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 2e73e44..49b49f3 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
@@ -40,6 +40,7 @@ void StepMotorCtrlModule::create_default_cfg(config_t& cfg) {
   cfg.motor_default_velocity             = 500;
   cfg.motor_run_to_zero_speed            = 100;
   cfg.motor_look_zero_edge_speed         = 100;
+  cfg.io_trigger_append_distance         = 0;
 }
 
 /***********************************************************************************************************************
diff --git a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
index 0d5d283..2ed28eb 100644
--- a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
+++ b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
@@ -86,8 +86,8 @@
 #define MOTOR2_MOTOR_DEFAULT_VELOCITY             1200
 #define MOTOR2_MIN_D                              TMC5130_DEFAULT__MIN_D
 #define MOTOR2_MAX_D                              TMC5130_DEFAULT__MAX_D
-#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            300
-#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED         100
+#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            500
+#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED         200
 #define MOTOR2_MOTOR_VSTART                       MOTOR2_VSTART
 #define MOTOR2_MOTOR_A1                           MOTOR2_A1
 #define MOTOR2_MOTOR_AMAX                         MOTOR2_AMAX
diff --git a/usrc/subboards/subboard90_optical_module/pri_board.h b/usrc/subboards/subboard90_optical_module/pri_board.h
index b4c58d5..b483c06 100644
--- a/usrc/subboards/subboard90_optical_module/pri_board.h
+++ b/usrc/subboards/subboard90_optical_module/pri_board.h
@@ -113,7 +113,7 @@
 #define MOTOR2_MIN_D                              0
 #define MOTOR2_MAX_D                              0
 #define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            1000
-#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED         100
+#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED         200
 #define MOTOR2_MOTOR_VSTART                       MOTOR2_VSTART
 #define MOTOR2_MOTOR_A1                           MOTOR2_A1
 #define MOTOR2_MOTOR_AMAX                         MOTOR2_AMAX