diff --git a/a8000_protocol b/a8000_protocol
index 653a499..00526d4 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 653a4997e1a69abf06244714b255876534ca55a8
+Subproject commit 00526d4990cde04d834003a4059a3a7db32f4f4e
diff --git a/sdk b/sdk
index 7321486..b457781 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 73214863412de85dedd4b6760ac0beae93bfdbf6
+Subproject commit b457781a9539d659d02d08a25f85d66886933368
diff --git a/usrc/public_service/instance_init.hpp b/usrc/public_service/instance_init.hpp
index cb58740..8849be3 100644
--- a/usrc/public_service/instance_init.hpp
+++ b/usrc/public_service/instance_init.hpp
@@ -61,7 +61,7 @@
     stepcfg.motor_vstop                        = MOTOR##MOTOR_INDEX##_MOTOR_VSTOP;                                                      \
     stepcfg.motor_tzerowait                    = MOTOR##MOTOR_INDEX##_MOTOR_TZEROWAIT;                                                  \
     stepcfg.motor_enc_resolution               = MOTOR##MOTOR_INDEX##_ENC_RESOLUTION;                                                   \
-    stepcfg.motor_enable_enc_resolution        = MOTOR##MOTOR_INDEX##_ENABLE_ENC_RESOLUTION;                                            \
+    stepcfg.motor_enable_enc        = MOTOR##MOTOR_INDEX##_ENABLE_ENC_RESOLUTION;                                            \
                                                                                                                                         \
     module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &stepcfg);                                                 \
     GService::inst()->getZCanProtocolParser()->registerModule(&module);                                                                 \