diff --git a/a8000_protocol b/a8000_protocol
index 9ece9bf..918981e 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 9ece9bfe4e730bd668cdd6c4da0a3071de7ede14
+Subproject commit 918981e4b998fa87b498ea06a1d4ac6c37d372c1
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 90a4eb9..203922b 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
@@ -19,8 +19,9 @@ void StepMotorCtrlModule::initialize(int moduleid, TMC51X0* stepM, ZGPIO iotable
   m_thread.init(TAG, 1024, osPriorityNormal);
   m_cfg = *cfg;
 
-  m_state.enable = false;
-  m_state.dpos   = 0;
+  m_state.enable           = false;
+  m_state.dpos             = 0;
+  m_state.has_move_to_zero = 0;
 
   step_motor_active_cfg();
   step_motor_enable(true);
@@ -86,6 +87,7 @@ int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int
     MODULE_COMMON_PROCESS_REG_CB();
     PROCESS_REG(kreg_step_motor_pos, getnowpos(val), ACTION_NONE);
     PROCESS_REG(kreg_step_motor_is_enable, REG_GET(m_state.enable), ACTION_NONE);
+    PROCESS_REG(kreg_step_motor_has_move_zero, REG_GET(m_state.has_move_to_zero), ACTION_NONE);
 
     PROCESS_REG(kreg_step_motor_dpos, REG_GET(m_state.dpos), ACTION_NONE);
     PROCESS_REG(kreg_step_motor_shaft, REG_GET(m_cfg.motor_shaft), REG_SET(m_cfg.motor_shaft));
@@ -129,6 +131,10 @@ int32_t StepMotorCtrlModule::step_motor_enable(int32_t enable) {
   m_thread.stop();
   m_stepM1->enable(enable);
   m_state.enable = enable;
+  if (enable == 0 && m_cfg.motor_enable_enc == 0) {
+    m_state.has_move_to_zero = 0;
+  }
+
   return 0;
 }
 int32_t StepMotorCtrlModule::step_motor_read_pos(int32_t* pos) { return getnowpos(*pos); }
@@ -474,6 +480,10 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to(int32_t tox) {
   int32_t ecode = check_befor_run();
   if (ecode != 0) return ecode;
 
+  if (m_state.has_move_to_zero == 0) {
+    return err::kstep_motor_not_move_to_zero;
+  }
+
   return do_step_motor_easy_move_to(tox);
 }
 int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero() {
@@ -641,6 +651,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_zero() {
         } while (false);
         after_motor_move();
         if (moveToZeroSuc) {
+          m_state.has_move_to_zero = 1;
           setnowpos(0 + m_cfg.motor_dzero - m_cfg.io_trigger_append_distance);
         }
       },
@@ -684,6 +695,9 @@ void StepMotorCtrlModule::checkdpos(int32_t expect_dpos) {
 int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero_point_quick() {
   //
   ZLOGI(TAG, "m%d motor_move_to_zero_point_quick", m_id);
+  if (m_state.has_move_to_zero == 0) {
+    return err::kstep_motor_not_move_to_zero;
+  }
   m_thread.stop();
   creg.module_status = 1;
   m_thread.start(
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 0103727..ee68b92 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
@@ -43,6 +43,7 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
     int32_t before_move_pos;
     int32_t enable;
     int32_t debugmode;
+    int32_t has_move_to_zero;
   } state_t;
 
  private:
diff --git a/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
index 659e2d4..2f39cd1 100644
--- a/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -21,6 +21,7 @@ void XYRobotCtrlModule::initialize(int32_t id, TMC51X0* stepM1, TMC51X0* stepM2,
   m_thread.init("XYRobotCtrlModule", 1024, osPriorityNormal);
   module_active_cfg();
   xymotor_enable(1);
+  m_state.has_move_to_zero = 0;
 }
 
 void XYRobotCtrlModule::create_default_cfg(config_t& cfg) {
@@ -52,6 +53,10 @@ int32_t XYRobotCtrlModule::xymotor_enable(int32_t enable) {
   m_stepM1->enable(enable);
   m_stepM2->enable(enable);
   m_state.is_enable = enable;
+  if (enable == 0 && m_cfg.enable_enc == 0) {
+    m_state.has_move_to_zero = 0;
+  }
+
   return 0;
 }
 int32_t XYRobotCtrlModule::do_public_check() {
@@ -126,6 +131,10 @@ int32_t XYRobotCtrlModule::xymotor_move_to(int32_t x, int32_t y) {
     return err::kxymotor_target_pos_outof_range;
   }
 
+  if (m_state.has_move_to_zero == 0) {
+    return err::kxymotor_not_move_to_zero;
+  }
+
   return do_xymotor_move_to(x, y);
 }
 int32_t XYRobotCtrlModule::xymotor_move_by(int32_t dx, int32_t dy) {
@@ -151,7 +160,7 @@ int32_t XYRobotCtrlModule::xymotor_read_pos(int32_t* x, int32_t* y) {
 }
 
 #define UPDATE_CFG(key) PROCESS_REG(kreg_xyrobot_##key, REG_GET(m_cfg.key), REG_SET(m_cfg.key))
-#define READ_STATE(key) PROCESS_REG(kreg_xyrobot_##key, REG_GET(m_state.key),ACTION_NONE)
+#define READ_STATE(key) PROCESS_REG(kreg_xyrobot_##key, REG_GET(m_state.key), ACTION_NONE)
 int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
   int32_t ret = __module_xxx_reg(param_id, read, val);
   if (ret != 0) {
@@ -197,6 +206,8 @@ int32_t XYRobotCtrlModule::__module_xxx_reg(int32_t param_id, bool read, int32_t
     UPDATE_CFG(pos_devi_tolerance);
     UPDATE_CFG(io_trigger_append_distance);
 
+    
+    READ_STATE(has_move_to_zero);
     READ_STATE(is_enable);
     default:
       return err::kmodule_not_find_reg;
@@ -247,6 +258,7 @@ int32_t XYRobotCtrlModule::do_xymotor_move_to_zero() {
     after_motor_move();
     if (ecode == 0) {
       setnowpos(0, 0);
+      m_state.has_move_to_zero = 1;
     }
     return;
   });
diff --git a/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp b/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
index 89195f8..84e4ee7 100644
--- a/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
+++ b/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
@@ -59,6 +59,7 @@ class XYRobotCtrlModule : public ZIXYMotor, public ZIModule {
 
     int32_t is_enable;
     int32_t hassync;
+    int32_t has_move_to_zero;
   } state_t;
 
  private:
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 725cfd5..c6a5e35 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           521
+#define PC_VERSION           600
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1