diff --git a/components/eq_20_asb_motor/eq20_servomotor.cpp b/components/eq_20_asb_motor/eq20_servomotor.cpp
index 2fe1a4d..4dd16fe 100644
--- a/components/eq_20_asb_motor/eq20_servomotor.cpp
+++ b/components/eq_20_asb_motor/eq20_servomotor.cpp
@@ -156,7 +156,7 @@ int32_t Eq20ServoMotor::get_servo_internal_state(servo_internal_status_t &state)
 
 #define AUTO_RESEND(exptr)                          \
   int32_t ret = 0;                                  \
-  for (size_t i = 0; i < m_auto_resendtimes; i++) { \
+  for (int i = 0; i < m_auto_resendtimes; i++) { \
     ret = exptr;                                    \
     if (ret == 0) {                                 \
       return 0;                                     \
@@ -276,3 +276,5 @@ int32_t Eq20ServoMotor::motor_move_to_acctime(int32_t position, int32_t motor_ve
 
 int32_t Eq20ServoMotor::motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return move_to_zero_forward(findzerospeed, findzeroedge_speed, 30); }
 int32_t Eq20ServoMotor::motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return move_to_zero_backward(findzerospeed, findzeroedge_speed, 30); }
+
+int32_t Eq20ServoMotor::motor_read_pos(int32_t *pos) { return get_pos(*pos); }
diff --git a/components/eq_20_asb_motor/eq20_servomotor.hpp b/components/eq_20_asb_motor/eq20_servomotor.hpp
index 558442f..5d89053 100644
--- a/components/eq_20_asb_motor/eq20_servomotor.hpp
+++ b/components/eq_20_asb_motor/eq20_servomotor.hpp
@@ -127,6 +127,8 @@ class Eq20ServoMotor : public ZIModule, public ZIMotor {
   virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
   virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
 
+  virtual int32_t motor_read_pos(int32_t *pos);
+
  public:
   int32_t write_reg(uint32_t regadd, int32_t value);
   int32_t read_reg(uint32_t regadd, int32_t &value);
diff --git a/components/zprotocols/zcancmder_v2 b/components/zprotocols/zcancmder_v2
index 46580c9..115dbcf 160000
--- a/components/zprotocols/zcancmder_v2
+++ b/components/zprotocols/zcancmder_v2
@@ -1 +1 @@
-Subproject commit 46580c915dfcd4c9e07675d04751c2df0c4f7380
+Subproject commit 115dbcfc41877dd4ceb3412df2838322ce7f09e2