diff --git a/HSI_HexagonMI_EF3/HSI_Motion.cpp b/HSI_HexagonMI_EF3/HSI_Motion.cpp
index dfaf460..6ec3c02 100644
--- a/HSI_HexagonMI_EF3/HSI_Motion.cpp
+++ b/HSI_HexagonMI_EF3/HSI_Motion.cpp
@@ -100,6 +100,7 @@ void HSI_Motion::ErrorsHandler()
 		g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Communication handle is invalid\n");
 	}
 };
+
 //===========================================================================
 //运动类构造函数，涉及 运动控制参数、插补、回家、摇杆、日志等配置信息的加载
 HSI_Motion::HSI_Motion()
@@ -205,6 +206,7 @@ HSI_Motion::HSI_Motion()
 	SetPotionRunEnd = false;
 	PntToPntDistance = 0.0;
 	m_IsLightDebug = 0; //是否不回家也能调试灯光 0为不启用 1为启用 默认为0
+
 	for (int i = 0; i < 4; i++)
 	{
 		m_IsOpenTCPIP[i] = ""; //可提供的tcp通信的ip
@@ -360,6 +362,9 @@ HSI_Motion::HSI_Motion()
 	g_RW_Data_Mutex = CreateMutex(nullptr, FALSE, nullptr);
 	g_WR_ToMove_Mutex = CreateMutex(nullptr, FALSE, nullptr);
 	g_Lock_JogAndTrigger = CreateMutex(nullptr, FALSE, nullptr);
+
+	// 初始化当前运动模式
+	m_CurrentMode = JogMode;
 }
 
 //===========================================================================
@@ -2023,6 +2028,8 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 			g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Success!\n");
 		}
 
+		SwitchMode(JogMode); //切换模式,设置当前模式为JOG模式
+
 		//开始JOG运动
 		if (!bJOGDir)
 		{
@@ -2430,6 +2437,8 @@ HSI_STATUS HSI_Motion::StopJog()
 			m_WriteByte = Send_Command(0, (const char*)m_SendJogData, m_SendDataLength);
 		}*/
 
+		SwitchMode(JogMode); //设置当前模式为JOG模式 
+
 		//int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 };
 		if (handleACS != ACSC_INVALID)
 		{
@@ -3594,6 +3603,9 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Success!\n");
 			}
 
+		
+			SwitchMode(PTPMode); //设置当前模式为JOG模式 
+
 			//开始运动到指定位置，多轴运动
 			double Points[] = { PositionX, PositionY, PositionZ }; //目标位置点
 			if (!acsc_ToPointM(handleACS, 0, ACSAxisNumbers, Points, nullptr)) //移动到绝对位置
@@ -5364,6 +5376,11 @@ HSI_STATUS HSI_Motion::AbortMotion() //需要运动实现
 				ErrorsHandler();
 			}
 		}
+
+		// 增加一个阻塞延时 500ms
+		Sleep(500);
+
+
 		g_pLogger->SendAndFlushWithTime(L"[AbortMotion] Out\n");
 	}
 	return rStatus;
@@ -7919,6 +7936,39 @@ HSI_STATUS HSI_Motion::SetSpeedXyz(double Speed)
 	return rStatus;
 }
 
+//===========================================================================
+// 切换运动模式函数
+void HSI_Motion::SwitchMode(MotionMode newMode)
+{
+	g_pLogger->SendAndFlushWithTime(L"[SwitchMode] In ================================ \n");
+
+	// 打印新模式
+	g_pLogger->SendAndFlushWithTime(L"[SwitchMode] New mode: %d\n", newMode);
+	// 打印当前模式
+	g_pLogger->SendAndFlushWithTime(L"[SwitchMode] Current mode: %d\n", m_CurrentMode);
+	if (m_CurrentMode != newMode)
+	{
+		// 根据新模式进行准备工作
+		//switch (newMode)
+		//{
+		//case MODE_A:
+		//	PrepareForModeA();
+		//	break;
+		//case MODE_B:
+		//	PrepareForModeB();
+		//	break;
+		//}
+
+		AbortMotion(); //模式切换前先停止运动
+
+
+		// 更新当前模式
+		m_CurrentMode = newMode;
+		g_pLogger->SendAndFlushWithTime(L"Switched to new mode: %d\n", newMode);
+	}
+	g_pLogger->SendAndFlushWithTime(L"[SwitchMode] Out ================================\n");
+}
+
 //===========================================================================
 //HSI_STATUS HSI_Motion::GetFocusSpeedOld(double& Speed)
 //{
@@ -7941,18 +7991,18 @@ HSI_STATUS HSI_Motion::GetFocusSpeed(double& Speed)
 	auto rStatus = HSI_STATUS_NORMAL;
 
 	// 方式1
-	//Speed = m_Jog_Auto_Focus;
+	Speed = m_Jog_Auto_Focus;
 	g_pLogger->SendAndFlushWithTime(L"[GetFocusSpeed]  m_Jog_Auto_Focus = %f\n", m_Jog_Auto_Focus);
 
 	// 方式2，从底层查询
 	// 正常这里要读取z轴的速度，但是这里直接返回m_Jog_Auto_Focus
-	double getMotionParam[5] = { 0 };
-	GetSingleAxisParam(ACSAxisNumbers[2], getMotionParam); //获取单轴运动参数
-	g_pLogger->SendAndFlushWithTime(
-		L"[GetFocusSpeed] Axis= %d, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n",
-		ACSAxisNumbers[2], getMotionParam[0], getMotionParam[1], getMotionParam[2], getMotionParam[3], getMotionParam[4]);
+	//double getMotionParam[5] = { 0 };
+	//GetSingleAxisParam(ACSAxisNumbers[2], getMotionParam); //获取单轴运动参数
+	//g_pLogger->SendAndFlushWithTime(
+	//	L"[GetFocusSpeed] Axis= %d, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n",
+	//	ACSAxisNumbers[2], getMotionParam[0], getMotionParam[1], getMotionParam[2], getMotionParam[3], getMotionParam[4]);
 
-	Speed = getMotionParam[0]; //从getMotionParam[0]中获取速度
+	//Speed = getMotionParam[0]; //从getMotionParam[0]中获取速度
 	g_pLogger->SendAndFlushWithTime(L"[GetFocusSpeed] AxisNum = %d, Speed=%.2f\n", ACSAxisNumbers[2], Speed);
 	return rStatus;
 }
@@ -7979,7 +8029,7 @@ HSI_STATUS HSI_Motion::GetFocusSpeed(double& Speed)
 HSI_STATUS HSI_Motion::SetFocusSpeed(double Speed)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
-	g_pLogger->SendAndFlushWithTime(L"[SetFocusSpeed] In \n");
+	g_pLogger->SendAndFlushWithTime(L"[SetFocusSpeed] In ================================\n");
 	g_pLogger->SendAndFlushWithTime(L"[SetFocusSpeed] Speed = %f\n", Speed);
 	m_Jog_Auto_Focus = Speed;
 	g_pLogger->SendAndFlushWithTime(L"[SetFocusSpeed] m_Jog_Auto_Focus= %f\n", m_Jog_Auto_Focus);
@@ -7997,7 +8047,13 @@ HSI_STATUS HSI_Motion::SetFocusSpeed(double Speed)
 	SetSingleAxisMotionParams(ACSAxisNumbers[2], Z_SetmotionParam);//设置Z轴定位速度
 	m_SetPotion_DriveSpeed[ACSAxisNumbers[2]] = Z_SetmotionParam[0]; //记录Z轴速度
 
-	g_pLogger->SendAndFlushWithTime(L"[SetFocusSpeed] Out \n");
+	for (int j = 0;j < 9;j++)
+	{
+		//写日志
+		g_pLogger->SendAndFlushWithTime(L"m_SetPotion_DriveSpeed[%d] = %d\n", j, m_SetPotion_DriveSpeed[j]);
+	}
+
+	g_pLogger->SendAndFlushWithTime(L"[SetFocusSpeed] Out ================================\n");
 	return rStatus;
 }
 
diff --git a/HSI_HexagonMI_EF3/HSI_Motion.h b/HSI_HexagonMI_EF3/HSI_Motion.h
index 754daa4..157dbaf 100644
--- a/HSI_HexagonMI_EF3/HSI_Motion.h
+++ b/HSI_HexagonMI_EF3/HSI_Motion.h
@@ -145,6 +145,15 @@ struct Point3D {
 	double z;
 };
 
+// 定义运动模式枚举类型
+enum MotionMode
+{
+	JogMode,
+	PTPMode,
+};
+
+
+
 class HSI_Motion : public HSI
 {
 public:
@@ -184,6 +193,8 @@ public:
 	 */
 	HSI_STATUS GetSpeedXyz(int AxisNum, double& Speed);
 	HSI_STATUS GetSpeedXyzOld(int AxisNum, double& Speed);
+
+	void SwitchMode(MotionMode newMode);
 	/**
 	* \brief 设置单轴运动速度
 	* \param AxisNum
@@ -582,7 +593,8 @@ public:
 
 
 	int IS_DEBUG; //是否启用调试模式
-
+	// 变量来存储当前的运动模式
+	MotionMode m_CurrentMode;
 
 	BOOL Send_Command(int com, const char* _SendData, DWORD _SendDataLength);
 	BOOL Send_Command(int com, const char* _SendData, DWORD SendDataLength, int expectType);// 带期望返回值的发送命令
diff --git a/HSI_HexagonMI_EF3/version.h b/HSI_HexagonMI_EF3/version.h
index 30a4db2..bb35120 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          "2025.03.03 / 15:05 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2025.03.03 / 15:05 ")  
+#define HSI_FILE_DESCRIPTION          "2025.03.05 / 16:50 "  
+#define HSI_FILE_CSDESCRIPTION        _T("2025.03.05 / 16:50 ")