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 71938a3..de8f138 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -578,18 +578,18 @@ void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t
 }
 void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
   memset(&cfg, 0, sizeof(cfg));
-  cfg.base_param.distance_scale = 1000;
+  cfg.base_param.distance_scale = 10000;
   cfg.base_param.ihold          = 0;
   cfg.base_param.irun           = 8;
   cfg.base_param.iholddelay     = 100;
-  cfg.base_param.acc            = 3000000;
-  cfg.base_param.dec            = 3000000;
-  cfg.base_param.maxspeed       = 500000;
-
-  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;
+  cfg.base_param.acc            = 300;
+  cfg.base_param.dec            = 300;
+  cfg.base_param.maxspeed       = 800;
+
+  cfg.base_param.run_to_zero_move_to_zero_max_d    = 10000 * 100;
+  cfg.base_param.run_to_zero_leave_from_zero_max_d = 10000 * 2;
+  cfg.base_param.run_to_zero_speed                 = 100;
+  cfg.base_param.run_to_zero_dec                   = 600;
 }
 
 int32_t StepMotorCtrlModule::flush() {
diff --git a/components/tmc/ic/ztmc4361A.cpp b/components/tmc/ic/ztmc4361A.cpp
index bdcb743..438ac57 100644
--- a/components/tmc/ic/ztmc4361A.cpp
+++ b/components/tmc/ic/ztmc4361A.cpp
@@ -141,8 +141,8 @@ void TMC4361A::setAcceleration(float accelerationpps2) {
    *      AMAX [pps2] = AMAX / 237 ?? fCLK^2
    */
 
-  accelerationpps2 *= m_scale;
-  int32_t acc = (int32_t)accelerationpps2;
+  accelerationpps2 = to_motor_acc(accelerationpps2);
+  int32_t acc      = (int32_t)accelerationpps2;
   writeInt(TMC4361A_AMAX, acc << 2);
 }
 void TMC4361A::setDeceleration(float accelerationpps2) {
@@ -156,8 +156,8 @@ void TMC4361A::setDeceleration(float accelerationpps2) {
    *      a[?v per clk_cycle]= AMAX / 2^37
    *      AMAX [pps2] = AMAX / 237 ?? fCLK^2
    */
-  accelerationpps2 *= m_scale;
-  int32_t acc = (int32_t)accelerationpps2;
+  accelerationpps2 = to_motor_acc(accelerationpps2);
+  int32_t acc      = (int32_t)accelerationpps2;
   writeInt(TMC4361A_DMAX, acc << 2);
 }
 #define INIT_GPIO(m_pin, pin, ...)         \
@@ -201,7 +201,7 @@ void TMC4361A::initialize(cfg_t *cfg) {
   driverIC_setIHOLD_IRUN(1, 3, 0);
 }
 
-void TMC4361A::setScale(float scale) { m_scale = scale; }
+void TMC4361A::setScale(int32_t scale) { m_scale = scale; }
 
 uint8_t TMC4361A::reset() {
   // Pulse the low-active hardware reset pin
@@ -247,13 +247,13 @@ uint8_t TMC4361A::reset() {
 }
 uint8_t TMC4361A::restore() { return 1; }
 
-int32_t TMC4361A::getXACTUAL() { return readInt(TMC4361A_XACTUAL) / m_scale; }
-void    TMC4361A::setXACTUAL(int32_t value) { writeInt(TMC4361A_XACTUAL, value * m_scale); }
-int32_t TMC4361A::getVACTUAL() { return readInt(TMC4361A_VACTUAL) / m_scale; }
-int32_t TMC4361A::getXTARGET() { return readInt(TMC4361A_X_TARGET) / m_scale; }
-int32_t TMC4361A::getENC_POS() { return readInt(TMC4361A_ENC_POS) / m_scale; }
-void    TMC4361A::setENC_POS(int32_t value) { writeInt(TMC4361A_ENC_POS, value * m_scale); }
-int32_t TMC4361A::getENC_POS_DEV() { return readInt(TMC4361A_ENC_POS_DEV_RD) / m_scale; }
+int32_t TMC4361A::getXACTUAL() { return to_user_pos(readInt(TMC4361A_XACTUAL)); }
+void    TMC4361A::setXACTUAL(int32_t value) { writeInt(TMC4361A_XACTUAL, to_motor_pos(value)); }
+int32_t TMC4361A::getVACTUAL() { return to_user_pos(readInt(TMC4361A_VACTUAL)); }
+int32_t TMC4361A::getXTARGET() { return to_user_pos(readInt(TMC4361A_X_TARGET)); }
+int32_t TMC4361A::getENC_POS() { return to_user_pos(readInt(TMC4361A_ENC_POS)); }
+void    TMC4361A::setENC_POS(int32_t value) { writeInt(TMC4361A_ENC_POS, to_motor_pos(value)); }
+int32_t TMC4361A::getENC_POS_DEV() { return to_user_pos(readInt(TMC4361A_ENC_POS_DEV_RD)); }
 void    TMC4361A::enableIC(bool enable) {
   SET_PIN(m_ennPin, !enable);
   SET_PIN(m_driverIC_ennPin, !enable);
@@ -266,15 +266,19 @@ int32_t tmc4361A_discardVelocityDecimals(int32_t value) {
   return value << 8;
 }
 void TMC4361A::rotate(int32_t velocity) {
-  velocity *= m_scale;
+  // velocity *= m_scale;
+  velocity     = to_motor_vel(velocity);
   m_motor_mode = kvelmode;
   PRV_FIELD_WRITE(TMC4361A_RAMPMODE, TMC4361A_OPERATION_MODE_MASK, TMC4361A_OPERATION_MODE_SHIFT, 0);
   writeInt(TMC4361A_VMAX, tmc4361A_discardVelocityDecimals(velocity));
 }
 void TMC4361A::stop() { rotate(0); }
 void TMC4361A::moveTo(int32_t position, uint32_t velocityMax) {
-  position *= m_scale;
-  velocityMax *= m_scale;
+  // position *= m_scale;
+  // velocityMax *= m_scale;
+
+  position    = to_motor_pos(position);
+  velocityMax = to_motor_vel(velocityMax);
 
   m_motor_mode = kposmode;
   PRV_FIELD_WRITE(TMC4361A_RAMPMODE, TMC4361A_OPERATION_MODE_MASK, TMC4361A_OPERATION_MODE_SHIFT, 1);
@@ -387,6 +391,28 @@ void TMC4361A::setRightVirtualLimitSwitch(bool enable, int32_t position) {
   writeInt(TMC4361A_VIRT_STOP_RIGHT, position);
 }
 
+int32_t TMC4361A::to_motor_acc(int32_t acc) {  //
+  int32_t val = acc / 60.0 * 51200;
+  return val;
+}
+int32_t TMC4361A::to_motor_vel(int32_t vel) {  //
+  int32_t val = vel / 60.0 * 51200;
+  return val;
+}  // rpm
+int32_t TMC4361A::to_motor_pos(int32_t pos) {  //
+  int32_t val = pos * 1.0 / m_scale * 51200.0;
+  return val;
+}  //
+
+int32_t TMC4361A::to_user_pos(int32_t pos) {  //
+  int32_t val = pos / 51200.0 * m_scale;
+  return 0;
+}  //
+int32_t TMC4361A::to_user_vel(int32_t vel) {  //
+  int32_t val = vel * 60.0 / 51200.0;
+  return 0;
+}
+
 #endif
 #endif
 
diff --git a/components/tmc/ic/ztmc4361A.hpp b/components/tmc/ic/ztmc4361A.hpp
index c280371..97dc2fd 100644
--- a/components/tmc/ic/ztmc4361A.hpp
+++ b/components/tmc/ic/ztmc4361A.hpp
@@ -74,7 +74,7 @@ class TMC4361A : public IStepperMotor {
 
   motor_mode_t m_motor_mode = kvelmode;
 
-  float m_scale = 1.0;
+  int32_t m_scale = 10000;  // 10000一圈
 
  public:
   TMC4361A(/* args */);
@@ -116,7 +116,7 @@ class TMC4361A : public IStepperMotor {
   virtual void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { driverIC_setIHOLD_IRUN(ihold, irun, iholddelay); }
   virtual void setMotorShaft(bool reverse) { driverIC_setMotorShaft(reverse); }
 
-  virtual void setScale(float scale);
+  virtual void setScale(int32_t scale);
 
   // Left Virtual Limit Switch  XACTUAL ≤ VIRT_STOP_LEFT 时触发
   void setLeftVirtualLimitSwitch(bool enable, int32_t position);
@@ -172,6 +172,14 @@ class TMC4361A : public IStepperMotor {
   int32_t  driverIC_readInt(uint8_t address);
   void     driverIC_setMotorShaft(bool reverse);
   uint32_t driverIC_readICVersion();
+
+ private:
+  int32_t to_motor_acc(int32_t acc);  // rpm/s^2
+  int32_t to_motor_vel(int32_t vel);  // rpm
+  int32_t to_motor_pos(int32_t pos);  //
+
+  int32_t to_user_pos(int32_t pos);  //
+  int32_t to_user_vel(int32_t vel);
 };
 }  // namespace iflytop
 
diff --git a/components/tmc/ic/ztmc5130.cpp b/components/tmc/ic/ztmc5130.cpp
index ff4541d..3c5d3d4 100644
--- a/components/tmc/ic/ztmc5130.cpp
+++ b/components/tmc/ic/ztmc5130.cpp
@@ -70,8 +70,8 @@ void TMC5130::initialize(cfg_t *cfg) {
   writeInt(TMC5130_VSTOP, 10);
   writeInt(TMC5130_TZEROWAIT, 1000);
 
-  setAcceleration(100000);
-  setDeceleration(100000);
+  setAcceleration(100);
+  setDeceleration(100);
   setIHOLD_IRUN(2, 10, 1);
   enableIC(true);
 }
@@ -97,11 +97,11 @@ uint8_t TMC5130::reset() {
   }
   return 0;
 }
-int32_t  TMC5130::getXACTUAL() { return readInt(TMC5130_XACTUAL) / m_scale; }
-void     TMC5130::setXACTUAL(int32_t value) { writeInt(TMC5130_XACTUAL, value * m_scale); }
-int32_t  TMC5130::getVACTUAL() { return readInt(TMC5130_VACTUAL) / m_scale; }
-void     TMC5130::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX, (int32_t)(accelerationpps2 * m_scale)); }  // 设置最大加速度
-void     TMC5130::setDeceleration(float accelerationpps2) { writeInt(TMC5130_DMAX, (int32_t)(accelerationpps2 * m_scale)); }  // 设置最大减速度
+int32_t  TMC5130::getXACTUAL() { return to_user_pos(readInt(TMC5130_XACTUAL)); }
+void     TMC5130::setXACTUAL(int32_t value) { writeInt(TMC5130_XACTUAL, to_motor_pos(value)); }
+int32_t  TMC5130::getVACTUAL() { return to_user_pos(readInt(TMC5130_VACTUAL)); }
+void     TMC5130::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX, (int32_t)(to_motor_acc(accelerationpps2))); }  // 设置最大加速度
+void     TMC5130::setDeceleration(float accelerationpps2) { writeInt(TMC5130_DMAX, (int32_t)(to_motor_acc(accelerationpps2))); }  // 设置最大减速度
 void     TMC5130::setMotorShaft(bool reverse) { PRV_FIELD_WRITE(TMC5130_GCONF, TMC5130_SHAFT_MASK, TMC5130_SHAFT_SHIFT, reverse); }
 void     TMC5130::setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { writeInt(TMC5130_IHOLD_IRUN, (iholddelay << TMC5130_IHOLDDELAY_SHIFT) | (irun << TMC5130_IRUN_SHIFT) | (ihold << TMC5130_IHOLD_SHIFT)); }
 uint32_t TMC5130::readICVersion() {
@@ -115,15 +115,18 @@ Tmc5130RampStat TMC5130::getTMC5130_RAMPSTAT2() {
 }
 void TMC5130::stop() { rotate(0); }
 void TMC5130::rotate(int32_t velocity) {
-  velocity *= m_scale;
+  // velocity *= m_scale;
+  to_motor_vel(velocity);
   writeInt(TMC5130_VMAX, abs(velocity));
   writeInt(TMC5130_RAMPMODE, (velocity >= 0) ? TMC5130_MODE_VELPOS : TMC5130_MODE_VELNEG);
 }
 void TMC5130::right(int32_t velocity) { rotate(velocity); }
 void TMC5130::left(int32_t velocity) { rotate(-velocity); }
 void TMC5130::moveTo(int32_t position, uint32_t velocityMax) {
-  position *= m_scale;
-  velocityMax *= m_scale;
+  // position *= m_scale;
+  // velocityMax *= m_scale;
+  to_motor_pos(position);
+  to_motor_vel(velocityMax);
   writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
   writeInt(TMC5130_VMAX, velocityMax);
   writeInt(TMC5130_XTARGET, position);
@@ -205,4 +208,26 @@ int32_t TMC5130::readInt(uint8_t address) {
 
   return ((uint32_t)data[1] << 24) | ((uint32_t)data[2] << 16) | (data[3] << 8) | data[4];
 }
-#endif
\ No newline at end of file
+#endif
+
+int32_t TMC5130::to_motor_acc(int32_t acc) {  //
+  int32_t val = acc / 60.0 * 51200;
+  return val;
+}
+int32_t TMC5130::to_motor_vel(int32_t vel) {  //
+  int32_t val = vel / 60.0 * 51200;
+  return val;
+}  // rpm
+int32_t TMC5130::to_motor_pos(int32_t pos) {  //
+  int32_t val = pos * 1.0 / m_scale * 51200.0;
+  return val;
+}  //
+
+int32_t TMC5130::to_user_pos(int32_t pos) {  //
+  int32_t val = pos / 51200.0 * m_scale;
+  return 0;
+}  //
+int32_t TMC5130::to_user_vel(int32_t vel) {  //
+  int32_t val = vel * 60.0 / 51200.0;
+  return 0;
+}
\ No newline at end of file
diff --git a/components/tmc/ic/ztmc5130.hpp b/components/tmc/ic/ztmc5130.hpp
index a4b0df1..1770d57 100644
--- a/components/tmc/ic/ztmc5130.hpp
+++ b/components/tmc/ic/ztmc5130.hpp
@@ -76,10 +76,10 @@ class TMC5130 : public IStepperMotor {
 
   cfg_t m_cfg;
 
-  ZGPIO             *m_csnpin          = NULL;
-  ZGPIO             *m_ennpin          = NULL;
+  ZGPIO             *m_csnpin               = NULL;
+  ZGPIO             *m_ennpin               = NULL;
   ZGPIO             *m_spi_mode_select_gpio = NULL;
-  SPI_HandleTypeDef *m_hspi            = NULL;
+  SPI_HandleTypeDef *m_hspi                 = NULL;
 
   // uint8_t  m_channel;
   uint32_t m_lastCallPeriodicJobTick;
@@ -149,6 +149,13 @@ class TMC5130 : public IStepperMotor {
 
  private:
   uint32_t haspassedms(uint32_t now, uint32_t last);
+
+  int32_t to_motor_acc(int32_t acc);  // rpm/s^2
+  int32_t to_motor_vel(int32_t vel);  // rpm
+  int32_t to_motor_pos(int32_t pos);  //
+
+  int32_t to_user_pos(int32_t pos);  //
+  int32_t to_user_vel(int32_t vel);
 };
 }  // namespace iflytop
 #endif
\ No newline at end of file