diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
index 47c0d8d..61aa1cc 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -7,16 +7,17 @@
 using namespace iflytop;
 using namespace std;
 #define TAG "XYRobotCtrlModule"
-void XYRobotCtrlModule::initialize(IStepperMotor* stepM1,     //
-                                   IStepperMotor* stepM2,     //
-                                   ZGPIO*         gpiotable,  //
+void XYRobotCtrlModule::initialize(int32_t id, IStepperMotor* stepM1,  //
+                                   IStepperMotor* stepM2,              //
+                                   ZGPIO*         Xgpio,               //
                                    int ngpio, const char* flashmark) {
   m_stepM1    = stepM1;
   m_stepM2    = stepM2;
-  m_Xgpio     = &gpiotable[0];
-  m_Ygpio     = &gpiotable[1];
-  m_gpiotable = gpiotable;
+  m_Xgpio     = &Xgpio[0];
+  m_Ygpio     = &Xgpio[1];
+  m_gpiotable = Xgpio;
   m_ngpio     = ngpio;
+  m_moduleId  = id;
   ZASSERT(m_stepM1);
   ZASSERT(m_stepM2);
   ZASSERT(m_Xgpio);
@@ -35,7 +36,7 @@ void XYRobotCtrlModule::initialize(IStepperMotor* stepM1,     //
   m_thread.init("XYRobotCtrlModule", 1024, osPriorityNormal);
 }
 
-int32_t XYRobotCtrlModule::move_to(int32_t x, int32_t y, int speed, action_cb_status_t status_cb) {
+int32_t XYRobotCtrlModule::move_to(int32_t x, int32_t y, int32_t speed, action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
   ZLOGI(TAG, "move_to x:%d y:%d", x, y);
   int runspeed = speed;
@@ -75,7 +76,7 @@ int32_t XYRobotCtrlModule::move_to(int32_t x, int32_t y, int speed, action_cb_st
   return 0;
 }
 
-int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int speed, action_cb_status_t status_cb) {
+int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
   ZLOGI(TAG, "move_by_no_limit dx:%d dy:%d", dx, dy);
 
@@ -107,7 +108,7 @@ int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int speed, a
   return 0;
 };
 
-int32_t XYRobotCtrlModule::move_by(int32_t dx, int32_t dy, int speed, action_cb_status_t status_cb) {
+int32_t XYRobotCtrlModule::move_by(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
   ZLOGI(TAG, "move_by dx:%d dy:%d %d", dx, dy, speed);
 
@@ -526,7 +527,7 @@ void XYRobotCtrlModule::inverse_kinematics(int32_t m1pos, int32_t m2pos, int32_t
   }
   x += m_basecfg.shift_x;
   y += m_basecfg.shift_y;
-  
+
   if (m_basecfg.x_shaft) x = -x;
   if (m_basecfg.y_shaft) y = -y;
 }
@@ -594,4 +595,102 @@ int32_t XYRobotCtrlModule::factory_reset() {  //
   }
   active_cfg();
   return 0;
-};
\ No newline at end of file
+};
+
+int32_t XYRobotCtrlModule::getid(int32_t* id) {
+  *id = m_moduleId;
+  return 0;
+}
+int32_t XYRobotCtrlModule::module_stop() {
+  ZLOGI(TAG, "module_stop");
+  m_thread.stop();
+  _motor_stop();
+  return 0;
+}
+int32_t XYRobotCtrlModule::module_break() {
+  ZLOGI(TAG, "module_break");
+  m_thread.stop();
+  _motor_stop(m_basecfg.breakdec);
+  return 0;
+}
+int32_t XYRobotCtrlModule::module_get_last_exec_status(int32_t* status) {
+  *status = 0;
+  return 0;
+}
+int32_t XYRobotCtrlModule::module_get_status(int32_t* status) {
+  *status = m_thread.isworking() ? 0x01 : 0x00;
+  return 0;
+}
+int32_t XYRobotCtrlModule::module_get_error(int32_t* iserror) {
+  *iserror = 0;
+  return 0;
+}
+int32_t XYRobotCtrlModule::module_clear_error() { return 0; }
+int32_t XYRobotCtrlModule::module_set_param(int32_t param_id, int32_t param_value) { return _module_set_or_get_param(true, param_id, param_value); }
+int32_t XYRobotCtrlModule::module_get_param(int32_t param_id, int32_t* param_value) { return _module_set_or_get_param(false, param_id, *param_value); }
+#define SET_CONFIG(param_id, configval, param_value) \
+  case param_id:                                     \
+    if (set) {                                       \
+      configval = param_value;                       \
+    } else {                                         \
+      param_value = configval;                       \
+    }                                                \
+    break;
+int32_t XYRobotCtrlModule::_module_set_or_get_param(bool set, int32_t param_id, int32_t& param_value) {
+  switch (param_id) {
+    SET_CONFIG(kcfg_motor_x_shift, m_basecfg.shift_x, param_value);
+    SET_CONFIG(kcfg_motor_y_shift, m_basecfg.shift_y, param_value);
+    SET_CONFIG(kcfg_motor_x_shaft, m_basecfg.x_shaft, param_value);
+    SET_CONFIG(kcfg_motor_y_shaft, m_basecfg.y_shaft, param_value);
+    SET_CONFIG(kcfg_motor_x_one_circle_pulse, m_basecfg.distance_scale, param_value);
+    SET_CONFIG(kcfg_motor_y_one_circle_pulse, m_basecfg.distance_scale, param_value);
+    SET_CONFIG(kcfg_motor_default_velocity, m_basecfg.maxspeed, param_value);
+    SET_CONFIG(kcfg_motor_default_acc, m_basecfg.acc, param_value);
+    SET_CONFIG(kcfg_motor_default_dec, m_basecfg.dec, param_value);
+    SET_CONFIG(kcfg_motor_default_break_dec, m_basecfg.breakdec, param_value);
+    SET_CONFIG(kcfg_motor_run_to_zero_max_x_d, m_basecfg.run_to_zero_max_d, param_value);
+    SET_CONFIG(kcfg_motor_run_to_zero_max_y_d, m_basecfg.run_to_zero_max_d, param_value);
+    SET_CONFIG(kcfg_motor_look_zero_edge_max_x_d, m_basecfg.look_zero_edge_max_d, param_value);
+    SET_CONFIG(kcfg_motor_look_zero_edge_max_y_d, m_basecfg.look_zero_edge_max_d, param_value);
+    SET_CONFIG(kcfg_motor_run_to_zero_speed, m_basecfg.run_to_zero_speed, param_value);
+    SET_CONFIG(kcfg_motor_run_to_zero_dec, m_basecfg.run_to_zero_dec, param_value);
+    SET_CONFIG(kcfg_motor_look_zero_edge_speed, m_basecfg.look_zero_edge_speed, param_value);
+    SET_CONFIG(kcfg_motor_look_zero_edge_dec, m_basecfg.look_zero_edge_dec, param_value);
+    SET_CONFIG(k_cfg_stepmotor_ihold, m_basecfg.ihold, param_value);
+    SET_CONFIG(k_cfg_stepmotor_irun, m_basecfg.irun, param_value);
+    SET_CONFIG(k_cfg_stepmotor_iholddelay, m_basecfg.iholddelay, param_value);
+    SET_CONFIG(k_cfg_xyrobot_robot_type, m_basecfg.robot_type, param_value);
+
+    default:
+      return err::kmodule_not_find_config_index;
+  }
+  return 0;
+}
+
+int32_t XYRobotCtrlModule::module_readio(int32_t* io) {
+  *io = 0;
+  for (int i = 0; i < m_ngpio; i++) {
+    if (i > 32) break;
+    if (m_gpiotable[i].getState()) *io |= (1 << i);
+  }
+  return 0;
+}
+int32_t XYRobotCtrlModule::module_writeio(int32_t io) { return 0; }
+int32_t XYRobotCtrlModule::module_read_adc(int32_t adcindex, int32_t* adc) {
+  *adc = 0;
+  return 0;
+}
+int32_t XYRobotCtrlModule::module_factory_reset() { return factory_reset(); }
+int32_t XYRobotCtrlModule::module_flush_cfg() { return flush(); }
+int32_t XYRobotCtrlModule::module_active_cfg() {
+  active_cfg();
+  return 0;
+}
+
+int32_t XYRobotCtrlModule::xymotor_enable(int32_t varenable) {
+  enable(varenable);
+  return 0;
+}
+int32_t XYRobotCtrlModule::xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return move_by(dx, dy, motor_velocity, nullptr); }
+int32_t XYRobotCtrlModule::xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return move_to(x, y, motor_velocity, nullptr); }
+int32_t XYRobotCtrlModule::xymotor_move_to_zero() { return move_to_zero(nullptr); }
diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
index 4974451..1e8a503 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
@@ -4,9 +4,10 @@
 #include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
 #include "sdk\components\zprotocols\zcancmder\api\i_xyrobot_ctrl_module.hpp"
+#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
 
 namespace iflytop {
-class XYRobotCtrlModule : public I_XYRobotCtrlModule {
+class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public ZIModule {
  public:
  private:
   IStepperMotor* m_stepM1;
@@ -20,6 +21,8 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule {
 
   ZThread m_thread;
 
+  int32_t m_moduleId;
+
   int m_x = 0;
   int m_y = 0;
 
@@ -38,14 +41,14 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule {
   // zmutex m_statu_lock;
 
  public:
-  void initialize(IStepperMotor* stepM1,  //
-                  IStepperMotor* stepM2,  //
-                  ZGPIO*         Xgpio,   //
+  void initialize(int32_t id, IStepperMotor* stepM1,  //
+                  IStepperMotor* stepM2,              //
+                  ZGPIO*         Xgpio,               //
                   int ngpio, const char* flashmark);
 
-  virtual int32_t move_to(int32_t x, int32_t y, int speed, action_cb_status_t status_cb) override;
-  virtual int32_t move_by(int32_t dx, int32_t dy, int speed, action_cb_status_t status_cb) override;
-  virtual int32_t move_by_no_limit(int32_t dx, int32_t dy, int speed, action_cb_status_t status_cb) override;
+  virtual int32_t move_to(int32_t x, int32_t y, int32_t speed, action_cb_status_t status_cb) override;
+  virtual int32_t move_by(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb) override;
+  virtual int32_t move_by_no_limit(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb) override;
 
   virtual int32_t move_to_zero(action_cb_status_t status_cb) override;
   virtual int32_t move_to_zero_with_calibrate(int32_t x, int32_t y, action_cb_status_t status_cb) override;
@@ -67,7 +70,30 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule {
   void loop();
   void dumpcfg();
 
+  virtual int32_t getid(int32_t* id);
+  virtual int32_t module_stop();
+  virtual int32_t module_break();
+  virtual int32_t module_get_last_exec_status(int32_t* status);
+  virtual int32_t module_get_status(int32_t* status);
+  virtual int32_t module_get_error(int32_t* iserror);
+  virtual int32_t module_clear_error();
+  virtual int32_t module_set_param(int32_t param_id, int32_t param_value);
+  virtual int32_t module_get_param(int32_t param_id, int32_t* param_value);
+  virtual int32_t module_readio(int32_t* io);
+  virtual int32_t module_writeio(int32_t io);
+  virtual int32_t module_read_adc(int32_t adcindex, int32_t* adc);
+  virtual int32_t module_factory_reset();
+  virtual int32_t module_flush_cfg();
+  virtual int32_t module_active_cfg();
+
+  virtual int32_t xymotor_enable(int32_t enable);
+  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity);
+  virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity);
+  virtual int32_t xymotor_move_to_zero();
+
  private:
+  virtual int32_t _module_set_or_get_param(bool set, int32_t param_id, int32_t& param_value);
+
   void active_cfg();
   void computeTargetMotorPos();
   void getnowpos(int32_t& x, int32_t& y);
diff --git a/components/zprotocols/zcancmder b/components/zprotocols/zcancmder
index 676b588..7a3d980 160000
--- a/components/zprotocols/zcancmder
+++ b/components/zprotocols/zcancmder
@@ -1 +1 @@
-Subproject commit 676b588a68b809d8b7c7db9ea377f52cef377885
+Subproject commit 7a3d9800ce4e710385e513f2c430c267dabefc7b
diff --git a/components/zprotocols/zcancmder_v2 b/components/zprotocols/zcancmder_v2
index 87d1a54..850402c 160000
--- a/components/zprotocols/zcancmder_v2
+++ b/components/zprotocols/zcancmder_v2
@@ -1 +1 @@
-Subproject commit 87d1a547ef95f5739c1177063dfb8b3db6b6df81
+Subproject commit 850402ceaf70cdcabc1773af1ef4bc7019cada36