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 b2eb6ea..a052a92 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -107,11 +107,15 @@ int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int speed, a
 
 int32_t XYRobotCtrlModule::move_by(int32_t dx, int32_t dy, int speed, action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
-  ZLOGI(TAG, "move_by dx:%d dy:%d", dx, dy);
+  ZLOGI(TAG, "move_by dx:%d dy:%d %d", dx, dy, speed);
 
   m_thread.stop();
   _motor_stop();
 
+  if (speed == 0) {
+    speed = m_cfg.maxspeed;
+  }
+
   if (m_cfg.maxspeed != 0 && speed > m_cfg.maxspeed) {
     speed = m_cfg.maxspeed;
   }