diff --git a/api/zi_motor.hpp b/api/zi_motor.hpp
index d3d67da..d5fe9f4 100644
--- a/api/zi_motor.hpp
+++ b/api/zi_motor.hpp
@@ -39,7 +39,7 @@ class ZIMotor {
   virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
   virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
   virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
-  virtual int32_t motor_easy_move_to_io(int32_t direction, int32_t io_index) { return err::koperation_not_support; };
+  virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
 
   // virtual int32_t motor_set_shaft();
 
diff --git a/cmdid.hpp b/cmdid.hpp
index e38a1b9..d58a4d5 100644
--- a/cmdid.hpp
+++ b/cmdid.hpp
@@ -65,6 +65,7 @@ typedef enum {
   virtual int32_t motor_easy_move_by(int32_t distance) { return err::koperation_not_support; };
   virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
   virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
+  virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
 
 #endif
 
@@ -90,6 +91,7 @@ typedef enum {
   kmotor_easy_move_to         = CMDID(2, 19),  // para:{4}, ack:{}
   kmotor_easy_move_to_zero    = CMDID(2, 20),  // para:{1}, ack:{}
   kmotor_easy_set_current_pos = CMDID(2, 21),  // para:{4}, ack:{}
+  kmotor_easy_move_to_io      = CMDID(2, 22),  // para:{4,4}, ack:{}
 
 #if 0
   virtual ~ZIXYMotor() {}
diff --git a/protocol_parser.cpp b/protocol_parser.cpp
index 39fa0bd..de490db 100644
--- a/protocol_parser.cpp
+++ b/protocol_parser.cpp
@@ -208,6 +208,7 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
   virtual int32_t motor_easy_move_by(int32_t distance) { return err::koperation_not_support; };
   virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
   virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
+  virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
 
 #endif
   PROCESS_PACKET_10(kmotor_enable, ZIMotor, motor_enable);
@@ -230,6 +231,7 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
   PROCESS_PACKET_10(kmotor_easy_move_by, ZIMotor, motor_easy_move_by);
   PROCESS_PACKET_10(kmotor_easy_move_to, ZIMotor, motor_easy_move_to);
   PROCESS_PACKET_10(kmotor_easy_move_to_zero, ZIMotor, motor_easy_move_to_zero);
+  PROCESS_PACKET_20(kmotor_easy_move_to_io, ZIMotor, motor_easy_move_to_io);
 
   /*******************************************************************************
    *                                   xymotor                                  *
diff --git a/protocol_proxy.cpp b/protocol_proxy.cpp
index d711037..d16d60c 100644
--- a/protocol_proxy.cpp
+++ b/protocol_proxy.cpp
@@ -140,6 +140,7 @@ int32_t ZIProtocolProxy::module_enable(int32_t para0) { PROXY_IMPL_10(kmodule_en
   virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
   virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
   virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
+  virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
 
 #endif
 
@@ -170,6 +171,7 @@ int32_t ZIProtocolProxy::motor_easy_move_by(int32_t para0) { PROXY_IMPL_10(kmoto
 int32_t ZIProtocolProxy::motor_easy_move_to(int32_t para0) { PROXY_IMPL_10(kmotor_easy_move_to, OVERTIME); }
 int32_t ZIProtocolProxy::motor_easy_move_to_zero(int32_t para0) { PROXY_IMPL_10(kmotor_easy_move_to_zero, OVERTIME); }
 int32_t ZIProtocolProxy::motor_easy_set_current_pos(int32_t para0) { PROXY_IMPL_10(kmotor_easy_set_current_pos, OVERTIME); }
+int32_t ZIProtocolProxy::motor_easy_move_to_io(int32_t para0, int32_t para1) { PROXY_IMPL_20(kmotor_easy_move_to_io, OVERTIME); }
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
  *******************************************************************************/
diff --git a/protocol_proxy.hpp b/protocol_proxy.hpp
index 551bc66..bf71a28 100644
--- a/protocol_proxy.hpp
+++ b/protocol_proxy.hpp
@@ -91,6 +91,7 @@ class ZIProtocolProxy : public ZIMotor,    //
   virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
   virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
   virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
+  virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
 
 #endif
 
@@ -121,6 +122,7 @@ class ZIProtocolProxy : public ZIMotor,    //
   virtual int32_t motor_easy_move_to(int32_t position) override;
   virtual int32_t motor_easy_move_to_zero(int32_t direction) override;
   virtual int32_t motor_easy_set_current_pos(int32_t pos) override;
+  virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) override;
 
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
diff --git a/zmodule_device_manager.cpp b/zmodule_device_manager.cpp
index 73d45fb..ea07a27 100644
--- a/zmodule_device_manager.cpp
+++ b/zmodule_device_manager.cpp
@@ -91,6 +91,7 @@ int32_t ZModuleDeviceManager::module_start(uint16_t id) { PROXY_IMPL(ZIModule, m
   virtual int32_t motor_easy_move_to(uint16_t id, int32_t position);
   virtual int32_t motor_easy_move_to_zero(uint16_t id, int32_t direction);
   virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
+  virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
 
 #endif
 int32_t ZModuleDeviceManager::motor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIMotor, motor_enable, enable); }
@@ -114,6 +115,7 @@ int32_t ZModuleDeviceManager::motor_easy_move_by(uint16_t id, int32_t distance)
 int32_t ZModuleDeviceManager::motor_easy_move_to(uint16_t id, int32_t position) { PROXY_IMPL(ZIMotor, motor_easy_move_to, position); }
 int32_t ZModuleDeviceManager::motor_easy_move_to_zero(uint16_t id, int32_t direction) { PROXY_IMPL(ZIMotor, motor_easy_move_to_zero, direction); }
 int32_t ZModuleDeviceManager::motor_easy_set_current_pos(uint16_t id, int32_t pos) { PROXY_IMPL(ZIMotor, motor_easy_set_current_pos, pos); }
+int32_t ZModuleDeviceManager::motor_easy_move_to_io(uint16_t id, int32_t ioindex, int32_t direction) { PROXY_IMPL(ZIMotor, motor_easy_move_to_io, ioindex, direction); }
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
  *******************************************************************************/
diff --git a/zmodule_device_manager.hpp b/zmodule_device_manager.hpp
index 708c1b5..298e59b 100644
--- a/zmodule_device_manager.hpp
+++ b/zmodule_device_manager.hpp
@@ -136,6 +136,7 @@ class ZModuleDeviceManager {
   virtual int32_t motor_easy_move_to(int32_t position) { return err::koperation_not_support; };
   virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
   virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
+  virtual int32_t motor_easy_move_to_io(int32_t ioindex, int32_t direction) { return err::koperation_not_support; };
 
 
 #endif
@@ -161,6 +162,7 @@ class ZModuleDeviceManager {
   virtual int32_t motor_easy_move_to(uint16_t id, int32_t position);
   virtual int32_t motor_easy_move_to_zero(uint16_t id, int32_t direction);
   virtual int32_t motor_easy_set_current_pos(uint16_t id, int32_t pos);
+  virtual int32_t motor_easy_move_to_io(uint16_t id, int32_t ioindex, int32_t direction);
 
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
diff --git a/zmodule_device_script_cmder_paser.cpp b/zmodule_device_script_cmder_paser.cpp
index e314acf..3902ad1 100644
--- a/zmodule_device_script_cmder_paser.cpp
+++ b/zmodule_device_script_cmder_paser.cpp
@@ -157,6 +157,8 @@ void ZModuleDeviceScriptCmderPaser::regfn() {
   virtual int32_t motor_easy_move_to(uint16_t id, int32_t position);
   virtual int32_t motor_easy_move_to_zero(int32_t direction) { return err::koperation_not_support; };
   virtual int32_t motor_easy_set_current_pos(int32_t pos) { return err::koperation_not_support; };
+  virtual int32_t motor_easy_move_to_io(uint16_t id, int32_t ioindex, int32_t direction);
+
 #endif
 
   PROCESS_PACKET_20(motor_enable, "(mid, enable)");
@@ -186,6 +188,7 @@ void ZModuleDeviceScriptCmderPaser::regfn() {
   PROCESS_PACKET_20(motor_easy_move_to, "(mid, position)");
   PROCESS_PACKET_20(motor_easy_move_to_zero, "(mid, direction)");
   PROCESS_PACKET_20(motor_easy_set_current_pos, "(mid, pos)");
+  PROCESS_PACKET_30(motor_easy_move_to_io, "(mid, ioindex, direction)");
 
 #if 0
   virtual ~ZIXYMotor() {}