diff --git a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
index 1be3f1a..af2b58c 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
+++ b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
@@ -535,6 +535,7 @@ CSO7_Proto::CSO7_Proto()
   g_machine.s_machine_config.zm_axis._SpeedFast=2000;
   g_machine.s_machine_config.zm_axis._SpeedSlow=800;
   g_machine.s_machine_config.zm_axis._speed._short_=0;
+  g_machine.MotionType=-1;
 
   g_machine.s_status._bIsZMMotionFinished=0;
   g_machine.x._scale_pos._long_  =  0;
@@ -614,6 +615,11 @@ SSI_STATUS_MOTION CSO7_Proto::so7_config_para_set_default()
   g_machine.s_machine_config.motion.m_MachineType=MACHINE_SO7_CONTROLLER;
   g_machine.s_machine_config.motion.m_VideoCardType=0;
 
+  g_machine.s_machine_config.motion.m_RotaryCircleDis=7.2;
+  g_machine.s_machine_config.motion.m_RotaryCirclePulse=14400;
+  g_machine.s_machine_config.motion.m_RotaryAxisNO=MACHINE_AXIS_Y;
+
+  
   return SSI_STATUS_MOTION_NORMAL;
 }
 SSI_STATUS_MOTION CSO7_Proto::so7_motion_reset_controller_parameter()
@@ -2562,6 +2568,27 @@ SSI_STATUS_MOTION CSO7_Proto::Load_So7_Config()
             g_machine.s_machine_config.motion.m_DebugOutputEnable=atoi(cTemp);
           }
         }
+        
+        //=================Rotary========================        
+        else if (!_stricmp(token,"ROTARY_AXIS_NUMBER"))
+        {
+          token = strtok( NULL, seps);
+          if (token)
+          {
+            strcpy(cTemp,token);
+            g_machine.s_machine_config.motion.m_RotaryAxisNO=atoi(cTemp);
+          }
+        }
+        else if (!_stricmp(token,"ROTARY_CIR_DIS"))
+        {
+          token = strtok( NULL, seps);
+          if (token)
+          {
+            strcpy(cTemp,token);
+            g_machine.s_machine_config.motion.m_RotaryCircleDis=atof(cTemp);
+            g_machine.s_machine_config.motion.m_RotaryCirclePulse=g_machine.s_machine_config.motion.m_RotaryCircleDis/ROTARY_MMtoScale_RESOLUTION;
+          }
+        }
         //=================VideoCard========================
         else if (!_stricmp(token,"SDK3000_SLEEP_COUNT"))
         {
@@ -3368,7 +3395,6 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_position_R(double & dRad)
     bPlus=false;
   }
   int iRetryCnts(0);
-  g_machine.s_machine_config.motion.m_RotaryCirclePulse=g_machine.s_machine_config.motion.m_RotaryCircleDis/ROTARY_MMtoScale_RESOLUTION;
   if (fabs(dR)-fabs(2.0*g_machine.s_machine_config.motion.m_RotaryCirclePulse)>100)
   {
     do 
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h
index d79c50a..f8ace27 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h
+++ b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h
@@ -233,7 +233,7 @@ struct struct_so7_machine
     char _bIsZMMotionFinished;
 		bool _bZMHoming;
     bool _bXYZZMIdle;
-		bool _bRMovins;
+		bool _bRMoving;
 	} s_status;
 	union {
 		struct s_lights_value 
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 0f76621..b1ff369 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.cpp
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.cpp
@@ -162,6 +162,23 @@ extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_SetPositionR(double dAbsolute
     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)
 {  
@@ -195,7 +212,7 @@ extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_IsFinished(bool &bFinished)
   }
 }
 //==================================================================
-extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_MoveR(char cSpeedGear)
+extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_JogR(char cSpeedGear)
 {  
   if (!g_bOfflineOnly)
   {
@@ -210,3 +227,19 @@ extern "C" EXP_IMP SSI_STATUS_MOTION WINAPI Motion_MoveR(char cSpeedGear)
     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 88cd9be..e95c4e4 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.h
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/MachineInterfaceDll/MachineInterfaceDll.h
@@ -26,9 +26,12 @@ extern "C"
   //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_MoveR(char cSpeedGear);
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_JogR(char cSpeedGear);
+  EXP_IMP SSI_STATUS_MOTION WINAPI Motion_StopR();
 
 }
\ No newline at end of file
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 c9d908b..648196c 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