diff --git a/HexcalMC/MainFrom.cs b/HexcalMC/MainFrom.cs
index 37cdc87..8405c6f 100644
--- a/HexcalMC/MainFrom.cs
+++ b/HexcalMC/MainFrom.cs
@@ -4,8 +4,8 @@ using System.Diagnostics;
 using System.IO;
 using System.Net;
 using System.Runtime.InteropServices;
+using System.Threading;
 using System.Windows.Forms;
-using System.Windows.Threading;
 using ACS.SPiiPlusNET;
 using HexcalMC.Base;
 using HexcalMC.Form;
@@ -47,13 +47,11 @@ namespace HexcalMC
 			InitializeComponent();
 
 
-			//处理未捕获的异常   
-			Application.SetUnhandledExceptionMode(UnhandledExceptionMode.CatchException);
-			//处理UI线程异常   
-			Application.ThreadException += new System.Threading.ThreadExceptionEventHandler(Application_ThreadException);
-			//处理非UI线程异常   
-			AppDomain.CurrentDomain.UnhandledException += new UnhandledExceptionEventHandler(CurrentDomain_UnhandledException);
+			// 处理未被捕获的线程异常
+			Application.ThreadException += Application_ThreadException;
 
+			// 处理未被捕获的非UI线程异常
+			AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException;
 		}
 
 		private void MainFrom_Load(object sender, EventArgs e)
@@ -70,8 +68,6 @@ namespace HexcalMC
 
 			//启动界面刷新
 			timer_RefreshUI.Start();
-
-	
 		}
 
 		private void MainFrom_Shown(object sender, EventArgs e) //窗体显示准备好接受用户输入时发生
@@ -543,23 +539,27 @@ namespace HexcalMC
 		#region 异常抓取
 
 		//实现函数
-		private void DispatcherUnhandledException(object sender, DispatcherUnhandledExceptionEventArgs e)
-		{
-			MessageBox.Show($"Application_ThreadException:{e.Exception}");
-			e.Handled = true; // 标记为 “已处理”，避免异常进一步传递而引起崩溃
-		}
 
-		private static void Application_ThreadException(object sender, System.Threading.ThreadExceptionEventArgs e)
+
+		private static void Application_ThreadException(object sender, ThreadExceptionEventArgs e)
 		{
-			// 在这里处理未被捕获的异常
-			// 您可以记录异常、显示错误信息等等
 
 			// 防止程序终止
 			MessageBox.Show("发生了未处理的异常：" + e.Exception.Message);
 		}
-		private void CurrentDomain_UnhandledException(object sender, UnhandledExceptionEventArgs e)
+
+
+		private static void CurrentDomain_UnhandledException(object sender, UnhandledExceptionEventArgs e)
 		{
-			MessageBox.Show($"CurrentDomain_UnhandledException: {e.ExceptionObject}");
+			if (e.ExceptionObject is Exception ex)
+			{
+				HandleException(ex);
+			}
+		}
+
+		private static void HandleException(Exception ex)
+		{
+			MessageBox.Show($"发生了未处理的异常：{ex.Message}");
 		}
 
 
@@ -572,12 +572,33 @@ namespace HexcalMC
 			_acs.EnableEvent(Interrupts.ACSC_INTR_ETHERCAT_ERROR);
 			_acs.EnableEvent(Interrupts.ACSC_INTR_MOTOR_FAILURE);
 			_acs.EnableEvent(Interrupts.ACSC_INTR_MOTION_FAILURE);
+			_acs.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
 			_acs.COMMCHANNELCLOSED += _acs_COMMCHANNELCLOSED;
 			_acs.MOTORFAILURE += _acs_MOTORFAILURE;
 			_acs.MOTIONFAILURE += _acs_MOTIONFAILURE;
 			_acs.SYSTEMERROR += _acs_SYSTEMERROR;
 			_acs.ETHERCATERROR += _acs_ETHERCATERROR;
 			_acs.EMERGENCY += _acs_EMERGENCY;
+			_acs.PHYSICALMOTIONEND += _acs_PHYSICAL_MOTION_END;
+		}
+
+		private void DisableFaultEvent()
+		{
+			_acs.COMMCHANNELCLOSED -= _acs_COMMCHANNELCLOSED;
+			_acs.MOTORFAILURE -= _acs_MOTORFAILURE;
+			_acs.MOTIONFAILURE -= _acs_MOTIONFAILURE;
+			_acs.SYSTEMERROR -= _acs_SYSTEMERROR;
+			_acs.ETHERCATERROR -= _acs_ETHERCATERROR;
+			_acs.EMERGENCY -= _acs_EMERGENCY;
+			_acs.PHYSICALMOTIONEND -= _acs_PHYSICAL_MOTION_END;
+
+			_acs.DisableEvent(Interrupts.ACSC_INTR_COMM_CHANNEL_CLOSED);
+			_acs.DisableEvent(Interrupts.ACSC_INTR_EMERGENCY);
+			_acs.DisableEvent(Interrupts.ACSC_INTR_SYSTEM_ERROR);
+			_acs.DisableEvent(Interrupts.ACSC_INTR_ETHERCAT_ERROR);
+			_acs.DisableEvent(Interrupts.ACSC_INTR_MOTOR_FAILURE);
+			_acs.DisableEvent(Interrupts.ACSC_INTR_MOTION_FAILURE);
+			_acs.DisableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
 		}
 
 		//关联函数
@@ -638,6 +659,31 @@ namespace HexcalMC
 			DebugDfn.AddLogText($"[CommError]  Error Message:{_acs.GetErrorString((int)param)}");
 		}
 
+		private void _acs_PHYSICAL_MOTION_END(AxisMasks axis)
+		{
+			int bit = 0x01;
+			int axisNo = 0;
+
+			//DebugDfn.AddLogText(string.Format(" {0}", axis));
+
+			for (int i = 0; i < 64; i++)
+			{
+				if ((int)axis == bit)
+				{
+					axisNo = i;
+					break;
+				}
+
+				bit = bit << 1;
+			}
+
+			if (axisNo == 2)
+			{
+				return;
+			}
+
+			//DebugDfn.AddLogText(string.Format(" - Axis {0}, Stoppped", axisNo));
+		}
 
 		#endregion
 
@@ -792,10 +838,14 @@ namespace HexcalMC
 
 		private void Btn_ACSStop_Click(object sender, EventArgs e) //断开连接
 		{
-			if (_mAcsConnected) _acs.CloseComm();
+			DisableFaultEvent();
+			if (_mAcsConnected)
+			{
+				_acs.CloseComm();
+			}
 
 			tmrMonitor.Stop();
-
+			_mAcsConnected = false;
 			btn_ACSStart.Enabled = true;
 			btn_ACSStop.Enabled = false;
 		}
@@ -1019,9 +1069,10 @@ namespace HexcalMC
 			_mlblEnable[1] = lblEnable1;
 			_mlblEnable[2] = lblEnable2;
 
-			EnableFaultEvent();//订阅错误事件
+			EnableFaultEvent(); //订阅错误事件
 		}
 
+
 		public static bool IsWithinLimit(Point3D point) //判断点是否在行程范围内
 		{
 			if (point.X >= XMinstrokesw && point.X <= XMaxstrokesw &&
@@ -1136,6 +1187,16 @@ namespace HexcalMC
 		private void rtb_quick_loc_Click(object sender, EventArgs e)
 		{
 			//获取输入
+
+			// 获取文本框的值
+			double x = double.Parse(rtb_SetX.Text);
+			double y = double.Parse(rtb_Sety.Text);
+			double z = double.Parse(rtb_SetZ.Text);
+
+			// 构造 Point3D 对象
+			Point3D point = new Point3D(x, y, z);
+
+			SetPositionXyz(point);
 		}
 
 		#endregion ACS平台相关
diff --git a/HexcalMC/Motion/Motion.Designer.cs b/HexcalMC/Motion/Motion.Designer.cs
index 91f274a..a427460 100644
--- a/HexcalMC/Motion/Motion.Designer.cs
+++ b/HexcalMC/Motion/Motion.Designer.cs
@@ -198,6 +198,7 @@
 			this.btn_X_left = new System.Windows.Forms.Button();
 			this.btn_Y_Forward = new System.Windows.Forms.Button();
 			this.groupBox6 = new System.Windows.Forms.GroupBox();
+			this.button1 = new System.Windows.Forms.Button();
 			this.btn_home = new System.Windows.Forms.Button();
 			this.groupBox10 = new System.Windows.Forms.GroupBox();
 			this.label48 = new System.Windows.Forms.Label();
@@ -207,7 +208,6 @@
 			this.checkBox_Z = new System.Windows.Forms.CheckBox();
 			this.checkBox_y = new System.Windows.Forms.CheckBox();
 			this.checkBox_X = new System.Windows.Forms.CheckBox();
-			this.button1 = new System.Windows.Forms.Button();
 			this.groupBox1.SuspendLayout();
 			this.grpMotionTest.SuspendLayout();
 			this.grpMst.SuspendLayout();
@@ -1954,6 +1954,16 @@
 			this.groupBox6.TabStop = false;
 			this.groupBox6.Text = "动作";
 			// 
+			// button1
+			// 
+			this.button1.Location = new System.Drawing.Point(94, 24);
+			this.button1.Name = "button1";
+			this.button1.Size = new System.Drawing.Size(75, 30);
+			this.button1.TabIndex = 3;
+			this.button1.Text = "立即停止";
+			this.button1.UseVisualStyleBackColor = true;
+			this.button1.Click += new System.EventHandler(this.BtnHallAll_Click);
+			// 
 			// btn_home
 			// 
 			this.btn_home.Location = new System.Drawing.Point(7, 24);
@@ -2046,16 +2056,6 @@
 			this.checkBox_X.Text = "X";
 			this.checkBox_X.UseVisualStyleBackColor = true;
 			// 
-			// button1
-			// 
-			this.button1.Location = new System.Drawing.Point(94, 24);
-			this.button1.Name = "button1";
-			this.button1.Size = new System.Drawing.Size(75, 30);
-			this.button1.TabIndex = 3;
-			this.button1.Text = "立即停止";
-			this.button1.UseVisualStyleBackColor = true;
-			this.button1.Click += new System.EventHandler(this.BtnHallAll_Click);
-			// 
 			// Motion
 			// 
 			this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
diff --git a/HexcalMC/Motion/Motion.cs b/HexcalMC/Motion/Motion.cs
index b3c3bc6..2ef44b0 100644
--- a/HexcalMC/Motion/Motion.cs
+++ b/HexcalMC/Motion/Motion.cs
@@ -1150,6 +1150,7 @@ namespace HexcalMC
 			}
 		}
 
+
 		private void btn_Y_Back_MouseDown(object sender, MouseEventArgs e)
 		{
 			double lfVelocity = 0.0f;