diff --git a/api/i_mini_servo_module.hpp b/api/i_mini_servo_module.hpp
index 9b23ff1..6c6ce61 100644
--- a/api/i_mini_servo_module.hpp
+++ b/api/i_mini_servo_module.hpp
@@ -99,15 +99,15 @@ class I_MiniServoModule {
   virtual int32_t stop(u8 stop_type)                    = 0;
   virtual int32_t position_calibrate(s32 calibrate_pos) = 0;
 
-  virtual int32_t rotate(s32 speed, s32 run_time, function<void(rotate_cb_status_t& status)> status_cb)                          = 0;
+  virtual int32_t rotate(s32 speed, s32 torque, s32 run_time, function<void(rotate_cb_status_t& status)> status_cb)              = 0;
   virtual int32_t move_to(s32 pos, s32 speed, s32 torque, function<void(move_to_cb_status_t& status)> status_cb)                 = 0;
   virtual int32_t move_by(s32 pos, s32 speed, s32 torque, function<void(move_by_cb_status_t& status)> status_cb)                 = 0;
   virtual int32_t run_with_torque(s32 torque, s32 run_time, function<void(run_with_torque_cb_status_t& status)> status_cb)       = 0;
   virtual int32_t move_by_nolimit(s32 pos, s32 speed, s32 torque, function<void(move_by_nolimit_cb_status_t& status)> status_cb) = 0;
 
-  virtual int32_t read_version(version_t& version)          = 0;
-  virtual int32_t read_status(status_t& status)             = 0;
-  virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0;
+  virtual int32_t read_version(version_t& version)                    = 0;
+  virtual int32_t read_status(status_t& status)                       = 0;
+  virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0;
 
   virtual int32_t set_run_param(run_param_t& param)                     = 0;
   virtual int32_t set_basic_param(basic_param_t& param)                 = 0;
diff --git a/api/i_step_motor_ctrl_module.hpp b/api/i_step_motor_ctrl_module.hpp
index 3ddc71c..aa8ed7f 100644
--- a/api/i_step_motor_ctrl_module.hpp
+++ b/api/i_step_motor_ctrl_module.hpp
@@ -102,7 +102,7 @@ class I_StepMotorCtrlModule {
 
   virtual int32_t read_version(version_t& version)          = 0;
   virtual int32_t read_status(status_t& status)             = 0;
-  virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0;
+  virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0;
 
   virtual int32_t set_run_param(uint8_t operation, const run_param_t& param, run_param_t& ack)                               = 0;
   virtual int32_t set_run_to_zero_param(uint8_t operation, const run_to_zero_param_t& param, run_to_zero_param_t& ack)       = 0;
diff --git a/api/i_xyrobot_ctrl_module.hpp b/api/i_xyrobot_ctrl_module.hpp
index 890383a..fe2cfb6 100644
--- a/api/i_xyrobot_ctrl_module.hpp
+++ b/api/i_xyrobot_ctrl_module.hpp
@@ -107,7 +107,7 @@ class I_XYRobotCtrlModule {
 
   virtual int32_t read_version(version_t& version)          = 0;
   virtual int32_t read_status(status_t& status)             = 0;
-  virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0;
+  virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0;
 
   virtual int32_t set_run_param(uint8_t operation, const run_param_t& param, run_param_t& ack)                               = 0;
   virtual int32_t set_run_to_zero_param(uint8_t operation, const run_to_zero_param_t& param, run_to_zero_param_t& ack)       = 0;