diff --git a/HSI_HexagonMI_EF3/HSI_Motion.cpp b/HSI_HexagonMI_EF3/HSI_Motion.cpp
index 9aa6c3f..1113320 100644
--- a/HSI_HexagonMI_EF3/HSI_Motion.cpp
+++ b/HSI_HexagonMI_EF3/HSI_Motion.cpp
@@ -234,9 +234,9 @@ HSI_Motion::HSI_Motion()
 
 	//是否启用日志
 	CTime tm = CTime::GetCurrentTime();
-	//CString csTime = tm.Format("%Y-%m-%d_%H-%M-%S"); //构造时间字符串
-	CString csTime = tm.Format("%Y-%m-%d"); //构造时间字符串
-	CString dir = L"\\Log\\" + csTime += L"_EF3.Log";
+	CString csTime = tm.Format("%Y-%m-%d_%H-%M-%S"); //构造时间字符串
+	//CString csTime = tm.Format("%Y-%m-%d"); //构造时间字符串
+	CString dir = L"\\Log\\" + csTime += L"_Motion.Log";
 	g_pLogger = new CLogger(dir);
 	g_pLogger2 = new CLogger(L"\\Log\\EF3_SumTime.Log");
 
@@ -3541,8 +3541,8 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 				m_SetPotion_DriveSpeed[1],
 				m_SetPotion_DriveSpeed[1] * 10,
 				m_SetPotion_DriveSpeed[1] * 10,
-				0,
-				0
+				m_SetPotion_DriveSpeed[1] * 100,
+				m_SetPotion_DriveSpeed[1] * 100
 			};
 			
 			SetSingleAxisMotionParams(ACSC_AXIS_1, X_SetmotionParam);//设置X轴定位速度
@@ -3552,8 +3552,8 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 				m_SetPotion_DriveSpeed[2],
 				m_SetPotion_DriveSpeed[2] * 10 , 
 				m_SetPotion_DriveSpeed[2] * 10, 
-				0,
-				0 
+				m_SetPotion_DriveSpeed[2] * 100,
+				m_SetPotion_DriveSpeed[2] * 100
 			};
 
 
@@ -3561,11 +3561,11 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 
 			g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] 设置Z轴定位速度 %d\n", m_SetPotion_DriveSpeed[3]);
 			double Z_SetmotionParam[5] = { 
-				m_SetPotion_DriveSpeed[3],
-				m_SetPotion_DriveSpeed[3] * 10 , 
-				m_SetPotion_DriveSpeed[3] * 10, 
-				0,
-				0 
+				m_SetPotion_DriveSpeed[3],		//速度
+				m_SetPotion_DriveSpeed[3] * 10 ,//加速度
+				m_SetPotion_DriveSpeed[3] * 10, //减速度
+				m_SetPotion_DriveSpeed[3] * 100,//加加速度
+				m_SetPotion_DriveSpeed[3] * 100 //减减速度
 			};
 
 			SetSingleAxisMotionParams(ACSC_AXIS_8, Z_SetmotionParam);//设置Z轴定位速度
@@ -3744,20 +3744,21 @@ HSI_STATUS HSI_Motion::SetSingleAxisParam(int AXIS, double motionParam[5]) //设
 			rStatus = HSI_ACS_ERROR;
 			ErrorsHandler();
 		}
-		//// 杀死速度
-		//if (!acsc_SetKillDeceleration(handleACS, AXIS, motionParam[3], nullptr))
-		//{
-		//	g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] acsc_SetKillDeceleration error\n");
-		//	rStatus = HSI_ACS_ERROR;
-		//	ErrorsHandler();
-		//}
-		////抖动
-		//if (!acsc_SetJerk(handleACS, AXIS, motionParam[4], nullptr))
-		//{
-		//	g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] acsc_SetJerk error\n");
-		//	rStatus = HSI_ACS_ERROR;
-		//	ErrorsHandler();
-		//}
+		ACSC_WAITBLOCK* Wait = NULL;
+		// 杀死速度
+		if (!acsc_SetKillDeceleration(handleACS, AXIS, motionParam[3], Wait))
+		{
+			g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] acsc_SetKillDeceleration error\n");
+			rStatus = HSI_ACS_ERROR;
+			ErrorsHandler();
+		}
+		//抖动
+		if (!acsc_SetJerk(handleACS, AXIS, motionParam[4], Wait))
+		{
+			g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] acsc_SetJerk error\n");
+			rStatus = HSI_ACS_ERROR;
+			ErrorsHandler();
+		}
 
 		//打印	motionParam[5]
 		g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] AXIS = %d, Vel = %.4f, ACC = %.4f, DCC = %.4f, KillDec = %.4f, Jerk = %.4f\n",
@@ -4132,7 +4133,7 @@ HSI_STATUS HSI_Motion::Load_EF3_Motion_Inifile(CString GoogolIniFile)
 				/*m_JogDriveSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_DRIVESPEED_" , 10, csAppPath);*/
 				//m_JogDriveSpeed[j][i] = speed / (m_Resolution[j] * 50);//速度转换为脉冲
 				m_JogDriveSpeed[j][i] = speed; //直接读取速度
-				g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_JogDriveSpeed[%d][%d]: %ld %ld\n", i, j,
+				g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_JogDriveSpeed[%d][%d]: %ld %ld\n", j, i,
 				                                speed, m_JogDriveSpeed[j][i]); //打印配置文件 档位速度
 
 				GetPrivateProfileString(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], L"10",
@@ -7796,7 +7797,7 @@ HSI_STATUS HSI_Motion::GetSpeedXyz(int AxisNum, double& Speed)
 	short AxisNumber = AxisConvertIndex(AxisNum); //将轴号转换为 平台轴号
 
 	Speed = m_SetPotion_DriveSpeed[AxisNumber]; //从m_SetPotion_DriveSpeed[AxisNumber]中获取速度
-	g_pLogger->SendAndFlushWithTime(L"[GetSpeedXyz] AxisNum = %d, Speed=%d\n", AxisNumber, m_SetPotion_DriveSpeed[AxisNumber]);
+	g_pLogger->SendAndFlushWithTime(L"[GetSpeedXyz] AxisNum = %d, Speed=%d\n", AxisNumber, Speed);
 	
 	//g_pLogger->SendAndFlushWithTime(L"[GetSpeedXyz] Out\n");
 	return rStatus;
diff --git a/HSI_HexagonMI_EF3/version.h b/HSI_HexagonMI_EF3/version.h
index 5eba0b4..fd4f92a 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          "周四 2.24.06 / 14:56 "  
-#define HSI_FILE_CSDESCRIPTION        _T("周四 2.24.06 / 14:56 ")  
+#define HSI_FILE_DESCRIPTION          "周五 2.24.07 / 17:38 "  
+#define HSI_FILE_CSDESCRIPTION        _T("周五 2.24.07 / 17:38 ")  
diff --git a/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.exe b/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.exe
index b807b43..e62b219 100644
Binary files a/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.exe and b/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.exe differ
diff --git a/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.pdb b/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.pdb
index 9a612fd..839961b 100644
Binary files a/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.pdb and b/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.pdb differ