diff --git a/components/zcancmder/zcan_protocol_parser.cpp b/components/zcancmder/zcan_protocol_parser.cpp
index 2a84ad3..cd2a3c2 100644
--- a/components/zcancmder/zcan_protocol_parser.cpp
+++ b/components/zcancmder/zcan_protocol_parser.cpp
@@ -668,6 +668,18 @@ int32_t ZCanProtocolParser::xymotor_set_pos(cmdcontxt_t* cxt) {
   return module->xymotor_set_pos(cxt->params[0], cxt->params[1]);
 }
 
+int32_t ZCanProtocolParser::xymotor_motor_move_by_direct(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(2);
+  return module->xymotor_motor_move_by_direct(cxt->params[0], cxt->params[1]);
+}
+
+int32_t ZCanProtocolParser::xymotor_read_enc_direct(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  int32_t* ack = (int32_t*)cxt->ackbuf;
+  cxt->acklen  = 8;
+  return module->xymotor_read_enc_direct(&ack[0], &ack[1]);
+}
+
 #undef MODULE_CLASS
 
 #if 1