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 c405db4..df53d92 100644
--- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
+++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
@@ -79,7 +79,7 @@ int32_t MiniRobotCtrlModule::move_to(s32 pos, s32 speed, s32 torque, function<vo
     stop(0);
     move_to_cb_status_t status;
     status.pos    = pos;
-    status.status = 0;
+    status.exec_status = 0;
     if (status_cb) status_cb(status);
   });
 
@@ -103,7 +103,7 @@ int32_t MiniRobotCtrlModule::move_by(s32 dpos, s32 speed, s32 torque, function<v
   move_to(targetpos, speed, torque, [this, nowpos, status_cb](move_to_cb_status_t& status) {
     move_by_cb_status_t moveby_status = {0};
     moveby_status.dpos                = status.pos - nowpos;
-    moveby_status.status              = status.status;
+    moveby_status.exec_status              = status.exec_status;
     if (status_cb) status_cb(moveby_status);
   });
 
diff --git a/components/zcancmder_module/zcan_mini_servo_ctrl_module.cpp b/components/zcancmder_module/zcan_mini_servo_ctrl_module.cpp
new file mode 100644
index 0000000..807ecf5
--- /dev/null
+++ b/components/zcancmder_module/zcan_mini_servo_ctrl_module.cpp
@@ -0,0 +1,149 @@
+#include "zcan_mini_servo_ctrl_module.hpp"
+using namespace iflytop;
+
+#define TAG "ZCanMiniServoCtrlModule"
+void ZCanMiniServoCtrlModule::initialize(ZCanCmder* cancmder, int id, I_MiniServoModule* module) {
+  m_cancmder = cancmder;
+  m_id       = id;
+  m_module   = module;
+  cancmder->registerListener(this);
+}
+
+void ZCanMiniServoCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
+#if 0
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable, CMD(u8 id; u8 enable;), ACK(u8 id;));
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 id;));
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, CMD(u8 id; s32 calibrate_pos;), ACK(u8 id;));
+
+ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, CMD(s32 speed; s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::rotate_cb_status_t report;));
+ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to, CMD(s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_to_cb_status_t report;));
+ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by, CMD(s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_by_cb_status_t report;));
+ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque, CMD(s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::run_with_torque_cb_status_t report;));
+ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit, CMD(s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_by_nolimit_cb_status_t report;));
+
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::version_t ack;));
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::status_t ack;));
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::detailed_status_t ack;));
+
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::run_param_t param;), ACK(u8 id; I_MiniServoModule::run_param_t ack;));
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_basic_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::basic_param_t param;), ACK(u8 id; I_MiniServoModule::basic_param_t ack;));
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::warning_limit_param_t param;), ACK(u8 id; I_MiniServoModule::warning_limit_param_t ack;));
+
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_run_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::run_param_t ack;));
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_basic_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::basic_param_t ack;));
+ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::warning_limit_param_t ack;));
+#endif
+#if 0
+  PROCESS_PACKET(kcmd_step_motor_ctrl_enable, m_id) { errorcode = m_module->enable(cmd->enable); }
+  END_PP();
+#endif
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_enable, m_id) { errorcode = m_module->enable(cmd->enable); }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_stop, m_id) { errorcode = m_module->stop(cmd->stop_type); }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_position_calibrate, m_id) { errorcode = m_module->position_calibrate(cmd->calibrate_pos); }
+  END_PP();
+#if 0
+  PROCESS_PACKET(kcmd_xy_robot_ctrl_move_by, m_id) {  //
+    errorcode = m_xyRobotCtrlModule->move_by(cmd->dx, cmd->dy, [this, cmdheader](I_XYRobotCtrlModule::move_by_cb_status_t& status) {
+      osDelay(5);  // 用来保证回执消息在前面
+      kcmd_xy_robot_ctrl_move_by_report_t report = {0};
+      ZLOGI(TAG, "kcmd_xy_robot_ctrl_move_by exec_status:%d %d %d", status.exec_status, status.dx, status.dy);
+
+      report.id     = m_id;
+      report.status = status;
+      m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
+    });
+  }
+  END_PP();
+#endif
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_rotate, m_id) {  //
+    errorcode = m_module->rotate(cmd->speed, cmd->torque, cmd->run_time, [this, cmdheader](I_MiniServoModule::rotate_cb_status_t& status) {
+      osDelay(5);  // 用来保证回执消息在前面
+      kcmd_mini_servo_ctrl_rotate_report_t report = {0};
+      ZLOGI(TAG, "report kcmd_mini_servo_ctrl_rotate exec_status:%d %d", status.exec_status, status.has_run_time);
+      report.id     = m_id;
+      report.report = status;
+      m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
+    });
+  }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_move_to, m_id) {  //
+    errorcode = m_module->move_to(cmd->pos, cmd->speed, cmd->torque, [this, cmdheader](I_MiniServoModule::move_to_cb_status_t& status) {
+      osDelay(5);  // 用来保证回执消息在前面
+      kcmd_mini_servo_ctrl_move_to_report_t report = {0};
+      ZLOGI(TAG, "report kcmd_mini_servo_ctrl_move_to exec_status:%d %d", status.exec_status, status.pos);
+      report.id     = m_id;
+      report.report = status;
+      m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
+    });
+  }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_move_by, m_id) {  //
+    errorcode = m_module->move_by(cmd->pos, cmd->speed, cmd->torque, [this, cmdheader](I_MiniServoModule::move_by_cb_status_t& status) {
+      osDelay(5);  // 用来保证回执消息在前面
+      kcmd_mini_servo_ctrl_move_by_report_t report = {0};
+      ZLOGI(TAG, "report kcmd_mini_servo_ctrl_move_by exec_status:%d %d", status.exec_status, status.dpos);
+      report.id     = m_id;
+      report.report = status;
+      m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
+    });
+  }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_run_with_torque, m_id) {  //
+    errorcode = m_module->run_with_torque(cmd->torque, cmd->run_time, [this, cmdheader](I_MiniServoModule::run_with_torque_cb_status_t& status) {
+      osDelay(5);  // 用来保证回执消息在前面
+      kcmd_mini_servo_ctrl_run_with_torque_report_t report = {0};
+      ZLOGI(TAG, "report kcmd_mini_servo_ctrl_run_with_torque exec_status:%d %d", status.exec_status, status.has_run_time);
+      report.id     = m_id;
+      report.report = status;
+      m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
+    });
+  }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_move_by_nolimit, m_id) {  //
+    errorcode = m_module->move_by_nolimit(cmd->pos, cmd->speed, cmd->torque, [this, cmdheader](I_MiniServoModule::move_by_nolimit_cb_status_t& status) {
+      osDelay(5);  // 用来保证回执消息在前面
+      kcmd_mini_servo_ctrl_move_by_nolimit_report_t report = {0};
+      ZLOGI(TAG, "report kcmd_mini_servo_ctrl_move_by_nolimit exec_status:%d %d", status.exec_status, status.pos);
+      report.id     = m_id;
+      report.report = status;
+      m_cancmder->sendExecStatusReport(cmdheader, (uint8_t*)&report, sizeof(report));
+    });
+  }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_read_version, m_id) { errorcode = m_module->read_version(ack->ack); }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_read_status, m_id) { errorcode = m_module->read_status(ack->ack); }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_read_detailed_status, m_id) { errorcode = m_module->read_detailed_status(ack->ack); }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_set_run_param, m_id) { errorcode = m_module->set_run_param(cmd->param); }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_set_basic_param, m_id) { errorcode = m_module->set_basic_param(cmd->param); }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_set_warning_limit_param, m_id) { errorcode = m_module->set_warning_limit_param(cmd->param); }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_get_run_param, m_id) { errorcode = m_module->get_run_param(ack->ack); }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_get_basic_param, m_id) { errorcode = m_module->get_basic_param(ack->ack); }
+  END_PP();
+
+  PROCESS_PACKET(kcmd_mini_servo_ctrl_get_warning_limit_param, m_id) { errorcode = m_module->get_warning_limit_param(ack->ack); }
+  END_PP();
+
+}
diff --git a/components/zcancmder_module/zcan_mini_servo_ctrl_module.hpp b/components/zcancmder_module/zcan_mini_servo_ctrl_module.hpp
new file mode 100644
index 0000000..b640068
--- /dev/null
+++ b/components/zcancmder_module/zcan_mini_servo_ctrl_module.hpp
@@ -0,0 +1,16 @@
+#pragma once
+#include "sdk/components/zprotocols/zcancmder/api/i_mini_servo_module.hpp"
+#include "sdk\components\zcancmder\zcanreceiver.hpp"
+namespace iflytop {
+class ZCanMiniServoCtrlModule : public ZCanCmderListener {
+  ZCanCmder*         m_cancmder = nullptr;
+  int                m_id       = 0;
+  I_MiniServoModule* m_module;
+
+  uint8_t m_txbuf[128] = {0};
+
+ public:
+  void         initialize(ZCanCmder* cancmder, int id, I_MiniServoModule* module);
+  virtual void onRceivePacket(CanPacketRxBuffer* rxcmd);
+};
+}  // namespace iflytop
diff --git a/components/zprotocols/zcancmder b/components/zprotocols/zcancmder
index ca80d7f..804b964 160000
--- a/components/zprotocols/zcancmder
+++ b/components/zprotocols/zcancmder
@@ -1 +1 @@
-Subproject commit ca80d7fd03f22edaac9927a64e31946323c87dd5
+Subproject commit 804b964be4e24a8fc929794768db6ffb5eeaa9a6