diff --git a/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/LOGGER.CPP b/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/LOGGER.CPP
deleted file mode 100644
index 69936bc..0000000
--- a/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/LOGGER.CPP
+++ /dev/null
@@ -1,54 +0,0 @@
-#include "stdafx.h"
-
-#include "Logger.h"
-
-void CLogger::Send(LPCTSTR format, ...)
-{
-  if (!m_File)
-  {
-    m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
-  }
-  int length = 0;
-  va_list list;
-  va_start(list, format);
-  length = vswprintf_s(m_Str,5000, format, list);
-  if(m_File)
-  {
-    _ftprintf(m_File, m_Str);
-  }
-}
-void CLogger::SendAndFlush(LPCTSTR format, ...)
-{
-  int     length = 0;
-  va_list list;
-
-  va_start(list, format);
-  length = vswprintf_s(m_Str2,5000, format, list);
-  Send(m_Str2);
-  
-  if(m_File)
-  {
-    fclose(m_File);
-    m_File = NULL;
-    if(m_FileName.GetLength() > 0)
-      m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
-  }
-}
-
-void CLogger::SendAndFlushPerMode(LPCTSTR format, ...)
-{
-  int     length = 0;
-  va_list list;
-
-  va_start(list, format);
-  length = vswprintf_s(m_Str2,5000, format, list);
-  Send(m_Str2);
-  
-  if((m_lLogMask & LOGFLUSH) && m_File)
-  {
-    fclose(m_File);
-    m_File = NULL;
-    if(m_FileName.GetLength() > 0)
-      m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
-  }
-}
\ No newline at end of file
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/Mv_Proto.cpp b/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/Mv_Proto.cpp
index 5589772..b12d6d7 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/Mv_Proto.cpp
+++ b/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/Mv_Proto.cpp
@@ -2,7 +2,7 @@
 #include "stdafx.h"
 #include "Mv_Proto.h"
 #include "SsiStatus.h"
-#include "Logger.h"
+#include "..\Tools\UsbUtility\logger.h"
 #include "math.h"
 
 #define MY_CONFIG 1
@@ -507,7 +507,7 @@ CMv_Proto::CMv_Proto()
   g_machine.s_machine_config._dXYZSpeed = 50;
   m_bHomingActive = false;
 
-  g_pLogger = new CLogger();
+  g_pLogger = new CLogger(_T("Mv_Proto.log"));
 };
 
 //******************************************************************************
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/Mv_Proto.h b/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/Mv_Proto.h
index 234ec6e..2c2b08c 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/Mv_Proto.h
+++ b/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/Mv_Proto.h
@@ -10,7 +10,7 @@
     #pragma once
   #endif // _MSC_VER > 1000 /*ThirdParty\UsbSupport\LibUsb_Win\Include\lusb0_usb.h
 
-  #include "logger.h"
+#include "..\Tools\UsbUtility\logger.h"
   #include "..\..\..\..\..\ThirdParty\UsbSupport\LibUsb_Win\Include\lusb0_usb.h" 
   #include "SsiStatus.h"
 
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/logger.h b/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/logger.h
deleted file mode 100644
index 0bd5cc4..0000000
--- a/PcDmis/Base/Interfac/Msi/Hsi/MicroVu/logger.h
+++ /dev/null
@@ -1,56 +0,0 @@
-#if !defined(LOGGER_H__5142BB38_5565_4124_88A4_56EA08298154__INCLUDED_)
-#define LOGGER_H__5142BB38_5565_4124_88A4_56EA08298154__INCLUDED_
-
-#include <afxwin.h>
-#include <afxext.h>
-#include <wincon.h>
-#include <string.h>
-#include <share.h>
-#include <stdio.h>
-#include <stdarg.h>
-
-const long LOGINIT    = 0x0001;
-const long LOGACTIONS = 0x0002;
-const long LOGCOMM    = 0x0004;
-const long LOGFLUSH   = 0x0008;
-
-class CLogger
-{
-public:
-
-  CLogger()
-  {
-    m_File = NULL;
-    CString Path=_T("");            // Speed optimization - noticed slow in GlowCode
-    if (Path.IsEmpty()) {
-      CString tmpPath;
-      GetModuleFileName(NULL,tmpPath.GetBuffer(255),255);
-      tmpPath.ReleaseBuffer();
-      tmpPath.TrimRight();
-      int nLastSlash = tmpPath.ReverseFind('\\');
-      if (nLastSlash >= 0)
-        tmpPath = tmpPath.Left(nLastSlash);
-      else
-        tmpPath.Empty();
-      Path=tmpPath;
-    }
-    m_FileName=Path + _T("\\Mv_SSILog.txt");
-    m_lLogMask=0;
-  };
-  ~CLogger()
-  {
-    if (m_File)
-      fclose(m_File);
-  };
-
-  void Send(LPCTSTR, ...);
-  void SendAndFlush(LPCTSTR, ...);
-  void SendAndFlushPerMode(LPCTSTR, ...);
-  CString m_FileName;
-  long m_lLogMask;
-  FILE *m_File;
-  _TCHAR  m_Str[20000];
-  _TCHAR  m_Str2[20000];
-};
-
-#endif // !defined(LOGGER_H__5142BB38_5565_4124_88A4_56EA08298154__INCLUDED_)
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
index af2b58c..1357079 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
+++ b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
@@ -10,6 +10,9 @@
 #define MAX_IN_BUFF_SIZE        1024
 #define M_PI       3.14159265358979323846
 
+const INT    HOME_TIMEOUT=300000;
+const INT    MOVETO_TIMEOUT=60000;
+const INT    MIN_SLEEP_TIME=20;
 const DOUBLE ROTARY_MMtoScale_RESOLUTION=0.0005;
 //*****  Static Data  *****
 static char *outBuff = NULL;
@@ -26,9 +29,8 @@ HANDLE           CSO7_Proto::g_hEP02_Serial_Mutex;
 //================================================================
 struct_so7_machine   CSO7_Proto::g_machine;
 usb_dev_handle      *CSO7_Proto::g_dev=NULL;
-CLogger             *CSO7_Proto::g_pLogger;
+CLogger             *CSO7_Proto::g_pLogger=NULL;
 HANDLE               CSO7_Proto::g_hHomedEvent = NULL;
-CLogger* g_pLog=NULL;
 
 
 //===========================================================================
@@ -562,8 +564,7 @@ CSO7_Proto::CSO7_Proto()
   so7_motion_reset_controller_parameter();
   so7_config_para_set_default();
   m_bHomingActive = false;
-  g_pLogger = new CLogger(_T("\\UtilityDebug.Log"));
-  g_pLogger->Send(_T("Construct Cso7_Proto.\r\n"));
+  g_pLogger = new CLogger(_T("\\MachineInterface.Log"));
 };
 
 //******************************************************************************
@@ -574,9 +575,10 @@ CSO7_Proto::~CSO7_Proto()
     free(ep_buff[i]._buffer);
   };
   if (g_pLogger)
-    g_pLogger->Send(_T("Destruct Cso7_Proto.\r\n"));
-  delete g_pLogger;
-  g_pLogger = NULL;
+  {
+    delete g_pLogger;
+    g_pLogger = NULL;
+  }
 }
 
 #pragma warning(disable:4996)
@@ -2568,7 +2570,34 @@ SSI_STATUS_MOTION CSO7_Proto::Load_So7_Config()
             g_machine.s_machine_config.motion.m_DebugOutputEnable=atoi(cTemp);
           }
         }
-        
+        //==================Motion=============================
+        else if(!_stricmp(token, "X_SCALE_RESOLUTION"))
+        {
+          token = strtok( NULL, seps);
+          if (token)
+          {
+            strcpy(cTemp,token);
+            g_machine.s_machine_config.x_axis._scale_resolution=atof(cTemp);
+          }
+        }
+        else if(!_stricmp(token, "Y_SCALE_RESOLUTION"))
+        {
+          token = strtok( NULL, seps);
+          if (token)
+          {
+            strcpy(cTemp,token);
+            g_machine.s_machine_config.y_axis._scale_resolution=atof(cTemp);
+          }
+        }
+        else if(!_stricmp(token, "Z_SCALE_RESOLUTION"))
+        {
+          token = strtok( NULL, seps);
+          if (token)
+          {
+            strcpy(cTemp,token);
+            g_machine.s_machine_config.z_axis._scale_resolution=atof(cTemp);
+          }
+        }
         //=================Rotary========================        
         else if (!_stricmp(token,"ROTARY_AXIS_NUMBER"))
         {
@@ -2846,6 +2875,10 @@ int CSO7_Proto::Get_SeqNumber(usb_dev_handle *udev)
 //******************************************************************************
 SSI_STATUS_MOTION CSO7_Proto::Init_SO7Usb()
 {
+  if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+  {
+    g_pLogger->SendAndFlushWithTime(_T("Enter Initialize Usb.\n"));
+  }
   //Set initial state of the machine
   g_machine.s_status._machine_running = false;
 
@@ -2862,7 +2895,6 @@ SSI_STATUS_MOTION CSO7_Proto::Init_SO7Usb()
     if (!g_dev)
     {
       MessageBox(NULL, _T("Unable to open device"), _T("Message"), MB_OK|MB_ICONERROR);
-      g_pLogger->SendAndFlushPerMode(_T("Unable to open device %s \r\n"), usb_strerror());
       g_machine.IsOffline=TRUE;   
       rStatus= SSI_STATUS_MOTION_DATALINK_ERROR;
     }
@@ -2880,7 +2912,6 @@ SSI_STATUS_MOTION CSO7_Proto::Init_SO7Usb()
       rStatus=SSI_STATUS_MOTION_DATALINK_ERROR;
     }
 
-    g_pLogger->SendAndFlushPerMode(_T("Init:Open device succeed .\r\n"));
     // ********************************************************************
     // This event is used to kick the Serial Usb Command process.  This threading model
     // is important because the underlying library is not thread-safe.
@@ -2972,8 +3003,10 @@ SSI_STATUS_MOTION CSO7_Proto::Exit_SO7Usb()
   g_hEP02_Thread_State = THREAD_EXIT;
   ReleaseMutex(g_hEP02_Serial_Mutex);
   CloseHandle(g_hEP02_Serial_Mutex);
-
-  g_pLogger->SendAndFlushPerMode(_T("Exit: Exit_SO7Usb \r\n"));
+  if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+  {
+    g_pLogger->SendAndFlushWithTime(_T("Exit Exit_SO7Usb.\n"));
+  }
   return Status;
 }
 
@@ -3009,9 +3042,12 @@ SSI_STATUS_MOTION CSO7_Proto::_do_single_threaded_usb_comm(int iEP_Base)
 //******************************************************************************
 SSI_STATUS_MOTION CSO7_Proto::_start_machine()
 {
+  if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+  {
+    g_pLogger->SendAndFlushWithTime(_T("_start_machine.\n"));
+  }
   g_hEP8x_Thread_State = THREAD_RUNNING_STATE2;
   g_machine.s_status._machine_running = true;
-  g_pLogger->SendAndFlushPerMode(_T("_start_machine\n"));
   SetEvent(g_hHomedEvent);
 
   //so7_motion_probe_on_off_(false);
@@ -3023,6 +3059,10 @@ SSI_STATUS_MOTION CSO7_Proto::_start_machine()
 //===============================================================================
 SSI_STATUS_MOTION CSO7_Proto::_shutdown_machine()
 {
+  if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+  {
+    g_pLogger->SendAndFlushWithTime(_T("_shutdown_machine.\n"));
+  }
   g_machine.s_status._machine_running = false;
   return SSI_STATUS_MOTION_NORMAL;
 };
@@ -3216,25 +3256,74 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_laser_on_off(bool _bOnOff)
 //**********************************************************************//
 //**********************************************************************//
 
+SSI_STATUS_MOTION CSO7_Proto::so7_motion_init_firmware_para()
+{
+  _send_cmd_SO7_CMD_GET_RESET_FLAG();
+  if(g_machine.IsSupportReadInterrputMsg)
+  {
+    _send_cmd_SO7_CMD_SET_GET_INTERRUPT_MSG_METHOD(g_machine.s_machine_config.motion.GetInterruptMsgMethod);
+    Sleep(MIN_SLEEP_TIME);
+    _send_cmd_SO7_CMD_READ_FIRMWARE_VERSION_INFO();
+    if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+    {
+      CStringA csAStr("");
+      csAStr.Format("FirmwareVersion:%s.\n",g_machine.FirmwareInfo);
+      CString csStr(csAStr);
+      g_pLogger->SendAndFlushWithTime(csStr);
+    }
+    if (g_machine.FirmwareVer==FirmwareVer_6_X)
+    {
+      _send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_X,E_WRITE_ACCURA_ERR,static_cast<char>(g_machine.s_machine_config.motion.m_AccuraErrPulseX));
+      Sleep(MIN_SLEEP_TIME);
+      _send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_Y,E_WRITE_ACCURA_ERR,static_cast<char>(g_machine.s_machine_config.motion.m_AccuraErrPulseY));
+      Sleep(MIN_SLEEP_TIME);
+      _send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_Z,E_WRITE_ACCURA_ERR,static_cast<char>(g_machine.s_machine_config.motion.m_AccuraErrPulseZ));
+      Sleep(MIN_SLEEP_TIME);
+      _send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_X,E_WRITE_EQUIDISTANCE,static_cast<char>(g_machine.s_machine_config.motion.m_EQUIDIS_X));
+      Sleep(MIN_SLEEP_TIME);
+      _send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_Y,E_WRITE_EQUIDISTANCE,static_cast<char>(g_machine.s_machine_config.motion.m_EQUIDIS_Y));
+      Sleep(MIN_SLEEP_TIME);
+      _send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(E_AXIS_Z,E_WRITE_EQUIDISTANCE,static_cast<char>(g_machine.s_machine_config.motion.m_EQUIDIS_Z));
+      Sleep(MIN_SLEEP_TIME);
+    }
+  }
+  else
+  {
+    if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+    {
+      g_pLogger->SendAndFlushWithTime(_T("FirmwareVersion:UNKNOWN.\n"));
+    }
+  }
+  return SSI_STATUS_MOTION_NORMAL;
+}
 
 //==================================================================
 bool CSO7_Proto::so7_motion_is_homed()
 {
-  if (g_machine.IsOffline)
-  {
-    g_machine.Sys_Reset_Flag =1;
-    SetEvent(g_hHomedEvent);
-  }
+  //if (g_machine.IsOffline)
+  //{
+  //  g_machine.Sys_Reset_Flag =1;
+  //  SetEvent(g_hHomedEvent);
+  //}
   _send_cmd_SO7_CMD_GET_RESET_FLAG();
   if (g_machine.Sys_Reset_Flag == 1)
   {
+    if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+    {
+      g_pLogger->SendAndFlushWithTime(_T("so7_motion_is_homed:true.\n"));
+    }
     SetEvent(g_hHomedEvent);
     return true;
   }
   else
+  {
+    if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+    {
+      g_pLogger->SendAndFlushWithTime(_T("so7_motion_is_homed:false.\n"));
+    }
     return false;
+  }
 };
-
 //========================================================================
 // Move the stage left/right until the index location is non-zero
 //========================================================================
@@ -3260,7 +3349,6 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_Dcc_Home()
   // Home 
   so7_motion_reset_worktable_lower_left(CT_HOME_XYZ);
 
-  g_pLogger->SendAndFlushPerMode(_T("so7_motion_reset_worktable_lower_left.\n"));
   TRACE0(" - waiting for X,Y,Zm to stop moving\n");
   //========================================
   // Wait until X-Y-Zm stopped moving
@@ -3271,14 +3359,66 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_Dcc_Home()
     _send_cmd_SO7_CMD_GET_RESET_FLAG();
     iRetry++;		
   }
-  g_pLogger->SendAndFlushPerMode(_T("[%d]waiting for X,Y,Zm to stop moving\n"),iRetry);
-  g_pLogger->SendAndFlushPerMode(_T("Home succeed.\n"));
   //_get_xyz_index(g_machine.s_machine_config.x_axis._neg_working_limit,g_machine.s_machine_config.y_axis._neg_working_limit,g_machine.s_machine_config.z_axis._neg_working_limit);
   _send_cmd_SO7_CMD_SET_VER_NUMBER();
   m_bHomingActive = false;
   SetEvent(g_hHomedEvent);
   return SSI_STATUS_MOTION_NORMAL;
 }
+//========================================================================
+SSI_STATUS_MOTION CSO7_Proto::so7_motion_Dcc_HomeXYZ(char cHomeMachineMode)
+{
+  if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+  {
+    g_pLogger->SendAndFlushWithTime(_T("Enter so7_motion_Dcc_HomeXYZ(%d).\n"),cHomeMachineMode);
+  }
+  if (g_machine.IsOffline)
+  {
+    SetEvent(g_hHomedEvent);
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+  //查询是否复位
+  _send_cmd_SO7_CMD_GET_RESET_FLAG();
+  g_machine.cVerNumber=3;
+  if (g_machine.Sys_Reset_Flag == 1)
+  {
+    _send_cmd_SO7_CMD_SET_VER_NUMBER();
+    SetEvent(g_hHomedEvent);
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+
+  m_bHomingActive = true;        // Tell the world we need to home the stage
+
+  // Home 
+  so7_motion_reset_worktable_lower_left(cHomeMachineMode);
+
+  TRACE0("Waiting for X,Y,Zm to stop moving\n");
+  //========================================
+  // Wait until X-Y-Zm stopped moving
+  //========================================
+  INT lSleep = 20;
+  INT lMaxLoopCnt = HOME_TIMEOUT/lSleep;
+  INT lLoopCnt = 0;    
+  Sleep(lSleep);
+  do 
+  { 
+    Sleep(lSleep);
+    _send_cmd_SO7_CMD_GET_RESET_FLAG();
+    lLoopCnt++;		
+  } while (g_machine.Sys_Reset_Flag != 1 && lLoopCnt < lMaxLoopCnt);
+  //_get_xyz_index(g_machine.s_machine_config.x_axis._neg_working_limit,g_machine.s_machine_config.y_axis._neg_working_limit,g_machine.s_machine_config.z_axis._neg_working_limit);
+  m_bHomingActive = false;
+  if (g_machine.Sys_Reset_Flag == 1)
+  {
+    SetEvent(g_hHomedEvent);
+    _send_cmd_SO7_CMD_SET_VER_NUMBER();
+    return SSI_STATUS_MOTION_NORMAL;
+  } 
+  else
+  {
+    return SSI_STATUS_MOTION_TIMEOUT;
+  }
+}
 
 //==================================================================
 SSI_STATUS_MOTION CSO7_Proto::so7_Motion_R_IsHomed(bool &bHomed)
@@ -3286,6 +3426,7 @@ SSI_STATUS_MOTION CSO7_Proto::so7_Motion_R_IsHomed(bool &bHomed)
   _send_cmd_SO7_CMD_GET_RESET_FLAG();
   if (g_machine.Sys_Reset_Flag == 1)
   {
+    SetEvent(g_hHomedEvent);
     bHomed=true;
   }
   else
@@ -3299,6 +3440,10 @@ SSI_STATUS_MOTION CSO7_Proto::so7_Motion_R_IsHomed(bool &bHomed)
 SSI_STATUS_MOTION CSO7_Proto::so7_motion_Dcc_Home_R()
 {
   //查询是否复位
+  if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+  {
+    g_pLogger->SendAndFlushWithTime(_T("Enter so7_motion_Dcc_Home_R.\n"));
+  }
   _send_cmd_SO7_CMD_GET_RESET_FLAG();
   if (g_machine.Sys_Reset_Flag == 1)
   {
@@ -3326,17 +3471,15 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_Dcc_Home_R()
     g_machine.z._pos_fixed._long_=lMoveToDis;
   }
   _send_cmd_SO7_CMD_MOVE_TO_POS_XYZ(CT_MOVETOXYZ);
-
-  g_pLogger->SendAndFlushPerMode(_T("so7_motion_reset_worktable_lower_left.\n"));
   //========================================
-  const long lSleep = 20;
-  const long lMaxLoopCnt = 2000/lSleep;
-  long lLoopCnt = 0;    
+  INT lSleep = 20;
+  INT lMaxLoopCnt = MOVETO_TIMEOUT/lSleep;
+  INT lLoopCnt = 0;    
   Sleep(lSleep);
-  BOOL IsFinished(FALSE);
+  bool IsFinished(FALSE);
   do 
   { 
-    so7_motion_is_finished(EMSG_STOPXYZ_1_MOVETOXYZ,IsFinished);
+    so7_Motion_R_IsMotionFInished(IsFinished);
     Sleep(lSleep);
     ++lLoopCnt;
   } while (!IsFinished && lLoopCnt < lMaxLoopCnt);
@@ -3346,7 +3489,6 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_Dcc_Home_R()
     _send_cmd_SO7_CMD_SET_RESET_FLAG();
     g_machine.cVerNumber = 3;
     _send_cmd_SO7_CMD_SET_VER_NUMBER();
-    g_pLogger->SendAndFlushPerMode(_T("Home succeed.\n"));
     SetEvent(g_hHomedEvent);
     return SSI_STATUS_MOTION_NORMAL;
   }
@@ -3445,6 +3587,11 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_position_R(double dRad,bool bWait)
   {
     dRMovetoDis=dRMovetoDis;
   }
+  if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+  {
+    g_pLogger->SendAndFlushWithTime(_T("so7_motion_set_position_R:[From]%.4f;[To]%.4f;[Dis]%.4F.\n")
+      ,dRStart,dRad,dRMovetoDis);
+  }
   lMoveToDis=static_cast<long>(dRMovetoDis*(static_cast<double>(g_machine.s_machine_config.motion.m_RotaryCirclePulse))/(2.0*M_PI));
   g_machine.x._pos_fixed._long_=0;
   g_machine.y._pos_fixed._long_=0;
@@ -3464,23 +3611,23 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_position_R(double dRad,bool bWait)
   _send_cmd_SO7_CMD_MOVE_TO_POS_XYZ(CT_MOVETOXYZ);
   g_machine.MotionType=EMSG_STOPXYZ_1_MOVETOXYZ;
 
-  BOOL IsFinished(TRUE);
+  bool IsFinished(true);
   if (bWait)
   {
-    const long lSleep = 20;
-    const long lMaxLoopCnt = 2000/lSleep;    // use max homing time of 20 seconds
-    long lLoopCnt = 0;    
+    INT lSleep = 20;
+    INT lMaxLoopCnt = MOVETO_TIMEOUT/lSleep;    // use max homing time of 20 seconds
+    INT lLoopCnt = 0;    
     Sleep(lSleep);
     do 
     { 
-      so7_motion_is_finished(EMSG_STOPXYZ_1_MOVETOXYZ,IsFinished);
+      so7_Motion_R_IsMotionFInished(IsFinished);
       Sleep(lSleep);
       ++lLoopCnt;
     } while (!IsFinished && lLoopCnt < lMaxLoopCnt);
   }
-  g_machine.MotionType=-1;
   if (IsFinished)
   {
+    g_machine.MotionType=-1;
     return SSI_STATUS_MOTION_NORMAL;
   }
   else
@@ -3502,10 +3649,19 @@ SSI_STATUS_MOTION CSO7_Proto::so7_Motion_R_IsMotionFInished(bool &bFinished)
     if (IsFinished)
     {
       bFinished=true;
+      IsMotionFinishedManual(TRUE);
     } 
     else
     {
-      bFinished=false;
+      IsFinished=IsMotionFinishedManual();
+      if (IsFinished)
+      {
+        bFinished=true;
+      } 
+      else
+      {
+        bFinished=false;
+      }
     }
   }
   return SSI_STATUS_MOTION_NORMAL;
@@ -3515,14 +3671,6 @@ SSI_STATUS_MOTION CSO7_Proto::so7_Motion_R_IsMotionFInished(bool &bFinished)
 SSI_STATUS_MOTION CSO7_Proto::so7_motion_move_R(char _SpeedGear)
 {
   //4-FASTER,1-SLOWER
-  if (_SpeedGear>4)
-  {
-    _SpeedGear=4;
-  }
-  if (_SpeedGear<1)
-  {
-    _SpeedGear=1;
-  }
   if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_X)
   {
     _send_cmd_SO7_CMD_MOVE_X(_SpeedGear);
@@ -3581,9 +3729,9 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_position_xyz(double & dX, double &
   dY = ScaleToMM(lY, g_machine.s_machine_config.y_axis._scale_resolution);
   dZ = ScaleToMM(lZ, g_machine.s_machine_config.z_axis._scale_resolution);
 
-  dX -= g_machine.s_machine_config.x_axis._neg_working_limit;
-  dY -= g_machine.s_machine_config.y_axis._neg_working_limit;
-  dZ -= g_machine.s_machine_config.z_axis._neg_working_limit;
+  //dX -= g_machine.s_machine_config.x_axis._neg_working_limit;
+  //dY -= g_machine.s_machine_config.y_axis._neg_working_limit;
+  //dZ -= g_machine.s_machine_config.z_axis._neg_working_limit;
 
   return SSI_STATUS_MOTION_NORMAL;
 };
@@ -3618,7 +3766,11 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_position_xyz(double dX, double dY,
   Y.to   = MMtoScale(dY,      g_machine.s_machine_config.y_axis._scale_resolution);
   Z.from = MMtoScale(dZStart, g_machine.s_machine_config.z_axis._scale_resolution);
   Z.to   = MMtoScale(dZ,      g_machine.s_machine_config.z_axis._scale_resolution);
-
+  if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+  {
+    g_pLogger->SendAndFlushWithTime(_T("so7_motion_set_position_xyz:[From]X:%.4f,Y:%.4f,Z:%.4f;[To]X:%.4f,Y:%.4f,Z:%.4f.\n")
+      ,dXStart,dYStart,dZStart,dX,dY,dZ);
+  }
   // move the position to make the -X, -Y, -Z position 0,0,0
   //X.to += g_machine.s_machine_config.x_axis._neg_working_limit;
   //Y.to += g_machine.s_machine_config.y_axis._neg_working_limit;
@@ -3634,32 +3786,114 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_position_xyz(double dX, double dY,
 
   //  _calculate_straightline_motion(g_machine.s_machine_config._dXYZSpeed);
   _send_cmd_SO7_CMD_MOVE_TO_POS_XYZ(CT_MOVETOXYZ);
+  g_machine.MotionType=EMSG_STOPXYZ_1_MOVETOXYZ;
 
 #pragma message("Test settle wait comparing the status bit to the scale monitor")
-
+  TRACE1("Presettle  Time: %lf\n", TimeInSecs());
   if (bWait)
   {
-    const long lSleep = 20;
-    const long lMaxLoopCnt = 5000/lSleep;    // use max homing time of 20 seconds
-    long lLoopCnt = 0;    
+    INT lSleep = 20;
+    INT lMaxLoopCnt = MOVETO_TIMEOUT/lSleep;    // use max homing time of 20 seconds
+    INT lLoopCnt = 0;    
     Sleep(lSleep);
-    BOOL IsFinished(FALSE);
+    bool IsFinished(FALSE);
     do 
     { 
-      so7_motion_is_finished(EMSG_STOPXYZ_1_MOVETOXYZ,IsFinished);
+      so7_Motion_XYZ_IsMotionFinished(IsFinished);
       Sleep(lSleep);
       ++lLoopCnt;
     } while (!IsFinished && lLoopCnt < lMaxLoopCnt);
-
-    TRACE1("Presettle  Time: %lf\n", TimeInSecs());
-    //WaitForSettleXYZZM();
     TRACE1("Postsettle Time: %lf\n", TimeInSecs());
+    if (IsFinished)
+    {
+      g_machine.MotionType=-1;
+      return SSI_STATUS_MOTION_NORMAL;
+    } 
+    else
+    {
+      return SSI_STATUS_MOTION_TIMEOUT;
+    }
   }
-
-
   return SSI_STATUS_MOTION_NORMAL;
 };
 //==================================================================
+SSI_STATUS_MOTION CSO7_Proto::so7_Motion_XYZ_IsMotionFinished(bool &bFinished)
+{
+  if (g_machine.MotionType<EMSG_STOPXYZ_1_MOVETOXYZ)
+  {
+    bFinished=true;
+  }
+  else
+  {
+    BOOL IsFinished(FALSE);
+    so7_motion_is_finished(g_machine.MotionType,IsFinished);
+    if (IsFinished)
+    {
+      g_machine.MotionType=-1;
+      bFinished=true;
+      IsMotionFinishedManual(TRUE);
+    } 
+    else
+    {
+      IsFinished=IsMotionFinishedManual();
+      if (IsFinished)
+      {
+        g_machine.MotionType=-1;
+        bFinished=true;
+      } 
+      else
+      {
+        bFinished=false;
+      }
+    }
+  }
+  return SSI_STATUS_MOTION_NORMAL;
+}
+//==================================
+BOOL CSO7_Proto::IsMotionFinishedManual(BOOL _BResetCnts)
+{
+  if (_BResetCnts)
+  {
+    g_machine.MotionFinished=FALSE;
+    g_machine.MotionFinishedCnts=0;
+  }
+  else
+  {
+    if (g_machine.s_machine_config.motion.m_CNC_Deadlock_Solution>=1)
+    {
+      double dPosX(0.0),dPosY(0.0),dPosZ(0.0);
+      so7_motion_get_position_xyz(dPosX,dPosY,dPosZ);
+      if ((fabs(dPosX-g_machine.x._ReCorded_Pos)<=g_machine.s_machine_config.x_axis._motor_precision)
+        && (fabs(dPosY-g_machine.y._ReCorded_Pos)<=g_machine.s_machine_config.y_axis._motor_precision) 
+        && (fabs(dPosZ-g_machine.z._ReCorded_Pos)<=g_machine.s_machine_config.z_axis._motor_precision))
+      {
+        g_machine.MotionFinishedCnts++;
+        if (g_machine.MotionFinishedCnts>g_machine.s_machine_config.motion.m_CNC_Deadlock_JudgeMaxCnts)
+        {       
+          g_machine.MotionFinished=TRUE;
+        }
+        else
+        {
+          g_machine.MotionFinished=FALSE;
+        }
+      }
+      else
+      {
+        g_machine.MotionFinishedCnts=0;
+      }
+      g_machine.x._ReCorded_Pos=dPosX;
+      g_machine.y._ReCorded_Pos=dPosY;
+      g_machine.z._ReCorded_Pos=dPosZ;
+    } 
+    else
+    {
+      g_machine.MotionFinished=FALSE;
+      g_machine.MotionFinishedCnts=0;
+    }
+  }
+  return g_machine.MotionFinished;
+};
+//==================================================================
 SSI_STATUS_MOTION CSO7_Proto::so7_motion_is_finished(char MotionType,BOOL& IsFinished)
 {
   WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done
@@ -3693,9 +3927,97 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_is_finished(char MotionType,BOOL& IsFin
 // Full Speed -> dPercentSpeed = 100%
 // Slow Speed -> dPercentSpeed = 20%
 //========================================================================
-SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_speed_xyz(double dPercentSpeed)
+SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_speed_xyz(EMACHINE_AXIS cAxis,char cSpeedGear,char Acce,char cHoldSpeed,char cStartSpeed,char cRefreshCycle,double dBufferDis)
 {
-  g_machine.s_machine_config._dXYZSpeed = dPercentSpeed;
+  char SetSpeedGear(0);
+  EMACHINE_AXIS SetAXIS(MACHINE_AXIS_NONE);
+  SetSpeedGear=static_cast<char>(abs(cSpeedGear));
+  if (SetSpeedGear>4)
+  {
+    SetSpeedGear=4;
+  } 
+  else if (SetSpeedGear<1)
+  {
+    SetSpeedGear=1;
+  }
+  SetSpeedGear=4-SetSpeedGear;
+  if (cAxis==MACHINE_AXIS_R)
+  {
+    if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_X)
+    {
+      SetAXIS=MACHINE_AXIS_X;
+    }
+    else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Y)
+    {
+      SetAXIS=MACHINE_AXIS_Y;
+    }
+    else if (g_machine.s_machine_config.motion.m_RotaryAxisNO==MACHINE_AXIS_Z)
+    {
+      SetAXIS=MACHINE_AXIS_Z;
+    }
+  }
+
+  switch(cAxis)
+  {
+  case MACHINE_AXIS_X:
+    {
+      g_machine.s_machine_config.x_axis._speed_base[SetSpeedGear]=Acce;
+      g_machine.s_machine_config.x_axis._speed_max[SetSpeedGear]=cHoldSpeed;     
+      g_machine.s_machine_config.x_axis._speed_start[SetSpeedGear]=cStartSpeed;
+      g_machine.s_machine_config.x_axis._speed_fresh[SetSpeedGear]=cRefreshCycle;
+      g_machine.s_machine_config.x_axis._speed_slow_dis[SetSpeedGear]=dBufferDis;
+      _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,SetSpeedGear);
+      Sleep(MIN_SLEEP_TIME);
+      break;
+    }
+  case MACHINE_AXIS_Y:
+    {
+      g_machine.s_machine_config.y_axis._speed_base[SetSpeedGear]=Acce;
+      g_machine.s_machine_config.y_axis._speed_max[SetSpeedGear]=cHoldSpeed;     
+      g_machine.s_machine_config.y_axis._speed_start[SetSpeedGear]=cStartSpeed;
+      g_machine.s_machine_config.y_axis._speed_fresh[SetSpeedGear]=cRefreshCycle;
+      g_machine.s_machine_config.y_axis._speed_slow_dis[SetSpeedGear]=dBufferDis;
+      _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,SetSpeedGear);
+      Sleep(MIN_SLEEP_TIME);
+      break;
+    }
+  case MACHINE_AXIS_Z:
+    {
+      g_machine.s_machine_config.z_axis._speed_base[SetSpeedGear]=Acce;
+      g_machine.s_machine_config.z_axis._speed_max[SetSpeedGear]=cHoldSpeed;     
+      g_machine.s_machine_config.z_axis._speed_start[SetSpeedGear]=cStartSpeed;
+      g_machine.s_machine_config.z_axis._speed_fresh[SetSpeedGear]=cRefreshCycle;
+      g_machine.s_machine_config.z_axis._speed_slow_dis[SetSpeedGear]=dBufferDis;
+      _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,SetSpeedGear);
+      Sleep(MIN_SLEEP_TIME);
+      break;
+    }
+  case MACHINE_AXIS_ZOOM:
+    {
+      if (SetSpeedGear==4)
+      {
+        SetSpeedGear=0;
+      } 
+      else if (SetSpeedGear==3)
+      {
+        SetSpeedGear=0;
+      } 
+      else if (SetSpeedGear==2)
+      {
+        SetSpeedGear=1;
+      }
+      else  if (SetSpeedGear==1)
+      {
+        SetSpeedGear=2;
+      }
+      g_machine.s_machine_config.zm_axis._speed._char_[0]=cStartSpeed;
+      g_machine.s_machine_config.zm_axis._speed._char_[1]=cHoldSpeed;     
+      _send_cmd_SO7_CMD_SET_ZOOM_SPEED(SetSpeedGear);
+      Sleep(MIN_SLEEP_TIME);
+      break;
+    }
+  default:break;
+  }
   return SSI_STATUS_MOTION_NORMAL;
 }
 
@@ -3717,7 +4039,78 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_3D_max_speed(double &dMaxSpeed)
 
   return SSI_STATUS_MOTION_NORMAL;
 }
+//========================================================================
+SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_all_speed_para()
+{
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,0);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,1);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,2);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,3);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(0,4);
+  Sleep(MIN_SLEEP_TIME);
 
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,0);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,1);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,2);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,3);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(1,4);
+  Sleep(MIN_SLEEP_TIME);
+
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,0);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,1);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,2);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,3);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(2,4);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PRECISION(0);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PRECISION(1);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_SPEED_PRECISION(2);
+  Sleep(MIN_SLEEP_TIME);
+  _send_cmd_SO7_CMD_SET_MOTOR_SPEED_WHEELBASE_PARAMETER();
+  Sleep(MIN_SLEEP_TIME);
+  return SSI_STATUS_MOTION_NORMAL;
+}
+//========================================================================
+SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_all_speed_para()
+{
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 0, 0);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 0, 1);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 0, 2);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 0, 3);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 0, 4);
+
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 1, 0);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 1, 1);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 1, 2);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 1, 3);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 1, 4);
+
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 2, 0);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 2, 1);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 2, 2);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 2, 3);
+  _send_cmd_SO7_CMD_READ_SPEED_PARAMETER( 2, 4);
+
+  _send_cmd_SO7_CMD_READ_SPEED_PRECISION(0);
+  _send_cmd_SO7_CMD_READ_SPEED_PRECISION(1);
+  _send_cmd_SO7_CMD_READ_SPEED_PRECISION(2);
+  _send_cmd_SO7_CMD_READ_MOTOR_SPEED_WHEELBASE_PARAMETER();
+  return SSI_STATUS_MOTION_NORMAL;
+}
 //========================================================================
 SSI_STATUS_MOTION CSO7_Proto::_calculate_straightline_motion(double dSpeedMM)
 {
@@ -3821,8 +4214,8 @@ SSI_STATUS_MOTION CSO7_Proto::so7_light_set_light_off()
   g_machine.s_lights_value._spare_light1=1;
   g_machine.s_lights_value.segment[0]=0;
   g_machine.s_lights_value.segment[1]=0;
-
   _send_cmd_SO7_CMD_SET_ALL_LIGHT_VALUE();
+  Sleep(3*MIN_SLEEP_TIME);
 
   return SSI_STATUS_MOTION_NORMAL;
 };
@@ -3833,36 +4226,41 @@ SSI_STATUS_MOTION CSO7_Proto::so7_light_set_light()
   WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done
 
   _send_cmd_SO7_CMD_SET_ALL_LIGHT_VALUE();
+  Sleep(3*MIN_SLEEP_TIME);
 
   return SSI_STATUS_MOTION_NORMAL;
 };
 
 //==================================================================
-SSI_STATUS_MOTION CSO7_Proto::so7_light_set_lamp_state(double dBottomPercent, double dTopPercent)
+SSI_STATUS_MOTION CSO7_Proto::so7_light_set_lamp_state(double dTopLightPercent,double dBottomLightPercent,double dCoaxialLightPercent,double dReservedLightPercent,double dRingLightPercent,char cOuterRingLightSwitch,char cInnerRingLightSwitch)
 {
-  WaitForSingleObject(g_hHomedEvent, INFINITE);   // machine start and homing is done
-  if(!g_pLog)
-    g_pLog=new CLogger(_T("\\Lamp.Log"));
-  g_machine.s_lights_value._top_light    = (static_cast<char>(dTopPercent* (MAXLIGHTVALUE)/100.0 ))+1;
-  g_machine.s_lights_value._bottom_light = (static_cast<char>(dBottomPercent*(MAXLIGHTVALUE)/100.0))+1;
-  g_pLog->SendAndFlushPerMode(_T("dBottomPercent:  %f  dTopPercent: %f\n"),dBottomPercent,dTopPercent);
-  g_pLog->SendAndFlushPerMode(_T("so7_light_set_lamp_state  bottom:  %d  top: %d\n"), g_machine.s_lights_value._bottom_light,g_machine.s_lights_value._top_light);
-  TRACE2("so7_light_set_lamp_state  bottom:  %d  top: %d\n",
-    g_machine.s_lights_value._bottom_light,g_machine.s_lights_value._top_light);
-  delete g_pLog;
-  g_pLog=NULL;
+  WaitForSingleObject(g_hHomedEvent, INFINITE);
+  g_machine.s_lights_value._bottom_light    = (static_cast<char>(dTopLightPercent* (MAXLIGHTVALUE-MINLIGHTVALUE)/100.0 ))+MINLIGHTVALUE;
+  g_machine.s_lights_value._top_light       = (static_cast<char>(dBottomLightPercent*(MAXLIGHTVALUE-MINLIGHTVALUE)/100.0))+MINLIGHTVALUE;
+  g_machine.s_lights_value._ring_light      = (static_cast<char>(dRingLightPercent*(MAXLIGHTVALUE-MINLIGHTVALUE)/100.0))+MINLIGHTVALUE;
+  g_machine.s_lights_value._coaxial_light   = (static_cast<char>(dCoaxialLightPercent*(MAXLIGHTVALUE-MINLIGHTVALUE)/100.0))+MINLIGHTVALUE;
+  g_machine.s_lights_value._spare_light1    = (static_cast<char>(dReservedLightPercent*(MAXLIGHTVALUE-MINLIGHTVALUE)/100.0))+MINLIGHTVALUE;
+  g_machine.s_lights_value.segment[0]       = cOuterRingLightSwitch;
+  g_machine.s_lights_value.segment[1]       = cInnerRingLightSwitch;
+  _send_cmd_SO7_CMD_SET_ALL_LIGHT_VALUE();
+  Sleep(3*MIN_SLEEP_TIME);
+  if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+  {
+    g_pLogger->SendAndFlushWithTime(_T("so7_light_set_lamp_state:TOP:%d,BOT:%d,COAXIAL:%d,RESERVED:%d,RING:%d,ORING:%d,IRING:%d.\n")
+      ,(BYTE)g_machine.s_lights_value._bottom_light,(BYTE)g_machine.s_lights_value._top_light,(BYTE)g_machine.s_lights_value._coaxial_light
+      ,(BYTE)g_machine.s_lights_value._spare_light1,(BYTE)g_machine.s_lights_value._ring_light,(BYTE)g_machine.s_lights_value.segment[0]
+      ,(BYTE)g_machine.s_lights_value.segment[1]);
+  }
   return SSI_STATUS_MOTION_NORMAL;
 };
 
 
-
-
-//**********************************************************************//
-//**********************************************************************//
+//********************************************************************************//
+//*******************************************************************************//
 
 
 //==================================================================================
-//==============================================================
+//==================================================================================
 SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_X(char SpeedGear)
 {
   WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
@@ -4539,6 +4937,12 @@ SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(char Cmd,cha
   WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
   memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
 
+  if (g_machine.s_machine_config.motion.m_DebugOutputEnable>=1)
+  {
+    g_pLogger->SendAndFlushWithTime(_T("SEND_SYS_COMMAND:Cmd:%d,BOT:%d,SubCmd:%d,Type:%d,Data:%d.\n")
+      ,Cmd,SubCmd,Type,Data);
+  }
+
   *(ep_buff[EP_02_CMD_IDX]._buffer)   = Cmd;
   *(ep_buff[EP_02_CMD_IDX]._buffer+1) = SubCmd;
   *(ep_buff[EP_02_CMD_IDX]._buffer+2) = Type;
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h
index f8ace27..33c6624 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h
+++ b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h
@@ -60,16 +60,6 @@
 const long MAX_INTENSITY = 0x3FF;
 #define MAXLIGHTVALUE             255
 #define MINLIGHTVALUE             1
-enum MACHINE_AXIS
-{
-  MACHINE_AXIS_NONE =  0,
-  MACHINE_AXIS_X,
-  MACHINE_AXIS_Y,
-  MACHINE_AXIS_Z,
-  MACHINE_AXIS_ZOOM,
-  MACHINE_AXIS_R,
-  MACHINE_AXIS_ALL  =  5
-};
 enum EMACHINETYPE
 {
   MACHINE_SO7_CONTROLLER,
@@ -82,6 +72,19 @@ enum EFirmwareVer
   FirmwareVer_6_X,
   FirmwareVer_Total
 };
+enum ESO7_AXIS_TYPE
+{
+  E_AXIS_Y=1,
+  E_AXIS_X=2,
+  E_AXIS_Z=3
+};
+enum ESO7_WRITE_FPGA_DATA_ADDR
+{
+  E_WRITE_MOTOR_FLAG=9,
+  E_WRITE_EQUIDISTANCE=10,
+  E_WRITE_ACCURA_ERR=11,
+  E_WRITE_TOTAL=16
+};
 enum ESO7_CONTROLLER_IO_ADDR
 {
   ESO7_CONTROLLER_INPUT_PORT_ADDR=5,
@@ -123,6 +126,7 @@ typedef struct s_so7_axis            // axis parameters
 	long   _scale_probe;
 	double _dSet_Zero_Pos;
 	long   _lSet_Zero_Pos;
+  double _ReCorded_Pos;
 } SO7AXIS;
 struct s_so7_axis_config     // axis configuration
 {
@@ -265,6 +269,8 @@ struct struct_so7_machine
   double dRotaryCirclDis;
   char   SEQ_NUMBER;
   char   MotionType;
+  int    MotionFinishedCnts;
+  BOOL   MotionFinished;
 	struct s_so7_axis   x;
 	struct s_so7_axis   y;
 	struct s_so7_axis   z;
@@ -394,8 +400,11 @@ public:
 	SSI_STATUS_MOTION ExtractAppPath(CString &Path);
 
   SSI_STATUS_MOTION so7_motion_startup(double x_scale_resolution, double y_scale_resolution, double z_scale_resolution);
+  SSI_STATUS_MOTION so7_motion_init_firmware_para();
+
   bool        so7_motion_is_homed();
   SSI_STATUS_MOTION so7_motion_Dcc_Home();
+  SSI_STATUS_MOTION so7_motion_Dcc_HomeXYZ(char cHomeMachineMode=1);
   SSI_STATUS_MOTION so7_motion_Dcc_Home_R();
   SSI_STATUS_MOTION so7_Motion_R_IsHomed(bool &bHomed);
   SSI_STATUS_MOTION so7_Motion_R_IsMotionFInished(bool &bFinished);
@@ -414,7 +423,10 @@ public:
 	SSI_STATUS_MOTION _get_xyz_index(long & lX, long & lY, long & lZ);
 	SSI_STATUS_MOTION so7_motion_get_position_xyz(double & dX, double & dY, double & dZ);
 	SSI_STATUS_MOTION so7_motion_set_position_xyz(double dX, double dY, double dZ, bool bWait);
-	SSI_STATUS_MOTION so7_motion_set_speed_xyz(double dPercentSpeed);
+  SSI_STATUS_MOTION so7_Motion_XYZ_IsMotionFinished(bool &bFinished);
+  BOOL IsMotionFinishedManual(BOOL _BResetCnts=FALSE);
+
+	SSI_STATUS_MOTION so7_motion_set_speed_xyz(EMACHINE_AXIS cAxis,char cSpeedGear,char Acce,char cHoldSpeed,char cStartSpeed,char cRefreshCycle,double dBufferDis);
 	SSI_STATUS_MOTION so7_motion_get_speed_xyz(double &dPercentSpeed);
   SSI_STATUS_MOTION so7_motion_set_position_R(double dR,bool bWait);
   SSI_STATUS_MOTION so7_motion_get_position_R(double & dR);
@@ -423,6 +435,10 @@ public:
   SSI_STATUS_MOTION so7_motion_get_3D_max_speed(double &dMaxSpeed);
   SSI_STATUS_MOTION so7_motion_is_finished(char MotionType,BOOL& IsFinished);
 
+  SSI_STATUS_MOTION so7_motion_set_all_speed_para();
+  SSI_STATUS_MOTION so7_motion_get_all_speed_para();
+
+
 	SSI_STATUS_MOTION _calculate_straightline_motion(double dSpeedMM);
 
 	SSI_STATUS_MOTION so7_optics_set_scale_position(long lScale);
@@ -434,7 +450,7 @@ public:
 	
 	SSI_STATUS_MOTION so7_light_set_light_off();
 	SSI_STATUS_MOTION so7_light_set_light();
-	SSI_STATUS_MOTION so7_light_set_lamp_state(double dBottomPercent, double dTopPercent);
+	SSI_STATUS_MOTION so7_light_set_lamp_state(double dTopLightPercent,double dBottomLightPercent,double dCoaxialLightPercent,double dReservedLightPercent,double dRingLightPercent,char cOuterRingLightSwitch,char cInnerRingLightSwitch);
 
 	SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_X(char SpeedGear);
 	SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_Y(char SpeedGear);
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/UtilityDebug.Log b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/UtilityDebug.Log
index 8a5a8f6..2f93d0b 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/UtilityDebug.Log
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/UtilityDebug.Log
@@ -4539,3 +4539,5 @@ _start_machine
 Construct Cso7_Proto.

 Init:Open device succeed .

 _start_machine
+Usb Port Initialized.

+Usb Port Initialized.

diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/so7_config.ini b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/so7_config.ini
index 2f7988d..821436a 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/so7_config.ini
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/so7_config.ini
@@ -1,23 +1,11 @@
-[7OCEANAUTOZOOM]
-ZOOM_PRODUCT_ID=So7123456
-ZOOM_COM_PORT=1
-ZOOM_START_DEG=0.000000
-ZOOM_END_DEG=0.000000
-ZOOM_ORG_DEG=0.000000
-ZOOM_DEADBAND_DEG=0.100000
-ZOOM_PULSE_PER_DEG=25.134736064968621
-ZOOM_READING_INTERVAL_TIME=60
-ZOOM_MOTOR_SPEED_FAST=2000
-ZOOM_MOTOR_SPEED_SLOW=800
-;
 [CONTROLLER]
-CLOSE_LOOP_ENABLED=0
-MOTION_RETRY_TIMES=0
-SHIFT_POSITION_X=0.000000
-SHIFT_POSITION_Y=0.000000
-SHIFT_POSITION_Z=0.000000
 GET_USB_MESSAGE_METHOD=1
 WRITE_DATA_SLEEP_TIME=0
+TOUCH_PROBE_ENABLE=0
+JOYSTICK_ENABLE=0
+DEBUG_LOG_ENABLE=0
+;
+[Motion]
 ACCURA_ERROR_PULSE_X=1
 ACCURA_ERROR_PULSE_Y=1
 ACCURA_ERROR_PULSE_Z=1
@@ -26,18 +14,8 @@ EQUIDISTANCE_PULSE_Y=0
 EQUIDISTANCE_PULSE_Z=0
 CNC_DEADLOCK_SOLUTION=1
 CNC_DEADLOCK_MAX_CNTS=6
-TOUCH_PROBE_ENABLE=0
-JOYSTICK_ENABLE=0
-DEBUG_LOG_ENABLE=0
-;
-[VIDEOCARD]
-SDK3000_SLEEP_COUNT=550000
-SV4000E_DENOISE_PARA_CHANNEL1=70
-SV4000E_DENOISE_PARA_CHANNEL2=70
-SV4000E_DENOISE_PARA_CHANNEL3=70
-SV4000E_DENOISE_PARA_CHANNEL4=70
-;
-[HSI]
-MACHINE_CONTROLLER_TYPE=0
-MACHINE_VIDEOCARD_TYPE=0
-;
+X_SCALE_RESOLUTION=0.500
+Y_SCALE_RESOLUTION=0.500
+Z_SCALE_RESOLUTION=0.500
+ROTARY_AXIS_NUMBER=2
+ROTARY_CIR_DIS=7.2
\ No newline at end of file
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/LOGGER.CPP b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/LOGGER.CPP
index 952bb86..d7da1b8 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/LOGGER.CPP
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/LOGGER.CPP
@@ -48,7 +48,26 @@ void CLogger::SendAndFlush(LPCTSTR format, ...)
       m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
   }
 }
-
+void CLogger::SendAndFlushWithTime(LPCTSTR format, ...)
+{
+  if (!m_File)
+  {
+    m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
+  }
+  if(m_File)
+  {
+    int     length = 0;
+    va_list list;
+    va_start(list, format);
+    length = vswprintf_s(m_Str2,5000, format, list);
+    CTime _cTime=CTime::GetCurrentTime();
+    CString csTime=_cTime.Format("[%m/%d %H:%M:%S] ");
+    _ftprintf(m_File, _T("%s"), csTime);
+    _ftprintf(m_File, m_Str2);  
+    fclose(m_File);
+    m_File = NULL;
+  }
+}
 void CLogger::SendAndFlushPerMode(LPCTSTR format, ...)
 {
   int     length = 0;
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.cpp b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.cpp
index b1ff369..2262ec4 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.cpp
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.cpp
@@ -16,6 +16,469 @@
 CEF8000_Interface* m_pEF8000_Interface=NULL;
 CSO7_Proto*  m_pSO7_Proto=NULL;
 bool g_bOfflineOnly(false);
+EMACHINE_AXIS ActiveAxis=MACHINE_AXIS_NONE;
+SSI_STATUS_MOTION LoadMotionParameter();
+
+//==================================================================
+extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Machine_Startup(bool bOfflineOnly,EHOME_MACHINE_MODE cHomeMachineMode)
+{
+  SSI_STATUS_MOTION rStatus=SSI_STATUS_MOTION_NORMAL;
+  g_bOfflineOnly=bOfflineOnly;
+  if (!g_bOfflineOnly)
+  {
+    if (!m_pSO7_Proto)
+    {
+      m_pSO7_Proto=new CSO7_Proto();
+    }
+    rStatus=m_pSO7_Proto->Load_So7_Config();
+    if (rStatus==SSI_STATUS_MOTION_NORMAL)
+    {
+      rStatus=m_pSO7_Proto->Init_SO7Usb();
+      if (rStatus==SSI_STATUS_MOTION_NORMAL)
+      {
+        m_pSO7_Proto->_start_machine();
+        rStatus=LoadMotionParameter();
+        if (rStatus==SSI_STATUS_MOTION_NORMAL)
+        {
+          m_pSO7_Proto->so7_motion_set_all_speed_para();
+          m_pSO7_Proto->so7_motion_init_firmware_para();
+
+          switch (cHomeMachineMode)
+          {
+          case HOME_R:
+            {
+              m_pSO7_Proto->so7_motion_Dcc_Home_R();
+              break;
+            }
+          case HOME_XYZ:
+          case HOME_X:
+          case HOME_Y:
+          case HOME_Z:
+          case HOME_XY:
+          case HOME_XZ:
+          case HOME_YZ:
+            {
+              m_pSO7_Proto->so7_motion_Dcc_HomeXYZ(static_cast<char>(cHomeMachineMode));
+              break;
+            }
+          default:
+            {
+              break;
+            }
+          }
+        }
+      }
+    }
+  }
+  return rStatus;
+}
+//==================================================================
+extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Machine_Shutdown()
+{
+  if (m_pEF8000_Interface)
+  {
+    delete m_pEF8000_Interface;
+    m_pEF8000_Interface=nullptr;
+  }
+  if (m_pSO7_Proto)
+  {
+    m_pSO7_Proto->_send_cmd_SO7_CMD_STOP_MOVE_XYZ();
+    Sleep(10);
+    m_pSO7_Proto->so7_light_set_light_off();
+    if(m_pSO7_Proto->g_machine.IsSupportReadInterrputMsg)
+    {
+      m_pSO7_Proto->_send_cmd_SO7_CMD_SET_GET_INTERRUPT_MSG_METHOD(E_GET_INTERRUPT_MSG_INTERRUPT);
+    }
+    m_pSO7_Proto->_shutdown_machine();
+    m_pSO7_Proto->Exit_SO7Usb();
+    delete m_pSO7_Proto;
+    m_pSO7_Proto=nullptr;
+  }
+  return SSI_STATUS_MOTION_NORMAL;
+}
+
+/**************************Motion**********************************/
+EXP_IMP SSI_STATUS_MOTION WINAPI Motion_DCCHomeXYZ(EHOME_MACHINE_MODE cHomeMachineMode)
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {    
+      return m_pSO7_Proto->so7_motion_Dcc_HomeXYZ(static_cast<char>(cHomeMachineMode));
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsHomedXYZ(bool &bHomed)
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {    
+      bHomed=m_pSO7_Proto->so7_motion_is_homed();
+      return SSI_STATUS_MOTION_NORMAL;
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+EXP_IMP SSI_STATUS_MOTION WINAPI Motion_GetPositionXYZ(double &PositionX, double &PositionY, double &PositionZ)
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {    
+      return m_pSO7_Proto->so7_motion_get_position_xyz(PositionX,PositionY,PositionZ);
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+EXP_IMP SSI_STATUS_MOTION WINAPI Motion_SetPositionXYZ(double PositionX, double PositionY, double PositionZ,bool bWait)
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {    
+      return m_pSO7_Proto->so7_motion_set_position_xyz(PositionX,PositionY,PositionZ,bWait);
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsFinishedXYZ(bool &bFinished)
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {    
+      return m_pSO7_Proto->so7_Motion_XYZ_IsMotionFinished(bFinished);
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+EXP_IMP SSI_STATUS_MOTION WINAPI Motion_SetSpeedXYZ(EMACHINE_AXIS cAxis,char cSpeedGear,char Acce,char cHoldSpeed,char cStartSpeed,char cRefreshCycle,double dBufferDis)
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {    
+      return m_pSO7_Proto->so7_motion_set_speed_xyz(cAxis,cSpeedGear,Acce,cRefreshCycle,cStartSpeed,cHoldSpeed,dBufferDis);
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+
+//SpeedGear:1,2,3,4(Faster)
+EXP_IMP SSI_STATUS_MOTION WINAPI Motion_Jog(EMACHINE_AXIS cAxis,char cSpeedGear)
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {    
+      if (abs(cSpeedGear)>4)
+      {
+        if (cSpeedGear>0)
+        {
+          cSpeedGear=4;
+        } 
+        else
+        {
+          cSpeedGear=-4;
+        }
+      }
+      if (abs(cSpeedGear)<1)
+      {
+        cSpeedGear=1;
+      }
+      ActiveAxis=cAxis;
+      switch (cAxis)
+      {
+      case MACHINE_AXIS_X:
+        {
+          return m_pSO7_Proto->_send_cmd_SO7_CMD_MOVE_X(cSpeedGear);
+          break;
+        }
+      case MACHINE_AXIS_Y:
+        {
+          return m_pSO7_Proto->_send_cmd_SO7_CMD_MOVE_Y(cSpeedGear);
+          break;
+        }
+      case MACHINE_AXIS_Z:
+        {
+          return m_pSO7_Proto->_send_cmd_SO7_CMD_MOVE_Z(cSpeedGear);
+          break;
+        }
+      case MACHINE_AXIS_ZOOM:
+        {
+          if (abs(cSpeedGear)==4)
+          {
+            if (cSpeedGear>0)
+            {
+              cSpeedGear=5;
+            } 
+            else
+            {
+              cSpeedGear=-5;
+            }
+          } 
+          else if (abs(cSpeedGear)==3)
+          {
+            if (cSpeedGear>0)
+            {
+              cSpeedGear=5;
+            } 
+            else
+            {
+              cSpeedGear=-5;
+            }
+          } 
+          else if (abs(cSpeedGear)==2)
+          {
+            if (cSpeedGear>0)
+            {
+              cSpeedGear=1;
+            } 
+            else
+            {
+              cSpeedGear=-1;
+            }
+          }
+          else  if (abs(cSpeedGear)==1)
+          {
+            if (cSpeedGear>0)
+            {
+              cSpeedGear=2;
+            } 
+            else
+            {
+              cSpeedGear=-2;
+            }
+          }
+          return m_pSO7_Proto->_send_cmd_SO7_CMD_MOVE_ZM(cSpeedGear);
+          break;
+        }
+      case MACHINE_AXIS_R:
+        {
+          return m_pSO7_Proto->so7_motion_move_R(cSpeedGear);
+          break;
+        }
+      default:
+        {
+          return SSI_STATUS_MOTION_INVALID_PARAMETERS;
+          break;
+        }
+      }
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+EXP_IMP SSI_STATUS_MOTION WINAPI Motion_Stop()
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {    
+      if (ActiveAxis==MACHINE_AXIS_ZOOM)
+      {
+        return m_pSO7_Proto->_send_cmd_SO7_CMD_STOP_V();      	
+      }
+      else
+      {
+        return m_pSO7_Proto->_send_cmd_SO7_CMD_STOP_MOVE_XYZ();
+      }
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+
+/**************************Rotary Table****************************/
+//==================================================================
+extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_GetPositionR(double& dPos)
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {    
+      return m_pSO7_Proto->so7_motion_get_position_R(dPos);
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+//==================================================================
+extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_SetPositionR(double dAbsolutePos,bool bWait)
+{  
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {
+      return m_pSO7_Proto->so7_motion_set_position_R(dAbsolutePos,bWait);
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+//==================================================================
+extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_DCCHomeR()
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {
+      return m_pSO7_Proto->so7_motion_Dcc_Home_R();
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+
+//==================================================================
+extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsHomedR(bool &bHomed)
+{  
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {
+      return m_pSO7_Proto->so7_Motion_R_IsHomed(bHomed);
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+//==================================================================
+extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsFinishedR(bool &bFinished)
+{  
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {
+      return m_pSO7_Proto->so7_Motion_R_IsMotionFInished(bFinished);
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+/*******************************************************************/
+EXP_IMP SSI_STATUS_MOTION WINAPI Illumination_SetLampState(double dTopLightPercent,double dBottomLightPercent,double dCoaxialLightPercent,double dReservedLightPercent,double dRingLightPercent,char cOuterRingLightSwitch,char cInnerRingLightSwitch)
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {
+      return m_pSO7_Proto->so7_light_set_lamp_state(dTopLightPercent,dBottomLightPercent,dCoaxialLightPercent,dReservedLightPercent,dRingLightPercent,cOuterRingLightSwitch,cInnerRingLightSwitch);
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+EXP_IMP SSI_STATUS_MOTION WINAPI SEND_SYS_COMMAND(char Cmd,char SubCmd,char Type,char Data)
+{
+  if (!g_bOfflineOnly)
+  {
+    if (m_pSO7_Proto)
+    {
+      return m_pSO7_Proto->_send_cmd_SO7_CMD_COMMON_COMMAND_DATA(Cmd,SubCmd,Type,Data);
+    }
+    else
+    {
+      return SSI_STATUS_MACHINE_UNINITIALIZED;
+    }
+  }
+  else
+  {
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
 
 //==================================================================
 SSI_STATUS_MOTION LoadMotionParameter()
@@ -73,173 +536,3 @@ SSI_STATUS_MOTION LoadMotionParameter()
     return SSI_STATUS_MOTOR_DAT_FILE_NOT_FOUND;
   }
 }
-//==================================================================
-extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Machine_Startup(bool bOfflineOnly,bool bDCCHome)
-{
-  SSI_STATUS_MOTION rStatus=SSI_STATUS_MOTION_NORMAL;
-  g_bOfflineOnly=bOfflineOnly;
-  if (!g_bOfflineOnly)
-  {
-    if (!m_pSO7_Proto)
-    {
-      m_pSO7_Proto=new CSO7_Proto();
-    }
-    rStatus=m_pSO7_Proto->Init_SO7Usb();
-    if (rStatus==SSI_STATUS_MOTION_NORMAL)
-    {
-      m_pSO7_Proto->_start_machine();
-      rStatus=m_pSO7_Proto->Load_So7_Config();
-      if (rStatus==SSI_STATUS_MOTION_NORMAL)
-      {
-        rStatus=LoadMotionParameter();
-        if (rStatus==SSI_STATUS_MOTION_NORMAL)
-        {
-          m_pSO7_Proto->_send_cmd_SO7_CMD_GET_RESET_FLAG();
-          if(m_pSO7_Proto->g_machine.IsSupportReadInterrputMsg)
-          {
-            m_pSO7_Proto->_send_cmd_SO7_CMD_READ_FIRMWARE_VERSION_INFO();
-          }
-          if (bDCCHome)
-          {
-            m_pSO7_Proto->so7_motion_Dcc_Home_R();
-          }
-        }
-      }
-    }
-  }
-  return rStatus;
-}
-//==================================================================
-extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Machine_Sutdown()
-{
-  if (m_pEF8000_Interface)
-  {
-    delete m_pEF8000_Interface;
-    m_pEF8000_Interface=nullptr;
-  }
-  if (m_pSO7_Proto)
-  {
-    if(m_pSO7_Proto->g_machine.IsSupportReadInterrputMsg)
-    {
-      m_pSO7_Proto->_send_cmd_SO7_CMD_SET_GET_INTERRUPT_MSG_METHOD(E_GET_INTERRUPT_MSG_INTERRUPT);
-    }
-    m_pSO7_Proto->_shutdown_machine();
-    m_pSO7_Proto->Exit_SO7Usb();
-    delete m_pSO7_Proto;
-    m_pSO7_Proto=nullptr;
-  }
-  return SSI_STATUS_MOTION_NORMAL;
-}
-//==================================================================
-extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_GetPositionR(double& dPos)
-{
-  if (!g_bOfflineOnly)
-  {
-    if (!m_pSO7_Proto)
-    {
-      m_pSO7_Proto=new CSO7_Proto();
-    }
-    return m_pSO7_Proto->so7_motion_get_position_R(dPos);
-  }
-  else
-  {
-    return SSI_STATUS_MOTION_NORMAL;
-  }
-}
-//==================================================================
-extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_SetPositionR(double dAbsolutePos,bool bWait)
-{  
-  if (!g_bOfflineOnly)
-  {
-    if (!m_pSO7_Proto)
-    {
-      m_pSO7_Proto=new CSO7_Proto();
-    }
-    return m_pSO7_Proto->so7_motion_set_position_R(dAbsolutePos,bWait);
-  }
-  else
-  {
-    return SSI_STATUS_MOTION_NORMAL;
-  }
-}
-//==================================================================
-extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_DCCHome()
-{
-  if (!g_bOfflineOnly)
-  {
-    if (!m_pSO7_Proto)
-    {
-      m_pSO7_Proto=new CSO7_Proto();
-    }
-    return m_pSO7_Proto->so7_motion_Dcc_Home_R();
-  }
-  else
-  {
-    return SSI_STATUS_MOTION_NORMAL;
-  }
-}
-
-//==================================================================
-extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsHomed(bool &bHomed)
-{  
-  if (!g_bOfflineOnly)
-  {
-    if (!m_pSO7_Proto)
-    {
-      m_pSO7_Proto=new CSO7_Proto();
-    }
-    return m_pSO7_Proto->so7_Motion_R_IsHomed(bHomed);
-  }
-  else
-  {
-    return SSI_STATUS_MOTION_NORMAL;
-  }
-}
-//==================================================================
-extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsFinished(bool &bFinished)
-{  
-  if (!g_bOfflineOnly)
-  {
-    if (!m_pSO7_Proto)
-    {
-      m_pSO7_Proto=new CSO7_Proto();
-    }
-    return m_pSO7_Proto->so7_Motion_R_IsMotionFInished(bFinished);
-  }
-  else
-  {
-    return SSI_STATUS_MOTION_NORMAL;
-  }
-}
-//==================================================================
-extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_JogR(char cSpeedGear)
-{  
-  if (!g_bOfflineOnly)
-  {
-    if (!m_pSO7_Proto)
-    {
-      m_pSO7_Proto=new CSO7_Proto();
-    }
-    return m_pSO7_Proto->so7_motion_move_R(cSpeedGear);
-  }
-  else
-  {
-    return SSI_STATUS_MOTION_NORMAL;
-  }
-}
-//==================================================================
-extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_StopR()
-{  
-  if (!g_bOfflineOnly)
-  {
-    if (!m_pSO7_Proto)
-    {
-      m_pSO7_Proto=new CSO7_Proto();
-    }
-    return m_pSO7_Proto->_send_cmd_SO7_CMD_STOP_MOVE_XYZ();
-  }
-  else
-  {
-    return SSI_STATUS_MOTION_NORMAL;
-  }
-}
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.h b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.h
index e95c4e4..a2e0325 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.h
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.h
@@ -6,6 +6,29 @@
 #define EXP_IMP __declspec(dllimport)
 #endif
 
+enum EMACHINE_AXIS
+{
+  MACHINE_AXIS_NONE =  0,
+  MACHINE_AXIS_X,
+  MACHINE_AXIS_Y,
+  MACHINE_AXIS_Z,
+  MACHINE_AXIS_ZOOM,
+  MACHINE_AXIS_R,
+  MACHINE_AXIS_ALL  =  5
+};
+enum EHOME_MACHINE_MODE
+{
+  HOME_NONE,
+  HOME_XYZ=1,
+  HOME_X=10,
+  HOME_Y,
+  HOME_Z,
+  HOME_XY=20,
+  HOME_XZ,
+  HOME_YZ,
+  HOME_R=30,
+  HOME_TOATAL=255
+};
 enum SSI_STATUS_MOTION 
 {
   SSI_STATUS_MOTION_NORMAL = 0,
@@ -15,23 +38,40 @@ enum SSI_STATUS_MOTION
   SSI_STATUS_MOTION_TIMEOUT,
   SSI_STATUS_SO7_CONFIG_FILE_NOT_FOUND,
   SSI_STATUS_MOTOR_DAT_FILE_NOT_FOUND,
+  SSI_STATUS_MACHINE_UNINITIALIZED,
   SSI_STATUS_UNKNOWN_ERROR
 };
 
 extern "C"
 {
-  ///////////////////////////////////////////////
-  EXP_IMP SSI_STATUS_MOTION WINAPI Machine_Startup(bool bOfflineOnly,bool bDCCHome);
-  EXP_IMP SSI_STATUS_MOTION WINAPI Machine_Sutdown();
+  ///////////////////////////////////////////////////////////////////////////////////
+  EXP_IMP SSI_STATUS_MOTION WINAPI Machine_Startup(bool bOfflineOnly,EHOME_MACHINE_MODE cHomeMachineMode);
+  EXP_IMP SSI_STATUS_MOTION WINAPI Machine_Shutdown();
+  //=================================================================================
+  //===============================Motion============================================
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_DCCHomeXYZ(EHOME_MACHINE_MODE cHomeMachineMode);
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsHomedXYZ(bool &bHomed);
+  //Units:mm
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_GetPositionXYZ(double &PositionX, double &PositionY, double &PositionZ);
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_SetPositionXYZ(double PositionX, double PositionY, double PositionZ,bool bWait);
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsFinishedXYZ(bool &bFinished);
+  //SpeedGear:1,2,3,4(Faster)
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_SetSpeedXYZ(EMACHINE_AXIS cAxis,char cSpeedGear,char Acce,char cHoldSpeed,char cStartSpeed,char cRefreshCycle,double dBufferDis);
+
+  //SpeedGear:1,2,3,4(Faster)
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_Jog(EMACHINE_AXIS cAxis,char cSpeedGear);
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_Stop();
+  //===================================Rotary Table==================================
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_DCCHomeR();
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsHomedR(bool &bHomed);
   //Units:Rad
   EXP_IMP SSI_STATUS_MOTION WINAPI Motion_GetPositionR(double& dPos);
   EXP_IMP SSI_STATUS_MOTION WINAPI Motion_SetPositionR(double dAbsolutePos,bool bWait);
-
-  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_DCCHome();
-  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsHomed(bool &bHomed);
-  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsFinished(bool &bFinished);
-  //SpeedGear:1,2,3,4(Faster)
-  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_JogR(char cSpeedGear);
-  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_StopR();
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsFinishedR(bool &bFinished);
+  //==============================Illumination=======================================
+  //Range value:0.0-100.0
+  EXP_IMP SSI_STATUS_MOTION WINAPI Illumination_SetLampState(double dTopLightPercent,double dBottomLightPercent,double dCoaxialLightPercent,double dReservedLightPercent,double dRingLightPercent,char cOuterRingLightSwitch,char cInnerRingLightSwitch);
+  //==============================CMD================================================
+  EXP_IMP SSI_STATUS_MOTION WINAPI SEND_SYS_COMMAND(char Cmd,char SubCmd,char Type,char Data);
 
 }
\ No newline at end of file
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.rc b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.rc
new file mode 100644
index 0000000..0143fa6
Binary files /dev/null and b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.rc differ
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj
index 12b4b2c..3f4a3b1 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj
@@ -80,23 +80,27 @@
     <None Include="ReadMe.txt" />
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="..\..\..\MicroVu\logger.h" />
     <ClInclude Include="..\..\..\SevenOcean\EF8000_Interface.h" />
     <ClInclude Include="..\..\..\SevenOcean\SO7_Proto.h" />
+    <ClInclude Include="..\logger.h" />
     <ClInclude Include="MachineInterfaceDll.h" />
+    <ClInclude Include="resource.h" />
     <ClInclude Include="stdafx.h" />
     <ClInclude Include="targetver.h" />
   </ItemGroup>
   <ItemGroup>
-    <ClCompile Include="..\..\..\MicroVu\LOGGER.CPP" />
     <ClCompile Include="..\..\..\SevenOcean\EF8000_Interface.cpp" />
     <ClCompile Include="..\..\..\SevenOcean\SO7_Proto.cpp" />
+    <ClCompile Include="..\LOGGER.CPP" />
     <ClCompile Include="MachineInterfaceDll.cpp" />
     <ClCompile Include="stdafx.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
     </ClCompile>
   </ItemGroup>
+  <ItemGroup>
+    <ResourceCompile Include="MachineInterfaceDll.rc" />
+  </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
   </ImportGroup>
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj.filters b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj.filters
index 0a4421b..ee33359 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj.filters
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj.filters
@@ -33,7 +33,10 @@
     <ClInclude Include="..\..\..\SevenOcean\SO7_Proto.h">
       <Filter>澶存枃浠�</Filter>
     </ClInclude>
-    <ClInclude Include="..\..\..\MicroVu\logger.h">
+    <ClInclude Include="..\logger.h">
+      <Filter>澶存枃浠�</Filter>
+    </ClInclude>
+    <ClInclude Include="resource.h">
       <Filter>澶存枃浠�</Filter>
     </ClInclude>
   </ItemGroup>
@@ -50,8 +53,13 @@
     <ClCompile Include="..\..\..\SevenOcean\SO7_Proto.cpp">
       <Filter>婧愭枃浠�</Filter>
     </ClCompile>
-    <ClCompile Include="..\..\..\MicroVu\LOGGER.CPP">
+    <ClCompile Include="..\LOGGER.CPP">
       <Filter>婧愭枃浠�</Filter>
     </ClCompile>
   </ItemGroup>
+  <ItemGroup>
+    <ResourceCompile Include="MachineInterfaceDll.rc">
+      <Filter>璧勬簮鏂囦欢</Filter>
+    </ResourceCompile>
+  </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj.user b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj.user
index d82205c..896ef3b 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj.user
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.vcxproj.user
@@ -1,7 +1,8 @@
 锘�<?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <LocalDebuggerCommand>E:\Tony\MachineInterfaceUtility\PcDmis\Base\Interfac\Msi\Hsi\Tools\UsbUtility\Debug\Win32TestDll.exe</LocalDebuggerCommand>
+    <LocalDebuggerCommand>
+    </LocalDebuggerCommand>
     <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
   </PropertyGroup>
 </Project>
\ No newline at end of file
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/resource.h b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/resource.h
new file mode 100644
index 0000000..79381f9
--- /dev/null
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/resource.h
@@ -0,0 +1,14 @@
+//{{NO_DEPENDENCIES}}
+// Microsoft Visual C++ generated include file.
+// Used by MachineInterfaceDll.rc
+
+// Next default values for new objects
+// 
+#ifdef APSTUDIO_INVOKED
+#ifndef APSTUDIO_READONLY_SYMBOLS
+#define _APS_NEXT_RESOURCE_VALUE        101
+#define _APS_NEXT_COMMAND_VALUE         40001
+#define _APS_NEXT_CONTROL_VALUE         1001
+#define _APS_NEXT_SYMED_VALUE           101
+#endif
+#endif
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil_VS2010.suo b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil_VS2010.suo
index 648196c..5cbc5f8 100644
Binary files a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil_VS2010.suo and b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil_VS2010.suo differ
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Win32TestDll/Win32TestDll.cpp b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Win32TestDll/Win32TestDll.cpp
index 9f88fe1..a151e49 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Win32TestDll/Win32TestDll.cpp
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Win32TestDll/Win32TestDll.cpp
@@ -2,19 +2,169 @@
 //
 
 #include "stdafx.h"
+#include <conio.h>
 #include "..\MachineInterfaceDll\MachineInterfaceDll.h"
+void ShowMessage(SSI_STATUS_MOTION status);
 
 int _tmain(int argc, _TCHAR* argv[])
 {
-  SSI_STATUS_MOTION status=Machine_Startup(false,false);
-  double dPos(0.0);
-  bool bb;
-  status=Motion_GetPositionR(dPos);
-  status=Motion_SetPositionR(dPos,true);
-  status=Motion_IsHomed(bb);
-  status=Motion_IsFinished(bb);
-  status=Motion_MoveR(1);
-  status=Machine_Sutdown();
+  SSI_STATUS_MOTION status=Machine_Startup(false,HOME_NONE);
+  printf("Machine_Startup:");
+  ShowMessage(status);
+  //=================================================================================
+  //===============================Motion============================================
+  bool bHomed(false);
+  status=Motion_IsHomedXYZ(bHomed);
+  printf("Motion_IsHomedXYZ:");
+  ShowMessage(status);
+  if (!bHomed)
+  {
+    status=Motion_DCCHomeXYZ(HOME_XYZ);
+    printf("Motion_IsHomedXYZ:");
+    ShowMessage(status);
+    do 
+    {
+      Sleep(20);
+      status=Motion_IsHomedXYZ(bHomed);
+      printf("Motion_IsHomedXYZ:");
+      ShowMessage(status);
+    } while (!bHomed);
+  } 
+  status=Motion_Jog(MACHINE_AXIS_X,3);
+  printf("Motion_Jog:");
+  ShowMessage(status);
+  Sleep(3000);
+  status=Motion_Stop();
+  printf("Motion_Stop:");
+  ShowMessage(status);
+
+  status=Motion_Jog(MACHINE_AXIS_Y,3);
+  printf("Motion_Jog:");
+  ShowMessage(status);
+  Sleep(3000);
+  status=Motion_Stop();
+  printf("Motion_Stop:");
+  ShowMessage(status);
+
+  status=Motion_Jog(MACHINE_AXIS_Z,-3);
+  printf("Motion_Jog:");
+  ShowMessage(status);
+  Sleep(3000);
+  status=Motion_Stop();
+  printf("Motion_Stop:");
+  ShowMessage(status);
+
+  double PositionX,PositionY,PositionZ;
+  status=Motion_GetPositionXYZ(PositionX,PositionY,PositionZ);
+  printf("Motion_GetPositionXYZ:%.4f,%.4f.%.4f;\r\n",PositionX,PositionY,PositionZ);
+  PositionX=0.0;
+  PositionY=0.0;
+  PositionZ=0.0;
+  printf("Motion_SetPositionXYZ:%.4f,%.4f.%.4f;\r\n",PositionX,PositionY,PositionZ);
+  status=Motion_SetPositionXYZ(PositionX,PositionY,PositionZ,true);
+
+  status=Motion_GetPositionXYZ(PositionX,PositionY,PositionZ);
+  printf("Motion_GetPositionXYZ:%.4f,%.4f.%.4f;\r\n",PositionY,PositionX,PositionZ);
+  
+  //status=Motion_IsFinishedXYZ(bool &bFinished);
+  status=Motion_Jog(MACHINE_AXIS_X,-3);
+  printf("Motion_Jog:");
+  ShowMessage(status);
+  Sleep(3000);
+  status=Motion_Stop();
+  printf("Motion_Stop:");
+  ShowMessage(status);
+  status=Motion_SetSpeedXYZ(MACHINE_AXIS_X,3,20,20,20,3,0.01);
+  printf("Motion_SetSpeedXYZ:");
+  ShowMessage(status);
+  status=Motion_Jog(MACHINE_AXIS_X,3);
+  printf("Motion_Jog:");
+  ShowMessage(status);
+  Sleep(3000);
+  status=Motion_Stop();
+  printf("Motion_Stop:");
+  ShowMessage(status);
+
+  //===================================Rotary Table==================================
+  //Motion_DCCHomeR();
+  //Motion_IsHomedR(bool &bHomed);
+  ////Units:Rad
+  //Motion_GetPositionR(double& dPos);
+  //Motion_SetPositionR(double dAbsolutePos,bool bWait);
+  //Motion_IsFinishedR(bool &bFinished);
+  //==============================Illumination=======================================
+  //Range value:0.0-100.0
+  status=Illumination_SetLampState(0,100,0,0,0,0,0);
+  printf("Illumination_SetLampState:");
+  ShowMessage(status);
+  Sleep(1000);
+  status=Illumination_SetLampState(100,0,0,0,0,0,0);
+  printf("Illumination_SetLampState:");
+  ShowMessage(status);
+  Sleep(1000);
+  status=Illumination_SetLampState(100,100,0,0,0,0,0);
+  printf("Illumination_SetLampState:");
+  ShowMessage(status);
+  Sleep(1000);
+
+  //==============================CMD================================================
+  //SEND_SYS_COMMAND(char Cmd,char SubCmd,char Type,char Data);
+  status=Machine_Shutdown();
+  printf("Machine_Shutdown:");
+  ShowMessage(status);
+  printf("Press any key to exit\r\n");
+  _getch();
   return 0;
 }
+void ShowMessage(SSI_STATUS_MOTION status)
+{
+  switch(status)
+  {
+  case SSI_STATUS_MOTION_NORMAL:
+    {
+      printf("SSI_STATUS_MOTION_NORMAL.\r\n");
+      break;
+    }
+  case SSI_STATUS_MOTION_DATALINK_ERROR:
+    {
+      printf("SSI_STATUS_MOTION_DATALINK_ERROR.\r\n");
+      break;
+    }
+  case SSI_STATUS_MOTION_LIMIT_REACHED:
+    {
+      printf("SSI_STATUS_MOTION_LIMIT_REACHED.\r\n");
+      break;
+    }
+  case SSI_STATUS_MOTION_INVALID_PARAMETERS:
+    {
+      printf("SSI_STATUS_MOTION_INVALID_PARAMETERS.\r\n");
+      break;
+    }
+  case SSI_STATUS_MOTION_TIMEOUT:
+    {
+      printf("SSI_STATUS_MOTION_TIMEOUT.\r\n");
+      break;
+    }
+  case SSI_STATUS_SO7_CONFIG_FILE_NOT_FOUND:
+    {
+      printf("SSI_STATUS_SO7_CONFIG_FILE_NOT_FOUND.\r\n");
+      break;
+    }
+  case SSI_STATUS_MOTOR_DAT_FILE_NOT_FOUND:
+    {
+      printf("SSI_STATUS_MOTOR_DAT_FILE_NOT_FOUND.\r\n");
+      break;
+    }
+  case SSI_STATUS_MACHINE_UNINITIALIZED:
+    {
+      printf("SSI_STATUS_MACHINE_UNINITIALIZED.\r\n");
+      break;
+    }
+  case SSI_STATUS_UNKNOWN_ERROR:
+    {
+      printf("SSI_STATUS_UNKNOWN_ERROR.\r\n");
+      break;
+    }
+  }
+}
 
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/logger.h b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/logger.h
index 77b3188..0caa431 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/logger.h
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/logger.h
@@ -46,6 +46,7 @@ public:
   void Send(LPCTSTR, ...);
   void SendAndFlush(LPCTSTR, ...);
   void SendAndFlushPerMode(LPCTSTR, ...);
+  void SendAndFlushWithTime(LPCTSTR, ...);
   CString m_FileName;
   long m_lLogMask;
   FILE *m_File;