diff --git a/api/zi_motor.hpp b/api/zi_motor.hpp
index 49c6da5..3bc7f7f 100644
--- a/api/zi_motor.hpp
+++ b/api/zi_motor.hpp
@@ -11,6 +11,7 @@ class ZIMotor {
  public:
   virtual ~ZIMotor() {}
   virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
+
   virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
   virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
   virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
@@ -33,6 +34,11 @@ class ZIMotor {
   virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机
 
+  virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
+  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_set_shaft();
 
   // s32 pos, s32 speed, s32 torque,
diff --git a/cmdid.hpp b/cmdid.hpp
index 319cfe2..ef79313 100644
--- a/cmdid.hpp
+++ b/cmdid.hpp
@@ -56,6 +56,12 @@ typedef enum {
 
   virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机
+
+  virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
+  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; };
+
 #endif
 
   kmotor_enable                                           = CMDID(2, 1),   // para:{1}, ack:{}
@@ -75,6 +81,11 @@ typedef enum {
   kmotor_move_to_torque                                   = CMDID(2, 15),  // para:{4,4,4}, ack:{}
   kmotor_calculated_pos_by_move_to_zero                   = CMDID(2, 16),  // para:{}, ack:{}
 
+  kmotor_easy_rotate       = CMDID(2, 17),  // para:{4}, ack:{}
+  kmotor_easy_move_by      = CMDID(2, 18),  // para:{4}, ack:{}
+  kmotor_easy_move_to      = CMDID(2, 19),  // para:{4}, ack:{}
+  kmotor_easy_move_to_zero = CMDID(2, 20),  // para:{1}, ack:{}
+
 #if 0
   virtual ~ZIXYMotor() {}
   virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
diff --git a/protocol_parser.cpp b/protocol_parser.cpp
index 324ed72..d48812e 100644
--- a/protocol_parser.cpp
+++ b/protocol_parser.cpp
@@ -204,6 +204,11 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
 
   virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 
+  virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
+  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; };
+
 #endif
   PROCESS_PACKET_10(kmotor_enable, ZIMotor, motor_enable);
   PROCESS_PACKET_30(kmotor_rotate, ZIMotor, motor_rotate);
@@ -221,6 +226,10 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
   PROCESS_PACKET_40(kmotor_motor_move_to_zero_backward_and_calculated_shift, ZIMotor, motor_move_to_zero_backward_and_calculated_shift);
   PROCESS_PACKET_30(kmotor_move_to_torque, ZIMotor, motor_move_to_torque);
   PROCESS_PACKET_00(kmotor_calculated_pos_by_move_to_zero, ZIMotor, motor_calculated_pos_by_move_to_zero);
+  PROCESS_PACKET_10(kmotor_easy_rotate, ZIMotor, motor_easy_rotate);
+  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);
 
   /*******************************************************************************
    *                                   xymotor                                  *
diff --git a/protocol_proxy.cpp b/protocol_proxy.cpp
index af14f9e..802f876 100644
--- a/protocol_proxy.cpp
+++ b/protocol_proxy.cpp
@@ -133,6 +133,10 @@ int32_t ZIProtocolProxy::module_enable(int32_t para0) { PROXY_IMPL_10(kmodule_en
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机
   virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 
+    virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
+  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; };
 #endif
 
 int32_t ZIProtocolProxy::motor_enable(int32_t para0) { PROXY_IMPL_10(kmotor_enable, 30); }
@@ -157,6 +161,11 @@ int32_t ZIProtocolProxy::motor_move_to_zero_backward_and_calculated_shift(int32_
 int32_t ZIProtocolProxy::motor_move_to_torque(int32_t para0, int32_t para1, int32_t para2) { PROXY_IMPL_30(kmotor_move_to_torque, 30); }
 int32_t ZIProtocolProxy::motor_calculated_pos_by_move_to_zero() { PROXY_IMPL_00(kmotor_calculated_pos_by_move_to_zero, 30); }
 
+int32_t ZIProtocolProxy::motor_easy_rotate(int32_t para0) { PROXY_IMPL_10(kmotor_easy_rotate, 30); }
+int32_t ZIProtocolProxy::motor_easy_move_by(int32_t para0) { PROXY_IMPL_10(kmotor_easy_move_by, 30); }
+int32_t ZIProtocolProxy::motor_easy_move_to(int32_t para0) { PROXY_IMPL_10(kmotor_easy_move_to, 30); }
+int32_t ZIProtocolProxy::motor_easy_move_to_zero(int32_t para0) { PROXY_IMPL_10(kmotor_easy_move_to_zero, 30); }
+
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
  *******************************************************************************/
diff --git a/protocol_proxy.hpp b/protocol_proxy.hpp
index 55d6e22..cbbd6a5 100644
--- a/protocol_proxy.hpp
+++ b/protocol_proxy.hpp
@@ -87,6 +87,11 @@ class ZIProtocolProxy : public ZIMotor,    //
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一锟斤拷锟斤拷锟节讹拷锟?
   virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 
+    virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
+  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; };
+
 #endif
 
   virtual int32_t motor_enable(int32_t enable) override;
@@ -111,6 +116,11 @@ class ZIProtocolProxy : public ZIMotor,    //
   virtual int32_t motor_move_to_torque(int32_t pos, int32_t torque, int32_t overtime) override;
   virtual int32_t motor_calculated_pos_by_move_to_zero() override;
 
+  virtual int32_t motor_easy_rotate(int32_t direction) override;
+  virtual int32_t motor_easy_move_by(int32_t distance) override;
+  virtual int32_t motor_easy_move_to(int32_t position) override;
+  virtual int32_t motor_easy_move_to_zero(int32_t direction) override;
+
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
  *******************************************************************************/
diff --git a/zmodule_device_manager.cpp b/zmodule_device_manager.cpp
index 50404af..4ff43e5 100644
--- a/zmodule_device_manager.cpp
+++ b/zmodule_device_manager.cpp
@@ -89,6 +89,11 @@ int32_t ZModuleDeviceManager::module_start(uint16_t id) { PROXY_IMPL(ZIModule, m
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一锟斤拷锟斤拷锟节讹拷锟?
   virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 
+    virtual int32_t motor_easy_rotate(uint16_t id, int32_t direction);
+  virtual int32_t motor_easy_move_by(uint16_t id, int32_t distance);
+  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);
+
 #endif
 int32_t ZModuleDeviceManager::motor_enable(uint16_t id, int32_t enable) { PROXY_IMPL(ZIMotor, motor_enable, enable); }
 int32_t ZModuleDeviceManager::motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_rotate, direction, motor_velocity, acc); }
@@ -106,6 +111,10 @@ int32_t ZModuleDeviceManager::motor_move_to_zero_forward_and_calculated_shift(ui
 int32_t ZModuleDeviceManager::motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_backward_and_calculated_shift, findzerospeed, findzeroedge_speed, acc, overtime); }
 int32_t ZModuleDeviceManager::motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_torque, pos, torque, overtime); }
 int32_t ZModuleDeviceManager::motor_calculated_pos_by_move_to_zero(uint16_t id) { PROXY_IMPL(ZIMotor, motor_calculated_pos_by_move_to_zero); }
+int32_t ZModuleDeviceManager::motor_easy_rotate(uint16_t id, int32_t direction) { PROXY_IMPL(ZIMotor, motor_easy_rotate, direction); }
+int32_t ZModuleDeviceManager::motor_easy_move_by(uint16_t id, int32_t distance) { PROXY_IMPL(ZIMotor, motor_easy_move_by, 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); }
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
  *******************************************************************************/
diff --git a/zmodule_device_manager.hpp b/zmodule_device_manager.hpp
index c4c99b1..a2044e4 100644
--- a/zmodule_device_manager.hpp
+++ b/zmodule_device_manager.hpp
@@ -131,6 +131,11 @@ class ZModuleDeviceManager {
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一锟斤拷锟斤拷锟节讹拷锟?
   virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 
+    virtual int32_t motor_easy_rotate(int32_t direction) { return err::koperation_not_support; };
+  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; };
+
 #endif
   virtual int32_t motor_enable(uint16_t id, int32_t enable);
   virtual int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
@@ -148,6 +153,11 @@ class ZModuleDeviceManager {
   virtual int32_t motor_move_to_zero_backward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
   virtual int32_t motor_move_to_torque(uint16_t id, int32_t pos, int32_t torque, int32_t overtime);
   virtual int32_t motor_calculated_pos_by_move_to_zero(uint16_t id);
+  
+  virtual int32_t motor_easy_rotate(uint16_t id, int32_t direction);
+  virtual int32_t motor_easy_move_by(uint16_t id, int32_t distance);
+  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);
 
 /*******************************************************************************
  *                                  ZIXYMotor                                  *
diff --git a/zmodule_device_script_cmder_paser.cpp b/zmodule_device_script_cmder_paser.cpp
index 5f43fea..b56211f 100644
--- a/zmodule_device_script_cmder_paser.cpp
+++ b/zmodule_device_script_cmder_paser.cpp
@@ -99,6 +99,7 @@ void ZModuleDeviceScriptCmderPaser::regfn() {
   virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
   virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
   virtual int32_t module_enable(uint16_t id, int32_t enable);
+
 #endif
   PROCESS_PACKET_10(module_ping, "(mid)");
   PROCESS_PACKET_10(module_stop, "(mid)");
@@ -128,7 +129,6 @@ void ZModuleDeviceScriptCmderPaser::regfn() {
     ack->acktype = ICmdParserACK::kAckType_buf;
   });
   PROCESS_PACKET_20(module_enable, "(mid, enable)");
-
 #if 0
   virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
   virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
@@ -151,6 +151,11 @@ void ZModuleDeviceScriptCmderPaser::regfn() {
   virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
   virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; }  // 一般用于舵机
   virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
+
+  virtual int32_t motor_easy_rotate(uint16_t id, int32_t direction);
+  virtual int32_t motor_easy_move_by(uint16_t id, int32_t distance);
+  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);
 #endif
 
   PROCESS_PACKET_20(motor_enable, "(mid, enable)");
@@ -175,6 +180,11 @@ void ZModuleDeviceScriptCmderPaser::regfn() {
   PROCESS_PACKET_50(motor_move_to_zero_backward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
   PROCESS_PACKET_10(motor_calculated_pos_by_move_to_zero, "(mid)");
 
+  PROCESS_PACKET_20(motor_easy_rotate, "(mid, direction)");
+  PROCESS_PACKET_20(motor_easy_move_by, "(mid, distance)");
+  PROCESS_PACKET_20(motor_easy_move_to, "(mid, position)");
+  PROCESS_PACKET_20(motor_easy_move_to_zero, "(mid, direction)");
+
 #if 0
   virtual ~ZIXYMotor() {}
   virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }