diff --git a/components/pipette_module/pipette_ctrl_module.cpp b/components/pipette_module/pipette_ctrl_module.cpp
index 494fdf3..a246d49 100644
--- a/components/pipette_module/pipette_ctrl_module.cpp
+++ b/components/pipette_module/pipette_ctrl_module.cpp
@@ -11,42 +11,62 @@ void PipetteModule::initialize(SMTP2               *smtp2,  //
 
 int32_t PipetteModule::enable(u8 enable) {  //
   m_stepMotor->enable(enable);
+  return 0;
 }
 int32_t PipetteModule::stop(u8 stop_type) {
   m_stepMotor->stop(0);
   m_smtp2->stop();
+  return 0;
 }
 
 int32_t PipetteModule::zero_pos_calibrate(function<void(action_cb_status_t status)> exec_complete_cb) {
-  /**
-   * @brief
-   */
-
   m_thread.stop();
   m_thread.start([this, exec_complete_cb]() {
-    // 移液枪复位
-    // 移液枪复位完成后，开始进行零点校准
-    // m_stepMotor->move_to_zero_with_calibrate();
+    action_cb_status_t action_status = {0};
+
+    int32_t exec_ret = m_stepMotor->move_to_zero_with_calibrate(0, [&](I_StepMotorCtrlModule::move_to_zero_with_calibrate_cb_status_t &status) {
+      action_status.exec_status = status.exec_status;
+      if (exec_complete_cb) exec_complete_cb(action_status);
+    });
+
+    if (exec_ret != 0) {
+      ZLOGE(TAG, "move_to_zero_with_calibrate fail, exec_ret = %d", exec_ret);
+      m_stepMotor->stop(0);
+      action_status.exec_status = exec_ret;
+      if (exec_complete_cb) exec_complete_cb(action_status);
+      return;
+    }
+
+    while (!m_thread.getExitFlag()) {
+      ZLOGI(TAG, "Waiting for SMTP2 to complete the reset");
+      if (!m_stepMotor->isbusy()) break;
+      m_thread.sleep(1000);
+    }
+
+    ZLOGI(TAG, "zero_pos_calibrate complete");
+    m_stepMotor->stop(0);
   });
+  return 0;
 }
 int32_t PipetteModule::reset_device(function<void(action_cb_status_t status)> exec_complete_cb) {
-  /**
-   * @brief
-   */
-
   m_thread.stop();
   m_thread.start([this, exec_complete_cb]() {
     action_cb_status_t report_status = {0};
+
+    /*******************************************************************************
+     *                                   m_smtp2                                   *
+     *******************************************************************************/
     // 移液枪复位
     int ret = m_smtp2->init_device();
     if (ret != 0) {
       ZLOGE(TAG, "init_device fail");
       report_status.exec_status = ret;
       if (exec_complete_cb) exec_complete_cb(report_status);
+      return;
     }
 
     // 等待移液枪复位完成
-    while (true && !m_thread.getExitFlag()) {
+    while (!m_thread.getExitFlag()) {
       int32_t state = m_smtp2->getState();
       if (state == 0) {
         break;
@@ -54,9 +74,42 @@ int32_t PipetteModule::reset_device(function<void(action_cb_status_t status)> ex
       m_thread.sleep(1000);
       ZLOGI(TAG, "Waiting for SMTP2 to complete the reset");
     }
-
+    m_smtp2->stop();
+    
     ZLOGI(TAG, "SMTP2 reset complete");
+    if (m_thread.getExitFlag()) {
+      ZLOGW(TAG, "break reset_device");
+      return;
+    }
+
+    /*******************************************************************************
+     *                                 m_stepMotor                                 *
+     *******************************************************************************/
+    ret = m_stepMotor->move_to_zero_with_calibrate(0, [&](I_StepMotorCtrlModule::move_to_zero_with_calibrate_cb_status_t &status) {  //
+      ret = status.exec_status;
+    });
+
+    while (!m_thread.getExitFlag()) {
+      if (!m_stepMotor->isbusy()) break;
+      m_thread.sleep(1000);
+      ZLOGI(TAG, "Waiting for Z axis to complete the reset");
+    }
+    m_stepMotor->stop(0);
+    if (m_thread.getExitFlag()) {
+      ZLOGW(TAG, "break reset_device");
+      return;
+    }
+
+    if (ret != 0) {
+      ZLOGE(TAG, "move_to_zero_with_calibrate fail, ret = %d", ret);
+      report_status.exec_status = ret;
+      if (exec_complete_cb) exec_complete_cb(report_status);
+      return;
+    }
 
-    // 移液枪复位完成后，开始进行零点校准
+    ZLOGI(TAG, "Z axis reset complete");
+    report_status.exec_status = 0;
+    if (exec_complete_cb) exec_complete_cb(report_status);
   });
+  return 0;
 }
\ No newline at end of file
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 7045893..c92558b 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -26,6 +26,9 @@ void StepMotorCtrlModule::initialize(int id, IStepperMotor* stepM, ZGPIO* zero_g
   set_run_to_zero_param(run_to_zero_param);
   set_warning_limit_param(warning_limit_param);
 }
+
+bool StepMotorCtrlModule::isbusy() { return m_thread.isworking(); }
+
 int32_t StepMotorCtrlModule::move_to(int32_t tox, function<void(move_to_cb_status_t& status)> status_cb) {  //
 
   zlock_guard lock(m_lock);
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 699175d..9ca9aa9 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -47,6 +47,8 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule {
  public:
   void initialize(int id, IStepperMotor* stepM, ZGPIO* zero_gpio, ZGPIO* end_gpio);
 
+  virtual bool isbusy() override;
+
   virtual int32_t move_to(int32_t x, function<void(move_to_cb_status_t& status)> status_cb) override;
   virtual int32_t move_by(int32_t dx, function<void(move_by_cb_status_t& status)> status_cb) override;
   virtual int32_t move_to_zero(function<void(move_to_zero_cb_status_t& status)> status_cb) override;
diff --git a/components/zprotocols/zcancmder b/components/zprotocols/zcancmder
index 40bae4b..ce0623d 160000
--- a/components/zprotocols/zcancmder
+++ b/components/zprotocols/zcancmder
@@ -1 +1 @@
-Subproject commit 40bae4b887cc873eea0d37ba581669363fdc6f27
+Subproject commit ce0623df5d4dd3ab8ffe1e068fa7af86e8d8c44a