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 9cf35ed..2ae3bda 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -80,9 +80,7 @@ int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
 int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
   switch (param_id) {
     MODULE_COMMON_PROCESS_REG_CB();
-    PROCESS_REG(kreg_step_motor_pos, inter_get_pos(val), ACTION_NONE);
-    PROCESS_REG(kreg_step_motor_enc_val, read_enc_val(val), write_enc_val(val));
-    PROCESS_REG(kreg_step_motor_denc_val, REG_GET(m_state.denc), ACTION_NONE);
+    PROCESS_REG(kreg_step_motor_pos, getnowpos(val), ACTION_NONE);
 
     PROCESS_REG(kreg_step_motor_dpos, REG_GET(m_state.dpos), ACTION_NONE);
     PROCESS_REG(kreg_step_motor_shaft, REG_GET(m_cfg.motor_shaft), REG_SET(m_cfg.motor_shaft));
@@ -108,7 +106,7 @@ int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int
     PROCESS_REG(kreg_step_motor_vstop, REG_GET(m_cfg.motor_vstop), REG_SET(m_cfg.motor_vstop));
     PROCESS_REG(kreg_step_motor_tzerowait, REG_GET(m_cfg.motor_tzerowait), REG_SET(m_cfg.motor_tzerowait));
     PROCESS_REG(kreg_step_motor_enc_resolution, REG_GET(m_cfg.motor_enc_resolution), REG_SET(m_cfg.motor_enc_resolution));
-    PROCESS_REG(kreg_step_motor_enable_enc, REG_GET(m_cfg.motor_enable_enc_resolution), REG_SET(m_cfg.motor_enable_enc_resolution));
+    PROCESS_REG(kreg_step_motor_enable_enc, REG_GET(m_cfg.motor_enable_enc), REG_SET(m_cfg.motor_enable_enc));
 
     default:
       return err::kmodule_not_find_reg;
@@ -123,11 +121,7 @@ int32_t StepMotorCtrlModule::step_motor_enable(int32_t enable) {
   m_state.enable = enable;
   return 0;
 }
-int32_t StepMotorCtrlModule::step_motor_read_pos(int32_t* pos) {
-  int32_t motor_pos = m_stepM1->getXACTUAL();
-  inter_inverse_kinematics(motor_pos, *pos);
-  return 0;
-}
+int32_t StepMotorCtrlModule::step_motor_read_pos(int32_t* pos) { return getnowpos(*pos); }
 int32_t StepMotorCtrlModule::step_motor_stop(int32_t breakstop) {
   ZLOGI(TAG, "m%d motor_stop %d", m_id, breakstop);
   m_thread.stop();
@@ -135,13 +129,7 @@ int32_t StepMotorCtrlModule::step_motor_stop(int32_t breakstop) {
   return 0;
 }
 
-int32_t StepMotorCtrlModule::step_motor_easy_set_current_pos(int32_t pos) {
-  int32_t motor_pos = 0;
-  inter_forward_kinematics(pos, motor_pos);
-  m_stepM1->setXACTUAL(motor_pos);
-  m_stepM1->set_enc_val(motor_pos);
-  return 0;
-}
+int32_t StepMotorCtrlModule::step_motor_easy_set_current_pos(int32_t pos) { return setnowpos(pos); }
 
 int32_t StepMotorCtrlModule::step_motor_active_cfg() {
   ZLOGI(TAG, "m%d motor_active_cfg", m_id);
@@ -226,32 +214,16 @@ int32_t StepMotorCtrlModule::step_motor_read_io_index_in_stm32(int32_t ioindex,
 /***********************************************************************************************************************
  *                                                        INTER                                                        *
  ***********************************************************************************************************************/
-void StepMotorCtrlModule::inter_inverse_kinematics(int32_t motor_pos, int32_t& x) { x = motor_pos; }
-void StepMotorCtrlModule::inter_forward_kinematics(int32_t x, int32_t& motor_pos) { motor_pos = x; }
-int  StepMotorCtrlModule::inter_get_pos() {
-  int32_t pos;
-  int32_t motor_pos = m_stepM1->getXACTUAL();
-  inter_inverse_kinematics(motor_pos, pos);
-  return pos;
-}
-int StepMotorCtrlModule::inter_get_pos(int32_t& x) {
-  x = inter_get_pos();
-  return 0;
-}
-void StepMotorCtrlModule::befor_motor_move() {  //
-  m_state.before_move_pos = m_stepM1->getXACTUAL();
-  m_state.before_move_enc = m_stepM1->read_enc_val();
-  creg.module_status      = 1;
-  creg.module_errorcode   = 0;
 
-  //
+void StepMotorCtrlModule::befor_motor_move() {  //
+  getnowpos(m_state.before_move_pos);
+  creg.module_status    = 1;
+  creg.module_errorcode = 0;
   m_stepM1->enable(1);
 }
 void StepMotorCtrlModule::after_motor_move() {
-  m_state.after_move_pos = m_stepM1->getXACTUAL();
-  m_state.after_move_enc = m_stepM1->read_enc_val();
-  m_state.dpos           = m_state.after_move_pos - m_state.before_move_pos;
-  m_state.denc           = m_state.after_move_enc - m_state.before_move_enc;
+  getnowpos(m_state.after_move_pos);
+  m_state.dpos = m_state.after_move_pos - m_state.before_move_pos;
   if (creg.module_errorcode != 0) {
     creg.module_status = 2;
   }
@@ -275,22 +247,6 @@ void StepMotorCtrlModule::dumpTMC5130Status(TMC51X0::DevStatusReg_t* status) {
 
 void StepMotorCtrlModule::setErrorFlag(int32_t ecode) { creg.module_errorcode = ecode; }
 
-int32_t StepMotorCtrlModule::read_enc_val(int32_t& enc_val) {
-  auto tmc5130 = dynamic_cast<TMC51X0*>(m_stepM1);
-  if (tmc5130) {
-    tmc5130->read_enc_val(enc_val);
-    return 0;
-  }
-  return err::kcmd_not_support;
-}
-int32_t StepMotorCtrlModule::write_enc_val(int32_t enc_val) {
-  auto tmc5130 = dynamic_cast<TMC51X0*>(m_stepM1);
-  if (tmc5130) {
-    tmc5130->set_enc_val(enc_val);
-    return 0;
-  }
-  return err::kcmd_not_support;
-}
 bool StepMotorCtrlModule::check_when_run() {
   //
   if (m_state.debugmode) return true;
@@ -320,11 +276,8 @@ bool StepMotorCtrlModule::check_when_run() {
 }
 
 bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t direction) {
-  int32_t runToPointSpeed = m_cfg.motor_run_to_zero_speed;
-  int32_t runToPointDec   = m_cfg.motor_amax;
-
+  int32_t runToPointSpeed   = m_cfg.motor_run_to_zero_speed;
   int32_t lookPointVelocity = m_cfg.motor_look_zero_edge_speed;
-  int32_t lookPointDec      = m_cfg.motor_amax;
 
   direction = direction >= 0 ? 1 : -1;
 
@@ -333,7 +286,7 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
 
   if (!gpio->getState()) {
     ZLOGI(TAG, "---------STEP1-------- move to point");
-    _rotate(runToPointSpeed * direction, runToPointDec);
+    rotate(direction, runToPointSpeed);
     bool xreach_io = false;
 
     while (!m_thread.getExitFlag()) {
@@ -364,7 +317,7 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
   // 如果设备已经在零点，则反向移动一定距离远离零点
   if (gpio->getState()) {
     ZLOGI(TAG, "---------STEP2--------  find edge");
-    _rotate(-direction * lookPointVelocity, lookPointDec);
+    rotate(-direction, lookPointVelocity);
     bool reach_edge = false;
 
     while (!m_thread.getExitFlag()) {
@@ -393,7 +346,7 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
   // 如果设备已经在零点，则反向移动一定距离远离零点
   if (!gpio->getState()) {
     ZLOGI(TAG, "---------STEP3--------  bak to gpio trigger edge");
-    _rotate(direction * lookPointVelocity, lookPointDec);
+    rotate(direction, lookPointVelocity);
     bool reach_edge = false;
 
     while (!m_thread.getExitFlag()) {
@@ -428,16 +381,6 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
   return true;
 }
 
-void StepMotorCtrlModule::_rotate(int32_t velocity, int32_t acc) {
-  if (velocity > 0) {
-    m_stepM1->moveToEnd(1, abs(velocity));
-    // m_stepM1->rotate(velocity);
-  } else {
-    // m_stepM1->rotate(velocity);
-    m_stepM1->moveToEnd(-1, abs(velocity));
-  }
-}
-
 /***********************************************************************************************************************
  *                                                    电机控制接口                                                     *
  ***********************************************************************************************************************/
@@ -531,15 +474,6 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to_end_point() {
   }
   return do_step_motor_easy_move_to_end_point();
 }
-int32_t StepMotorCtrlModule::step_motor_read_pos_and_enc_pos(int32_t* pos, int32_t* encpos) {
-  *pos = m_stepM1->getXACTUAL();
-  if (m_cfg.motor_enable_enc_resolution != 0) {
-    *encpos = m_stepM1->read_enc_val();
-  } else {
-    *encpos = *pos;
-  }
-  return 0;
-}
 
 int32_t StepMotorCtrlModule::do_step_motor_easy_rotate(int32_t direction) {
   m_thread.stop();
@@ -547,12 +481,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_rotate(int32_t direction) {
       [this, direction]() {
         befor_motor_move();
         {
-          // m_stepM1->set_amax(m_cfg.motor_amax);
-          // int32_t vel = m_cfg.motor_default_velocity;
-          // if (direction <= 0) vel = -vel;
-          // m_stepM1->rotate(vel);
-
-          m_stepM1->moveToEnd(direction, m_cfg.motor_default_velocity);
+          rotate(direction, m_cfg.motor_default_velocity);
 
           while (true) {
             if (m_thread.getExitFlag()) break;
@@ -575,10 +504,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to(int32_t tox) {
         befor_motor_move();
 
         {
-          int32_t motor_pos = 0;
-          inter_forward_kinematics(tox, motor_pos);
-          m_stepM1->moveTo(motor_pos, m_cfg.motor_default_velocity);
-
+          moveTo(tox, m_cfg.motor_default_velocity);
           while (!m_stepM1->isReachTarget()) {
             if (m_thread.getExitFlag()) break;
             if (!check_when_run()) break;
@@ -608,8 +534,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_zero() {
         befor_motor_move();
         exec_move_to_io_task(0, -1);
         after_motor_move();
-        m_stepM1->setXACTUAL(0);
-        m_stepM1->set_enc_val(0);
+        setnowpos(0);
       },
       [this]() { m_stepM1->stop(); });
   return 0;
@@ -636,3 +561,36 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_io(int32_t ioindex, int3
 }
 
 int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_end_point() { return do_step_motor_easy_move_to_io(1, 1); }
+
+//
+int32_t StepMotorCtrlModule::getnowpos(int32_t& x) {
+  if (m_cfg.motor_enable_enc == 0) {
+    x = m_stepM1->getXACTUAL();
+    return 0;
+  }
+  x = m_stepM1->read_enc_val();
+  return 0;
+}
+int32_t StepMotorCtrlModule::trysyncpos() {
+  if (m_cfg.motor_enable_enc == 0) {
+    return 0;
+  }
+
+  int32_t x = m_stepM1->read_enc_val();
+  m_stepM1->setXACTUAL(x);
+  return 0;
+}
+int32_t StepMotorCtrlModule::setnowpos(int32_t x) {
+  m_stepM1->setXACTUAL(x);
+  m_stepM1->set_enc_val(x);
+  return 0;
+}
+int32_t StepMotorCtrlModule::moveTo(int32_t x, int32_t v) {
+  trysyncpos();
+  m_stepM1->moveTo(x, v);
+  return 0;
+}
+int32_t StepMotorCtrlModule::rotate(int32_t direction, int32_t v) {
+  m_stepM1->moveToEnd(direction, m_cfg.motor_default_velocity);
+  return 0;
+}
\ No newline at end of file
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 96814ff..5ec18a1 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -31,16 +31,13 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
     int32_t motor_vstop;
     int32_t motor_tzerowait;
     int32_t motor_enc_resolution;
-    int32_t motor_enable_enc_resolution;
+    int32_t motor_enable_enc;
   } config_t;
 
   typedef struct {
     int32_t dpos;
-    int32_t denc;
     int32_t after_move_pos;
     int32_t before_move_pos;
-    int32_t after_move_enc;
-    int32_t before_move_enc;
     int32_t enable;
     int32_t debugmode;
   } state_t;
@@ -87,7 +84,6 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
   virtual int32_t step_motor_easy_move_to_zero() override;
   virtual int32_t step_motor_easy_move_to_io(int32_t ioindex, int32_t direction) override;
   virtual int32_t step_motor_easy_move_to_end_point() override;
-  virtual int32_t step_motor_read_pos_and_enc_pos(int32_t* pos, int32_t* encpos) override;
 
   virtual int32_t step_motor_easy_set_current_pos(int32_t pos) override;
   virtual int32_t step_motor_active_cfg() override;
@@ -96,9 +92,6 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
   virtual int32_t step_motor_read_tmc5130_status(int32_t* errorflag) override;
   virtual int32_t step_motor_read_tmc5130_state(int32_t* status) override;
 
-  // virtual int32_t step_motor_read_enc_val(int32_t* enc_val) override;
-  // virtual int32_t step_motor_set_enc_resolution(int32_t enc_resolution) override;
-  // virtual int32_t step_motor_get_enc_resolution(int32_t* enc_resolution) override;
   virtual int32_t step_motor_set_subdevice_reg(int32_t reg_addr, int32_t reg_val) override;
   virtual int32_t step_motor_get_subdevice_reg(int32_t reg_addr, int32_t* reg_val) override;
 
@@ -119,11 +112,8 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
   int32_t do_step_motor_easy_move_to_end_point();
 
  private:
-  void inter_inverse_kinematics(int32_t motor_pos, int32_t& x);
-  void inter_forward_kinematics(int32_t x, int32_t& motor_pos);
 
-  int inter_get_pos();
-  int inter_get_pos(int32_t& x);
+  int inter_et_pos(int32_t& x);
 
   void befor_motor_move();
   void after_motor_move();
@@ -132,7 +122,6 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
   bool exec_move_to_io_task(int32_t ioindex, int32_t direction);
 
   // void _rotate(int32_t vel, int32_t acc, int32_t dec);
-  void _rotate(int32_t velocity, int32_t acc);
 
   int32_t pri_module_xxx_reg(int32_t param_id, bool read, int32_t& val);
 
@@ -140,8 +129,16 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
   void dumpTMC5130Status(TMC51X0::DevStatusReg_t* status);
   void setErrorFlag(int32_t ecode);
 
-  int32_t read_enc_val(int32_t& enc_val);
-  int32_t write_enc_val(int32_t enc_val);
+
+  int32_t getnowpos(int32_t& x);
+  int32_t trysyncpos();
+  int32_t setnowpos(int32_t x);
+  int32_t moveTo(int32_t x, int32_t v);
+  int32_t moveBy(int32_t dx, int32_t v);
+  int32_t rotate(int32_t direction, int32_t v);
+
+  // int32_t read_enc_val(int32_t& enc_val);
+  // int32_t write_enc_val(int32_t enc_val);
 
   // virtual int32_t step_motor_set_enc_resolution(int32_t enc_resolution);
 };
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 870bfc5..74f88a2 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -533,4 +533,7 @@ int32_t XYRobotCtrlModule::xymotor_read_inio_index_in_stm32(int32_t ioindex, int
   *val = m_gpiotable[ioindex].getPin();
   return 0;
 }
-int32_t XYRobotCtrlModule::xymotor_set_pos(int32_t x, int32_t y) { setnowpos(x, y); }
+int32_t XYRobotCtrlModule::xymotor_set_pos(int32_t x, int32_t y) {
+  setnowpos(x, y);
+  return 0;
+}
diff --git a/components/zcancmder/zcan_protocol_parser.cpp b/components/zcancmder/zcan_protocol_parser.cpp
index f651efc..4ec3352 100644
--- a/components/zcancmder/zcan_protocol_parser.cpp
+++ b/components/zcancmder/zcan_protocol_parser.cpp
@@ -41,7 +41,6 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(step_motor_read_io_index_in_stm32);
   REGFN(step_motor_set_subdevice_reg);
   REGFN(step_motor_get_subdevice_reg);
-  REGFN(step_motor_read_pos_and_enc_pos);
 
   REGFN(mini_servo_enable);
   REGFN(mini_servo_read_pos);
@@ -339,12 +338,6 @@ int32_t ZCanProtocolParser::step_motor_get_subdevice_reg(cmdcontxt_t* cxt) {
   cxt->acklen  = 4;
   return module->step_motor_get_subdevice_reg(cxt->params[0], ack);
 }
-int32_t ZCanProtocolParser::step_motor_read_pos_and_enc_pos(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 8;
-  return module->step_motor_read_pos_and_enc_pos(&ack[0], &ack[1]);
-}
 
 #undef MODULE_CLASS
 #define MODULE_CLASS ZIMiniServo
diff --git a/components/zcancmder/zcan_protocol_parser.hpp b/components/zcancmder/zcan_protocol_parser.hpp
index caccc23..791ff7d 100644
--- a/components/zcancmder/zcan_protocol_parser.hpp
+++ b/components/zcancmder/zcan_protocol_parser.hpp
@@ -77,7 +77,6 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   CMDFN(step_motor_read_io_index_in_stm32);
   CMDFN(step_motor_set_subdevice_reg);
   CMDFN(step_motor_get_subdevice_reg);
-  CMDFN(step_motor_read_pos_and_enc_pos);
 
   CMDFN(mini_servo_enable);
   CMDFN(mini_servo_read_pos);