_move_by(int32_t distance) {
+
+int32_t StepMotorCtrlModule::step_motor_easy_move_by(int32_t distance) { return step_motor_move_by(distance, 0); }
+int32_t StepMotorCtrlModule::step_motor_move_by(int32_t distance, int32_t speedlevel) {
   ZLOGI(TAG, "m%d motor_move_by %d", module_id, distance);
   int32_t ecode = check_befor_run();
   if (ecode != 0) return ecode;
-  return do_step_motor_easy_move_by(distance);
+  return do_step_motor_easy_move_by(distance, speedlevel);
 }
-int32_t StepMotorCtrlModule::step_motor_easy_move_to(int32_t tox) {
+
+int32_t StepMotorCtrlModule::step_motor_easy_move_to(int32_t tox) { return step_motor_move_to(tox, 0); }
+int32_t StepMotorCtrlModule::step_motor_move_to(int32_t tox, int32_t speedlevel) {
   ZLOGI(TAG, "m%d motor_move_to %d", module_id, tox);
   int32_t ecode = check_befor_run();
   if (ecode != 0) return ecode;
@@ -597,8 +608,9 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to(int32_t tox) {
   }
   if (m_cfg.min_d != 0 && tox < m_cfg.min_d) tox = m_cfg.min_d;
   if (m_cfg.max_d != 0 && tox > m_cfg.max_d) tox = m_cfg.max_d;
-  return do_step_motor_easy_move_to(tox);
+  return do_step_motor_easy_move_to(tox, speedlevel);
 }
+
 int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero() {
   ZLOGI(TAG, "m%d motor_move_to_zero", module_id);
   int32_t ecode = check_befor_run();
@@ -696,15 +708,15 @@ int32_t StepMotorCtrlModule::step_motor_easy_reciprocating_motion(int32_t startp
   return 0;
 }
 
-int32_t StepMotorCtrlModule::do_step_motor_easy_rotate(int32_t direction) {
+int32_t StepMotorCtrlModule::do_step_motor_easy_rotate(int32_t direction, int32_t speedlevel) {
   m_thread.stop();
   module_status = 1;
   m_thread.start(
-      [this, direction]() {
+      [this, direction, speedlevel]() {
         befor_motor_move();
         {
-          // rotate(direction, m_cfg.motor_default_velocity);
-          rotateInVelocityMode(direction >= 0 ? m_cfg.motor_default_velocity : -m_cfg.motor_default_velocity);
+          int32_t speed = getspeed(speedlevel);
+          rotateInVelocityMode(direction >= 0 ? speed : -speed);
 
           while (true) {
             if (m_thread.getExitFlag()) break;
@@ -718,7 +730,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_rotate(int32_t direction) {
       [this]() { m_stepM1->stop(); });
   return 0;
 }
-int32_t StepMotorCtrlModule::do_step_motor_easy_move_by(int32_t distance) {
+int32_t StepMotorCtrlModule::do_step_motor_easy_move_by(int32_t distance, int32_t speedlevel) {
   int32_t motor_pos = 0;
   step_motor_read_pos(&motor_pos);
   motor_pos += distance;
@@ -726,18 +738,18 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_by(int32_t distance) {
   int32_t ecode = check_befor_run();
   if (ecode != 0) return ecode;
 
-  return do_step_motor_easy_move_to(motor_pos);
+  return do_step_motor_easy_move_to(motor_pos, speedlevel);
 }
-int32_t StepMotorCtrlModule::do_step_motor_easy_move_to(int32_t tox) {
+int32_t StepMotorCtrlModule::do_step_motor_easy_move_to(int32_t tox, int32_t speedlevel) {
   m_thread.stop();
   module_status = 1;
   m_thread.start(
-      [this, tox]() {
+      [this, tox, speedlevel]() {
         befor_motor_move();
 
         do {
           int32_t expectation_dpos = tox - getnowpos();
-          moveTo(tox, m_cfg.motor_default_velocity);
+          moveTo(tox, getspeed(speedlevel));
           if (!waitforstop(nullptr)) break;
 
           checkdpos(expectation_dpos);
@@ -807,8 +819,8 @@ void StepMotorCtrlModule::checkdpos(int32_t expect_dpos) {
     ZLOGI(TAG, "dpos%d,expect_dpos:%d", dpos, expect_dpos);
   }
 }
-
-int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero_point_quick() {
+int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero_point_quick() { return step_motor_move_to_zero_point_quick(0); }
+int32_t StepMotorCtrlModule::step_motor_move_to_zero_point_quick(int32_t speedlevel) {
   //
   ZLOGI(TAG, "m%d motor_move_to_zero_point_quick", module_id);
   int32_t ecode = check_befor_run();
@@ -821,20 +833,21 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero_point_quick() {
   m_thread.stop();
   module_status = 1;
   m_thread.start(
-      [this]() {
+      [this, speedlevel]() {
         befor_motor_move();
-        bool moveToZero = false;
+        bool    moveToZero = false;
+        int32_t speed      = getspeed(speedlevel);
         do {
           // 期望偏差
           int32_t expectation_dpos = -m_cfg.io_trigger_append_distance + 0 + m_cfg.motor_dzero - getnowpos();
           if (!m_iotable[0].getState()) {
             // 快速移动到零点
-            moveTo(0 + m_cfg.motor_dzero, m_cfg.motor_default_velocity);
+            moveTo(0 + m_cfg.motor_dzero, speed);
             // 等待移动到目标点
             if (!waitforstop([this]() { return m_iotable[0].getState(); })) break;
           } else {
             // 快速移动到零点
-            moveTo(0 + m_cfg.motor_dzero, m_cfg.motor_default_velocity);
+            moveTo(0 + m_cfg.motor_dzero, speed);
             // 等待移动到目标点
             if (!waitforstop([this]() { return !m_iotable[0].getState(); })) break;
           }
@@ -853,6 +866,7 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero_point_quick() {
   return 0;
 }
 
+
 //
 int32_t StepMotorCtrlModule::getnowpos(int32_t& x) {
   if (m_cfg.motor_enable_enc == 0) {
@@ -933,3 +947,19 @@ bool StepMotorCtrlModule::waitforstop(function<bool()> checkstop, int checkperio
 
   return suc;
 }
+
+int32_t StepMotorCtrlModule::getspeed(int32_t speedlevel) {
+  int32_t speed = m_cfg.motor_default_velocity;
+  if (speedlevel == 0) {
+    speed = m_cfg.motor_default_velocity;
+  } else if (speedlevel == 1) {
+    speed = m_cfg.motor_low_velocity;
+  } else if (speedlevel == 2) {
+    speed = m_cfg.motor_mid_velocity;
+  } else if (speedlevel == 3) {
+    speed = m_cfg.motor_high_velocity;
+  } else {
+    speed = m_cfg.motor_default_velocity;
+  }
+  return speed;
+}
diff --git a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
index e7701c1..d578d74 100644
--- a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -22,6 +22,9 @@ class StepMotorCtrlModule : public ZIModule {
     int32_t stepmotor_iglobalscaler;
     int32_t stepmotor_mres;
     int32_t motor_default_velocity;
+    int32_t motor_low_velocity;
+    int32_t motor_mid_velocity;
+    int32_t motor_high_velocity;
     int32_t min_d;
     int32_t max_d;
     int32_t motor_run_to_zero_speed;
@@ -72,8 +75,6 @@ class StepMotorCtrlModule : public ZIModule {
    *                                                      ZIModule                                                       *
    ***********************************************************************************************************************/
 
-
-
   virtual int32_t module_set_reg(int32_t regindex, int32_t val) override;
   virtual int32_t module_get_reg(int32_t regindex, int32_t* val) override;
   virtual int32_t module_reset_reg() override;
@@ -93,6 +94,13 @@ class StepMotorCtrlModule : public ZIModule {
   virtual int32_t step_motor_easy_rotate(int32_t direction);
   virtual int32_t step_motor_easy_move_by(int32_t distance);
   virtual int32_t step_motor_easy_move_to(int32_t position);
+  virtual int32_t step_motor_easy_move_to_zero_point_quick();
+
+  virtual int32_t step_motor_move_by(int32_t distance, int32_t speedlevel);
+  virtual int32_t step_motor_move_to(int32_t position, int32_t speedlevel);
+  virtual int32_t step_motor_move_to_zero_point_quick(int32_t speedlevel);
+  virtual int32_t step_motor_rotate(int32_t direction, int32_t speedlevel);
+
   virtual int32_t step_motor_easy_move_to_zero();
   virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction);
   virtual int32_t step_motor_easy_move_to_end_point();
@@ -110,8 +118,6 @@ class StepMotorCtrlModule : public ZIModule {
 
   virtual int32_t step_motor_read_io_index_in_stm32(int32_t ioindex, int32_t* index_in_stm32);
 
-  virtual int32_t step_motor_easy_move_to_zero_point_quick();
-
  public:
   TMC51X0*  getMotor() { return m_stepM1; }
   config_t* getCfg() { return &m_cfg; }
@@ -119,9 +125,9 @@ class StepMotorCtrlModule : public ZIModule {
  private:
   int32_t check_befor_run();
 
-  int32_t do_step_motor_easy_rotate(int32_t direction);
-  int32_t do_step_motor_easy_move_by(int32_t distance);
-  int32_t do_step_motor_easy_move_to(int32_t position);
+  int32_t do_step_motor_easy_rotate(int32_t direction, int32_t speedlevel);
+  int32_t do_step_motor_easy_move_by(int32_t distance, int32_t speedlevel);
+  int32_t do_step_motor_easy_move_to(int32_t position, int32_t speedlevel);
   int32_t do_step_motor_easy_move_to_zero();
   int32_t do_step_motor_easy_move_to_io(int32_t ioindex, int32_t direction);
   int32_t do_step_motor_easy_move_to_end_point();
@@ -137,7 +143,6 @@ class StepMotorCtrlModule : public ZIModule {
 
   // void _rotate(int32_t vel, int32_t acc, int32_t dec);
 
-
  private:
   void dumpTMC5130Status(TMC51X0::DevStatusReg_t* status);
   void setErrorFlag(int32_t ecode);
@@ -155,6 +160,8 @@ class StepMotorCtrlModule : public ZIModule {
   bool    waitforstop(function<bool()> checkstop, int checkperiod = 20);
   void    checkdpos(int32_t expect_dpos);
 
+ private:
+  int32_t getspeed(int32_t speedlevel);
   // int32_t read_enc_val(int32_t& enc_val);
   // int32_t write_enc_val(int32_t enc_val);
 
diff --git a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp
index ca1a116..a23261a 100644
--- a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp
+++ b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp
@@ -50,8 +50,6 @@ void ZCanProtocolParser::initialize(ZCanReceiver* cancmder) {
   REGFN(module_get_type);
   REGFN(module_get_status);
 
-
-
   REGFN(step_motor_enable);
   REGFN(step_motor_read_pos);
   REGFN(step_motor_read_enc_pos);
@@ -73,6 +71,10 @@ void ZCanProtocolParser::initialize(ZCanReceiver* cancmder) {
   REGFN(step_motor_set_subdevice_reg);
   REGFN(step_motor_get_subdevice_reg);
   REGFN(step_motor_easy_move_to_zero_point_quick);
+  REGFN(step_motor_move_by);
+  REGFN(step_motor_move_to);
+  REGFN(step_motor_move_to_zero_point_quick);
+  REGFN(step_motor_rotate);
 
   REGFN(mini_servo_enable);
   REGFN(mini_servo_read_pos);
@@ -176,9 +178,7 @@ void ZCanProtocolParser::initialize(ZCanReceiver* cancmder) {
   REGFN(pipette_zmotor_read_dev_status_cache);
 }
 void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
-void ZCanProtocolParser::registerModule(ZIModule* module) {
-  _registerModule(module->getid(), module);
-}
+void ZCanProtocolParser::registerModule(ZIModule* module) { _registerModule(module->getid(), module); }
 
 void ZCanProtocolParser::processRxPacket(ZcanRxframe* rxframe) {
   // printf("processRxPacket cmdid:%d moduleid:%d\n", rxcmd->cmdid, rxcmd->moduleId);
@@ -285,9 +285,6 @@ void ZCanProtocolParser::_processRxPacket(ZIModule* module, zcr_cmd_header_t* rx
 
 #define MODULE_CLASS ZIModule
 
-
-
-
 int32_t ZCanProtocolParser::module_ping(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(0);
   return module->module_ping();
@@ -351,7 +348,6 @@ int32_t ZCanProtocolParser::module_get_type(cmdcontxt_t* cxt) {
   return module->module_get_type(&ack[0]);
 }
 
-
 // int32_t ZCanProtocolParser::module_active_cfg(cmdcontxt_t* cxt) {
 //   CHECK_AND_GET_MODULE(0);
 //   return module->module_active_cfg();
@@ -470,6 +466,22 @@ int32_t ZCanProtocolParser::step_motor_easy_move_to_zero_point_quick(cmdcontxt_t
   return module->step_motor_easy_move_to_zero_point_quick();
 }
 
+int32_t ZCanProtocolParser::step_motor_move_by(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->step_motor_move_by(cxt->params[0], cxt->params[1]);
+}
+int32_t ZCanProtocolParser::step_motor_move_to(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->step_motor_move_to(cxt->params[0], cxt->params[1]);
+}
+int32_t ZCanProtocolParser::step_motor_move_to_zero_point_quick(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->step_motor_move_to_zero_point_quick(cxt->params[0]);
+}
+int32_t ZCanProtocolParser::step_motor_rotate(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->step_motor_rotate(cxt->params[0], cxt->params[1]);
+}
 #undef MODULE_CLASS
 #define MODULE_CLASS MiniServoCtrlModule
 // virtual int32_t mini_servo_enable(int32_t enable)  = 0;
diff --git a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp
index 332a6b1..87b5fda 100644
--- a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp
+++ b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp
@@ -88,6 +88,11 @@ class ZCanProtocolParser : public IZCanRxProcesser {
   CMDFN(step_motor_easy_reciprocating_motion);
   CMDFN(step_motor_easy_move_to_zero_point_quick);
 
+  CMDFN(step_motor_move_by);
+  CMDFN(step_motor_move_to);
+  CMDFN(step_motor_move_to_zero_point_quick);
+  CMDFN(step_motor_rotate);
+
   CMDFN(mini_servo_enable);
   CMDFN(mini_servo_read_pos);
   CMDFN(mini_servo_active_cfg);
diff --git a/usrc/version.h b/usrc/version.h
index bcd51e4..df0e943 100644
--- a/usrc/version.h
+++ b/usrc/version.h
@@ -1,2 +1,2 @@
 #pragma once
-#define APP_VERSION           1100
+#define APP_VERSION           1101