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 dd736d8..870f79a 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -518,12 +518,10 @@ bool StepMotorCtrlModule::_motor_is_reach_target() { return m_stepM1->isReachTar
 void StepMotorCtrlModule::inverse_kinematics(int32_t motor_pos, int32_t& x) {
   // m_zero_shift_x
   x = motor_pos;
-  if (m_param.x_shaft != 0) x = -x;
   x += m_param.shift_x;
 }
 void StepMotorCtrlModule::forward_kinematics(int32_t x, int32_t& motor_pos) {
   x -= m_param.shift_x;
-  if (m_param.x_shaft != 0) x = -x;
   motor_pos = x;
 }
 #if 0
@@ -638,4 +636,5 @@ int32_t StepMotorCtrlModule::factory_reset() {
 void StepMotorCtrlModule::active_cfg() {
   m_stepM1->setIHOLD_IRUN(m_param.ihold, m_param.irun, m_param.iholddelay);
   m_stepM1->setScale(m_param.distance_scale);
+  m_stepM1->setMotorShaft(m_param.x_shaft);
 }