diff --git a/HSI_HexagonMI_EF3/HSI_Motion.cpp b/HSI_HexagonMI_EF3/HSI_Motion.cpp
index 0b2889f..25a7d09 100644
--- a/HSI_HexagonMI_EF3/HSI_Motion.cpp
+++ b/HSI_HexagonMI_EF3/HSI_Motion.cpp
@@ -532,6 +532,9 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 				g_pLogger->SendAndFlushWithTime(
 					L"[ACS Motion] Communication with the controller is already established successfully!\n");
 			}
+
+			//如果各个轴标志位 未回过家，需要回家
+			rStatus = g_pHSI_Motion->HomeMachine(TRUE); //执行回家
 		}
 
 		//   04 05 0F 4A 04 00 04 00 00 00 00 00 00 00 00 00
@@ -1552,8 +1555,6 @@ HSI_STATUS HSI_Motion::IsHomed(bool& bHomed)
 			CurrentHomeMachineState = E_EF3_HOME_NONE;
 			bHomed = false;
 
-			//如果各个轴标志位 未回过家，需要回家
-			rStatus = g_pHSI_Motion->HomeMachine(TRUE); //执行回家
 		}
 		g_pLogger->SendAndFlushWithTime(L"[IsHomed] Out\n");
 	}
@@ -2075,7 +2076,8 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 		//转到真实ACS平台轴号，并开始执行
 		byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes)); //Jog
 		double motionParam[5] = { DriveSpeed,AccLine*10 ,  DecLine*10, AccCurve,DecCurve  }; //速度，加速度，减速度，Kill, jerk
-		SetSingleAxisParam(AxisNumber, motionParam);
+		SetSingleAxisMotionParams(AxisNumber, motionParam);
+		
 		// 急停判断
 		if ((StartSpeed < 250) && (DriveSpeed < 6))
 		{
@@ -3542,8 +3544,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 	if (g_pHSI_Motion)
 	{
 		g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] In\n");
-		g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] AxisTypes = %d, PositionX = %.4f,PositionY = %.4f,PositionZ = %.4f\n", AxisTypes,PositionX,
-		                                PositionY, PositionZ);
+		g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] AxisTypes = %d, PositionX = %.4f,PositionY = %.4f,PositionZ = %.4f\n", AxisTypes,PositionX, PositionY, PositionZ);
 
 		axis_start = 0;
 		unsigned char direct_pos = 0;
@@ -3558,7 +3559,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 			LimitOver(HSI_MOTION_AXIS_Z, PositionZ);
 			LimitOver(HSI_MOTION_AXIS_R, m_PositionA);
 			g_pLogger->SendAndFlushWithTime(
-				L"[SetPositionXyz] LimitOver, Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f, m_PositionA = %.4f\n",
+				L"[SetPositionXyz] LimitOver, PositionX = %.4f, PositionY = %.4f, PositionZ = %.4f, m_PositionA = %.4f\n",
 				PositionX, PositionY, PositionZ, m_PositionA);
 
 			//SetpositionXyz的目标位置
@@ -3575,13 +3576,43 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 			g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] PositionX = %.4f, PositionY = %.4f, PositionZ = %.4f\n", PositionX,PositionY, PositionZ);
 
 		
-			//设置运动参数
+			//设置速度，对应配置文件中定位合成速度 SET_POTION_DRIVESPEED_1
 
-			//SetSingleAxisMotionParams
+			//打印数组 m_SetPotion_DriveSpeed
+			g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] DriveSpeed[0] = %.4f, DriveSpeed[1] = %.4f, DriveSpeed[2] = %.4f, DriveSpeed[3] = %.4f, DriveSpeed[4] = %.4f\n",
+				m_SetPotion_DriveSpeed[0], m_SetPotion_DriveSpeed[1], m_SetPotion_DriveSpeed[2], m_SetPotion_DriveSpeed[3], m_SetPotion_DriveSpeed[4]);
 
 
+			double X_SetmotionParam[5] = {
+				m_SetPotion_DriveSpeed[1],
+				m_SetPotion_DriveSpeed[1] * 10,
+				m_SetPotion_DriveSpeed[1] * 10,
+				0,
+				0
+			};
+			
+			SetSingleAxisMotionParams(ACSC_AXIS_1, X_SetmotionParam);//设置X轴定位速度
+
+			double Y_SetmotionParam[5] = { 
+				m_SetPotion_DriveSpeed[2],
+				m_SetPotion_DriveSpeed[2] * 10 , 
+				m_SetPotion_DriveSpeed[2] * 10, 
+				0,
+				0 
+			};
 
 
+			SetSingleAxisMotionParams(ACSC_AXIS_0, Y_SetmotionParam);//设置Y轴定位速度
+
+			double Z_SetmotionParam[5] = { 
+				m_SetPotion_DriveSpeed[3],
+				m_SetPotion_DriveSpeed[3] * 10 , 
+				m_SetPotion_DriveSpeed[3] * 10, 
+				0,
+				0 
+			};
+
+			SetSingleAxisMotionParams(ACSC_AXIS_8, Z_SetmotionParam);//设置Z轴定位速度
 
 
 			//开始运动到指定位置，多轴运动
@@ -4095,7 +4126,11 @@ HSI_STATUS HSI_Motion::Load_EF3_Motion_Inifile(CString GoogolIniFile)
 			                                            csAppPath);
 			m_SetPotion_DriveSpeed[i] = GetPrivateProfileInt(L"SET_POSITION_SPEED",
 			                                                 L"SET_POTION_DRIVESPEED_" + axisNum[i], 100, csAppPath);
-			m_SetPotion_DriveSpeed[i] = m_SetPotion_DriveSpeed[i] / (m_Resolution[i] * 50);
+			//m_SetPotion_DriveSpeed[i] = m_SetPotion_DriveSpeed[i] / (m_Resolution[i] * 50);
+			//打印定位合成速度
+			g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_SetPotion_DriveSpeed[%d]: %d\n", i,
+							                                m_SetPotion_DriveSpeed[i]);
+
 			m_SetPotion_Line[i] = GetPrivateProfileInt(L"SET_POSITION_SPEED", L"SET_POTION_LINE_" + axisNum[i], 100,
 			                                           csAppPath);
 			m_SetPotion_StartSpeed[i] = GetPrivateProfileInt(L"SET_POSITION_SPEED",
@@ -7994,11 +8029,8 @@ void HSI_Motion::SetSingleAxisMotionParams(UINT AxisTypes, double SetmotionParam
 	g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisMotionParams] In\n");
 	double getMotionParam[5] = { 0 };
 	
-	//轴号转换
-	byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes)); //SetSingleAxisMotionParams
-	
 	//打印轴当前运动参数
-	GetSingleAxisParam(AxisNumber, getMotionParam); //获取单轴运动参数
+	GetSingleAxisParam(AxisTypes, getMotionParam); //获取单轴运动参数
 	g_pLogger->SendAndFlushWithTime(
 		L"[before] Axis= %.2f, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n",
 		jogAxisNum, getMotionParam[0], getMotionParam[1], getMotionParam[2], getMotionParam[3], getMotionParam[4]);
@@ -8007,7 +8039,7 @@ void HSI_Motion::SetSingleAxisMotionParams(UINT AxisTypes, double SetmotionParam
 	SetSingleAxisParam(AxisTypes, SetmotionParam);
 
 	//打印轴当前运动参数
-	GetSingleAxisParam(AxisNumber, getMotionParam); //获取单轴运动参数
+	GetSingleAxisParam(AxisTypes, getMotionParam); //获取单轴运动参数
 	g_pLogger->SendAndFlushWithTime(
 		L"[after] Axis= %.2f, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n",
 		jogAxisNum, getMotionParam[0], getMotionParam[1], getMotionParam[2], getMotionParam[3], getMotionParam[4]);
diff --git a/HSI_HexagonMI_EF3/version.h b/HSI_HexagonMI_EF3/version.h
index be5bb8c..b81e2dc 100644
--- a/HSI_HexagonMI_EF3/version.h
+++ b/HSI_HexagonMI_EF3/version.h
@@ -12,5 +12,5 @@
 #define HSI_VERSION_REVNUM              
 #define HSI_VERSION_BUILD_DATE        _T(__DATE__ )  
 #define HSI_VERSION_BUILD_TIME        _T(__TIME__ )  
-#define HSI_FILE_DESCRIPTION          "2024.02.28 / 11:38 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2024.02.28 / 11:38 ")  
+#define HSI_FILE_DESCRIPTION          "2024.02.28 / 14:38 "  
+#define HSI_FILE_CSDESCRIPTION        _T("2024.02.28 / 14:38 ")  
diff --git a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll
index 854e87f..cf21e83 100644
Binary files a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll and b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll differ
diff --git a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb
index 8a7c7c5..0f06d8f 100644
Binary files a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb and b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb differ
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/Program.cs b/HSI_SEVENOCEAN_EF1_CsTest/Program.cs
index 5218225..211f1fb 100644
--- a/HSI_SEVENOCEAN_EF1_CsTest/Program.cs
+++ b/HSI_SEVENOCEAN_EF1_CsTest/Program.cs
@@ -75,9 +75,9 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
 				#endregion
 
 				//6 鏄惁鍥炲
-				//var bHomed = true;
-				//rStatus = Motion.IsHomed(ref bHomed);
-				//Console.WriteLine("Motion.IsHomed:{0}", rStatus);
+				var bHomed = true;
+				rStatus = Motion.IsHomed(ref bHomed);
+				Console.WriteLine("Motion.IsHomed:{0}", rStatus);
 				var bexit = false;
 				var SpeedGear = 0.3;
 				var dPos = new double[3];
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll
index 854e87f..cf21e83 100644
Binary files a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll and b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll differ
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe
index f355f96..c502140 100644
Binary files a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe and b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe differ
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb
index d319715..159a229 100644
Binary files a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb and b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb differ