diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
index 1aa0737..71938a3 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -46,14 +46,17 @@ void StepMotorCtrlModule::initialize(int id, IStepperMotor* stepM, ZGPIO iotable
 bool StepMotorCtrlModule::isbusy() { return m_thread.isworking(); }
 
 int32_t StepMotorCtrlModule::move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb) {
+  ZLOGI(TAG, "move_to_logic_point %d", logic_point_num);
   if (logic_point_num >= ZARRAY_SIZE(m_flash_config.logic_point)) {
     return err::kce_param_out_of_range;
   }
   logic_point_t logic_point = m_flash_config.logic_point[logic_point_num];
-  return move_to(logic_point.velocity, logic_point.x, status_cb);
+  return move_to(logic_point.x, logic_point.velocity, status_cb);
 }
 int32_t StepMotorCtrlModule::set_logic_point(int logic_point_num, int32_t x, int32_t vel, s32 acc, s32 dec) {
+  ZLOGI(TAG, "set_logic_point %d %d %d %d %d", logic_point_num, x, vel, acc, dec);
   if (logic_point_num >= ZARRAY_SIZE(m_flash_config.logic_point)) return err::kce_param_out_of_range;
+  if (logic_point_num < 0) logic_point_num = 0;
   // memset(&m_flash_config, 0, sizeof(m_flash_config));
   m_flash_config.logic_point[logic_point_num].x        = x;
   m_flash_config.logic_point[logic_point_num].velocity = vel;
@@ -73,7 +76,9 @@ int32_t StepMotorCtrlModule::_move_to(int32_t tox, action_cb_status_t status_cb)
 
   zlock_guard lock(m_lock);
   ZLOGI(TAG, "m%d move_to %d", m_id, tox);
+  m_status_cb = nullptr;
   m_thread.stop();
+  m_status_cb = status_cb;
 
   if (m_param.min_x != 0 && tox < m_param.min_x) {
     tox = m_param.min_x;
@@ -97,7 +102,9 @@ int32_t StepMotorCtrlModule::_move_to(int32_t tox, action_cb_status_t status_cb)
 int32_t StepMotorCtrlModule::_move_by(int32_t dx, action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
   ZLOGI(TAG, "m%d move_by %d", m_id, dx);
+  m_status_cb = nullptr;
   m_thread.stop();
+  m_status_cb = status_cb;
 
   int32_t xnow = 0;
   getnowpos(xnow);
@@ -137,7 +144,9 @@ int32_t StepMotorCtrlModule::move_by(int32_t dx, action_cb_status_t status_cb) {
 int32_t StepMotorCtrlModule::calculate_curpos(action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
   ZLOGI(TAG, "read_curpos_by_move2zero");
+  m_status_cb = nullptr;
   m_thread.stop();
+  m_status_cb = status_cb;
   m_thread.start(
       [this, status_cb]() {
         //
@@ -158,7 +167,9 @@ int32_t StepMotorCtrlModule::read_calculate_curpos_action_result(int32_t& pos) {
 int32_t StepMotorCtrlModule::move_to_zero(action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
   ZLOGI(TAG, "move_to_zero");
+  m_status_cb = nullptr;
   m_thread.stop();
+  m_status_cb = status_cb;
 
   m_thread.start(
       [this, status_cb]() {
@@ -176,7 +187,9 @@ int32_t StepMotorCtrlModule::move_to_zero(action_cb_status_t status_cb) {
 int32_t StepMotorCtrlModule::move_to_zero_with_calibrate(int32_t nowx, action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
   ZLOGI(TAG, "move_to_zero_with_calibrate x:%d", nowx);
+  m_status_cb = nullptr;
   m_thread.stop();
+  m_status_cb = status_cb;
 
   m_thread.start([this, nowx, status_cb]() {
     int32_t dx;
@@ -278,8 +291,11 @@ int32_t StepMotorCtrlModule::read_status(status_t& status) {
 }
 int32_t StepMotorCtrlModule::read_detailed_status(detailed_status_t& debug_info) {
   debug_info.status = m_thread.isworking() ? 1 : 0;
-  if (m_Xgpio) debug_info.io_state |= m_Xgpio->getState() ? 0x01 : 0x00;
-  if (m_end_gpio) debug_info.io_state |= m_end_gpio->getState() ? 0x02 : 0x00;
+  for (size_t i = 0; i < m_nio; i++) {
+    if (m_iotable[i].getState()) {
+      debug_info.io_state |= (0x01 << i);
+    }
+  }
   debug_info.last_exec_status = m_lastexecstatus;
   getnowpos(debug_info.x);
   return 0;
@@ -341,52 +357,96 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task(int32_t& dx) {
 }
 int32_t StepMotorCtrlModule::exec_move_to_zero_task() {
   /*******************************************************************************
+   *                                第一次移动到零点                                *
+   *******************************************************************************/
+  if (!m_Xgpio->getState()) {
+    {
+      ZLOGI(TAG, "---------STEP1-------- move to zero first");
+      _motor_move_by(-m_param.run_to_zero_move_to_zero_max_d, m_param.run_to_zero_speed * 2, m_param.acc, m_param.run_to_zero_dec);
+      bool xreach_zero = false;
+      while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
+        // ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
+        if (m_Xgpio->getState()) {
+          xreach_zero = true;
+          _motor_stop(-1);
+
+          while (!m_stepM1->isStoped()) {  // 等待电机停止
+            _motor_stop(-1);
+            vTaskDelay(10);
+          }
+
+          break;
+        }
+        vTaskDelay(1);
+      }
+      if (!xreach_zero) {
+        // 触发异常回调
+        ZLOGE(TAG, "x reach zero failed");
+        return err::kce_not_found_x_zero_point;
+      }
+    }
+  }
+
+  /*******************************************************************************
    *                                  远离X零点                                   *
    *******************************************************************************/
-  if (m_Xgpio->getState()) {
+  {
+    ZLOGI(TAG, "---------STEP2--------  leave away zero");
     /**
      * @brief 如果设备已经在零点，则反向移动一定距离远离零点
      */
-    _motor_move_by(m_param.run_to_zero_leave_from_zero_max_d, m_param.run_to_zero_speed, m_param.acc, m_param.run_to_zero_dec);
-    while (!_motor_is_reach_target()) {
-      if (m_thread.getExitFlag()) break;
-      vTaskDelay(1);
+    if (m_Xgpio->getState()) {
+      _motor_move_by(m_param.run_to_zero_leave_from_zero_max_d, m_param.run_to_zero_speed, m_param.acc, m_param.run_to_zero_dec);
+      while (!_motor_is_reach_target()) {
+        if (m_thread.getExitFlag()) break;
+        if (!m_Xgpio->getState()) break;
+        vTaskDelay(1);
+      }
     }
 
     if (m_thread.getExitFlag()) {
       ZLOGI(TAG, "break move to zero thread exit");
-      return 0;
+      return err::kce_break_by_user;
     }
     if (m_Xgpio->getState()) {
       ZLOGE(TAG, "leave away zero failed");
       return err::kce_x_leave_away_zero_point_fail;
     }
   }
+
   /*******************************************************************************
    *                                移动X轴到零点                                *
    *******************************************************************************/
-  _motor_move_by(-m_param.run_to_zero_move_to_zero_max_d, m_param.run_to_zero_speed, m_param.acc, m_param.run_to_zero_dec);
-  bool xreach_zero = false;
-  while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
-    // ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
-    if (m_Xgpio->getState()) {
-      xreach_zero = true;
-      _motor_stop(-1);
-
-      while (!m_stepM1->isStoped()) {  // 等待电机停止
+  {
+    ZLOGI(TAG, "---------STEP3-------- move to zero");
+    _motor_move_by(-m_param.run_to_zero_move_to_zero_max_d, m_param.run_to_zero_speed, m_param.acc, m_param.run_to_zero_dec);
+    bool xreach_zero = false;
+    while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
+      // ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
+      if (m_Xgpio->getState()) {
+        xreach_zero = true;
         _motor_stop(-1);
-        vTaskDelay(10);
+
+        while (!m_stepM1->isStoped()) {  // 等待电机停止
+          _motor_stop(-1);
+          vTaskDelay(10);
+        }
+
+        break;
       }
+      vTaskDelay(1);
+    }
 
-      break;
+    if (m_thread.getExitFlag()) {
+      ZLOGI(TAG, "break move to zero thread exit");
+      return err::kce_break_by_user;
     }
-    vTaskDelay(1);
-  }
 
-  if (!xreach_zero) {
-    // 触发异常回调
-    ZLOGE(TAG, "x reach zero failed");
-    return err::kce_not_found_x_zero_point;
+    if (!xreach_zero) {
+      // 触发异常回调
+      ZLOGE(TAG, "x reach zero failed");
+      return err::kce_not_found_x_zero_point;
+    }
   }
 
   if (m_thread.getExitFlag()) {
@@ -423,6 +483,7 @@ void StepMotorCtrlModule::_motor_move_by(int32_t dpos, int32_t maxv, int32_t acc
   int32_t topos    = nowpos + dpos;
   int32_t motorpos = 0;
   forward_kinematics(topos, motorpos);
+  ZLOGI(TAG, "motor moveTo %d %d", motorpos, maxv);
   m_stepM1->moveTo(motorpos, maxv);
 }
 void StepMotorCtrlModule::_motor_stop(int32_t dec) {
@@ -511,8 +572,9 @@ int32_t StepMotorCtrlModule::move_by_block(int32_t dx, int32_t velocity, int ove
 }
 
 void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t status_cb) {
-  m_lastexecstatus = status;
-  if (status_cb) status_cb(status);
+  m_lastexecstatus     = status;
+  auto cache_status_cb = m_status_cb;
+  if (cache_status_cb) cache_status_cb(status);
 }
 void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
   memset(&cfg, 0, sizeof(cfg));
@@ -522,11 +584,11 @@ void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
   cfg.base_param.iholddelay     = 100;
   cfg.base_param.acc            = 3000000;
   cfg.base_param.dec            = 3000000;
-  cfg.base_param.maxspeed       = 300000;
+  cfg.base_param.maxspeed       = 500000;
 
-  cfg.base_param.run_to_zero_move_to_zero_max_d    = INT32_MAX;
-  cfg.base_param.run_to_zero_leave_from_zero_max_d = 51200 * 3;
-  cfg.base_param.run_to_zero_speed                 = 300000;
+  cfg.base_param.run_to_zero_move_to_zero_max_d    = 51200 * 1000;
+  cfg.base_param.run_to_zero_leave_from_zero_max_d = 51200 * 10;
+  cfg.base_param.run_to_zero_speed                 = 100000;
   cfg.base_param.run_to_zero_dec                   = 3000000;
 }
 
diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
index e1ca4bd..93eb26b 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -28,8 +28,9 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule {
   ZGPIO* m_iotable;
   int    m_nio;
 
-  int32_t     m_calculate_curpos_result = 0;
-  const char* m_flashmark               = nullptr;
+  int32_t            m_calculate_curpos_result = 0;
+  const char*        m_flashmark               = nullptr;
+  action_cb_status_t m_status_cb;
 
  public:
   void        initialize(int id, IStepperMotor* stepM, ZGPIO iotable[], int nio, const char* flashmark);