diff --git a/components/cmdscheduler/cmd_scheduler_v2.cpp b/components/cmdscheduler/cmd_scheduler_v2.cpp
index a384f6d..0364fbf 100644
--- a/components/cmdscheduler/cmd_scheduler_v2.cpp
+++ b/components/cmdscheduler/cmd_scheduler_v2.cpp
@@ -4,6 +4,7 @@
 #include <stdlib.h>
 #include <string.h>
 
+#include "project_configs.h"
 #include "sdk\components\zprotocols\errorcode\errorcode.hpp"
 using namespace iflytop;
 
@@ -82,7 +83,15 @@ void CmdSchedulerV2::schedule() {
 
       int inext = strlen(&rxbuf[i]) + i;
       memset(&ack, 0, sizeof(ack));
+#ifdef IFLYTOP_ENABLE_EXCEPTION
+      try {
+        callcmd(&rxbuf[i], &ack);
+      } catch (...) {
+        ack.ecode = err::kcatch_exception;
+      }
+#else
       callcmd(&rxbuf[i], &ack);
+#endif
       dumpack(&ack);
       i = inext;
 
diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
index fcf5aea..3ce6425 100644
--- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
+++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
@@ -98,7 +98,7 @@ int32_t MiniRobotCtrlModule::move_to(s32 pos, s32 speed, s32 torque, action_cb_s
       m_thread.sleep(10);
     }
     stop(0);
-    ZLOGI(TAG, "move_to stop");
+    // ZLOGI(TAG, "move_to stop");
   });
 
   return 0;
diff --git a/components/zprotocols/zcancmder_v2 b/components/zprotocols/zcancmder_v2
index f62a5bd..84c9be4 160000
--- a/components/zprotocols/zcancmder_v2
+++ b/components/zprotocols/zcancmder_v2
@@ -1 +1 @@
-Subproject commit f62a5bd178b7ec3948e5adb9db17e320b6d0fde9
+Subproject commit 84c9be43174493f0de079de781ff35fcd954a0cd