diff --git a/components/eq_20_asb_motor/eq20_servomotor.cpp b/components/eq_20_asb_motor/eq20_servomotor.cpp
index d78d479..67fccf5 100644
--- a/components/eq_20_asb_motor/eq20_servomotor.cpp
+++ b/components/eq_20_asb_motor/eq20_servomotor.cpp
@@ -272,8 +272,8 @@ int32_t Eq20ServoMotor::module_get_error(int32_t *iserror) {
   return 0;
 }
 int32_t Eq20ServoMotor::module_clear_error() { return err::koperation_not_support; }
-int32_t Eq20ServoMotor::module_set_param(int32_t param_id, int32_t param_value) { return err::koperation_not_support; }
-int32_t Eq20ServoMotor::module_get_param(int32_t param_id, int32_t *param_value) { return err::koperation_not_support; }
+int32_t Eq20ServoMotor::module_set_reg(int32_t param_id, int32_t param_value) { return err::koperation_not_support; }
+int32_t Eq20ServoMotor::module_get_reg(int32_t param_id, int32_t *param_value) { return err::koperation_not_support; }
 int32_t Eq20ServoMotor::module_readio(int32_t *io) { return get_io_state(*io); }
 int32_t Eq20ServoMotor::module_read_adc(int32_t adcindex, int32_t *adc) { return err::koperation_not_support; }
 int32_t Eq20ServoMotor::motor_enable(int32_t varenable) { return enable(varenable); }
diff --git a/components/eq_20_asb_motor/eq20_servomotor.hpp b/components/eq_20_asb_motor/eq20_servomotor.hpp
index a2ecc31..1f68769 100644
--- a/components/eq_20_asb_motor/eq20_servomotor.hpp
+++ b/components/eq_20_asb_motor/eq20_servomotor.hpp
@@ -112,8 +112,8 @@ class Eq20ServoMotor : public ZIModule, public ZIMotor {
   virtual int32_t module_get_error(int32_t *iserror) override;
   virtual int32_t module_clear_error() override;
 
-  virtual int32_t module_set_param(int32_t param_id, int32_t param_value) override;
-  virtual int32_t module_get_param(int32_t param_id, int32_t *param_value) override;
+  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override;
+  virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) override;
 
   virtual int32_t module_readio(int32_t *io) override;
 
diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
index 845614c..56ae028 100644
--- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
+++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
@@ -313,8 +313,8 @@ int32_t MiniRobotCtrlModule::module_clear_error() {
   return 0;
 }
 
-int32_t MiniRobotCtrlModule::module_set_param(int32_t param_id, int32_t param_value) { return err::kmodule_not_find_config_index; }
-int32_t MiniRobotCtrlModule::module_get_param(int32_t param_id, int32_t *param_value) { return err::kmodule_not_find_config_index; }
+int32_t MiniRobotCtrlModule::module_set_reg(int32_t param_id, int32_t param_value) { return err::kmodule_not_find_config_index; }
+int32_t MiniRobotCtrlModule::module_get_reg(int32_t param_id, int32_t *param_value) { return err::kmodule_not_find_config_index; }
 int32_t MiniRobotCtrlModule::module_readio(int32_t *io) {
   *io = 0;
   return 0;
diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
index d19e5af..f0f19c3 100644
--- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
+++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
@@ -54,8 +54,8 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
   virtual int32_t module_get_error(int32_t *iserror) override;
   virtual int32_t module_clear_error() override;
 
-  virtual int32_t module_set_param(int32_t param_id, int32_t param_value) override;
-  virtual int32_t module_get_param(int32_t param_id, int32_t *param_value) override;
+  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override;
+  virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) override;
 
   virtual int32_t module_readio(int32_t *io) override;
 
diff --git a/components/step_motor_45/step_motor_45.cpp b/components/step_motor_45/step_motor_45.cpp
index 0c2345c..854cc70 100644
--- a/components/step_motor_45/step_motor_45.cpp
+++ b/components/step_motor_45/step_motor_45.cpp
@@ -318,8 +318,8 @@ int32_t StepMotor45::module_get_error(int32_t *iserror) {
 }
 int32_t StepMotor45::module_clear_error() { return (int32_t)0; }
 
-int32_t StepMotor45::module_set_param(int32_t param_id, int32_t param_value) { return err::kmodule_not_find_config_index; }
-int32_t StepMotor45::module_get_param(int32_t param_id, int32_t *param_value) { return err::kmodule_not_find_config_index; }
+int32_t StepMotor45::module_set_reg(int32_t param_id, int32_t param_value) { return err::kmodule_not_find_config_index; }
+int32_t StepMotor45::module_get_reg(int32_t param_id, int32_t *param_value) { return err::kmodule_not_find_config_index; }
 
 int32_t StepMotor45::module_readio(int32_t *io) { return (int32_t)0; }
 int32_t StepMotor45::module_read_adc(int32_t adcindex, int32_t *adc) { return (int32_t)0; }
diff --git a/components/step_motor_45/step_motor_45.hpp b/components/step_motor_45/step_motor_45.hpp
index 72c82e2..94f2d88 100644
--- a/components/step_motor_45/step_motor_45.hpp
+++ b/components/step_motor_45/step_motor_45.hpp
@@ -109,8 +109,8 @@ class StepMotor45 : public ZIModule, public ZIMotor {
   virtual int32_t module_get_error(int32_t *iserror) override;
   virtual int32_t module_clear_error() override;
 
-  virtual int32_t module_set_param(int32_t param_id, int32_t param_value) override;
-  virtual int32_t module_get_param(int32_t param_id, int32_t *param_value) override;
+  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override;
+  virtual int32_t module_get_reg(int32_t param_id, int32_t *param_value) override;
 
   virtual int32_t module_readio(int32_t *io) override;
 
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 a0d7dca..a3ad623 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -662,7 +662,7 @@ int32_t StepMotorCtrlModule::module_get_error(int32_t* iserror) {
     *val = modulereg;                \
     break;
 
-int32_t StepMotorCtrlModule::module_set_param(int32_t param_id, int32_t val) {
+int32_t StepMotorCtrlModule::module_set_reg(int32_t param_id, int32_t val) {
   switch (param_id) {
     SET_REG(kreg_motor_x_shift, m_param.shift_x);
     SET_REG(kreg_motor_x_shaft, m_param.x_shaft);
@@ -685,7 +685,7 @@ int32_t StepMotorCtrlModule::module_set_param(int32_t param_id, int32_t val) {
   }
   return 0;
 }
-int32_t StepMotorCtrlModule::module_get_param(int32_t param_id, int32_t* val) {
+int32_t StepMotorCtrlModule::module_get_reg(int32_t param_id, int32_t* val) {
   int32_t nowpos = 0;
   read_pos(nowpos);
 
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 89a9d1e..2c6653b 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -121,8 +121,8 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule, public ZIModule, publi
   virtual int32_t module_get_error(int32_t* iserror) override;
   virtual int32_t module_clear_error() override;
 
-  virtual int32_t module_set_param(int32_t param_id, int32_t param_value) override;
-  virtual int32_t module_get_param(int32_t param_id, int32_t* param_value) override;
+  virtual int32_t module_set_reg(int32_t param_id, int32_t param_value) override;
+  virtual int32_t module_get_reg(int32_t param_id, int32_t* param_value) override;
 
   virtual int32_t module_readio(int32_t* io) override;
 
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 f873784..6331c55 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -641,7 +641,7 @@ int32_t XYRobotCtrlModule::module_clear_error() { return 0; }
     *val = modulereg;                \
     break;
 
-int32_t XYRobotCtrlModule::module_set_param(int32_t param_id, int32_t val) {
+int32_t XYRobotCtrlModule::module_set_reg(int32_t param_id, int32_t val) {
   switch (param_id) {
     SET_REG(kreg_motor_x_shift, m_basecfg.shift_x);
     SET_REG(kreg_motor_y_shift, m_basecfg.shift_y);
@@ -669,7 +669,7 @@ int32_t XYRobotCtrlModule::module_set_param(int32_t param_id, int32_t val) {
       return err::kmodule_not_find_config_index;
   }
 }
-int32_t XYRobotCtrlModule::module_get_param(int32_t param_id, int32_t* val) {
+int32_t XYRobotCtrlModule::module_get_reg(int32_t param_id, int32_t* val) {
   switch (param_id) {
     GET_REG(kreg_motor_x_shift, m_basecfg.shift_x);
     GET_REG(kreg_motor_y_shift, m_basecfg.shift_y);
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 9989f95..f2a2916 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
@@ -89,8 +89,8 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
   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_set_reg(int32_t param_id, int32_t param_value);
+  virtual int32_t module_get_reg(int32_t param_id, int32_t* param_value);
   virtual int32_t module_readio(int32_t* io);
   virtual int32_t module_read_adc(int32_t adcindex, int32_t* adc);
   virtual int32_t module_factory_reset();
diff --git a/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp b/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp
index 8d4947e..397bd18 100644
--- a/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp
+++ b/components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp
@@ -28,7 +28,7 @@ void MicroComputerModuleDeviceScriptCmderPaser::do_dumpreg(int32_t paramN, const
   ZLOGI(TAG, "dumpconfig %s", paraV[0]);
 
 #define DUMP_CONFIG(tag, configid)                                           \
-  ecode = m_deviceManager->module_get_param(moduleId, configid, &configval); \
+  ecode = m_deviceManager->module_get_reg(moduleId, configid, &configval); \
   if (ecode == 0) {                                                          \
     ZLOGI(TAG, "%-30s     :%d", tag, configval);                             \
   }
diff --git a/components/zprotocols/zcancmder_v2 b/components/zprotocols/zcancmder_v2
index acab0c3..eff8724 160000
--- a/components/zprotocols/zcancmder_v2
+++ b/components/zprotocols/zcancmder_v2
@@ -1 +1 @@
-Subproject commit acab0c3069ef75c7462a875592fe6a4eaf72c964
+Subproject commit eff87241aaf65b433aab96b0d8a7ce0261c4d9dc