diff --git a/MotionCtrlCard/CGugaoDriver.cpp b/MotionCtrlCard/CGugaoDriver.cpp
index 3a13c1c..02d3fab 100644
--- a/MotionCtrlCard/CGugaoDriver.cpp
+++ b/MotionCtrlCard/CGugaoDriver.cpp
@@ -1,5 +1,8 @@
 #include "CGugaoDriver.h"
+#ifndef _WINDOWS_H
 #include <windows.h>
+#define _WINDOWS_H
+#endif
 #include "gts.h"
 #include "gtgl500.h"
 #include <thread>
@@ -147,8 +150,8 @@ int CGugaoDriver::AbsMove(int iAxisId,
 	double dMoveSpeed,
 	bool bWaitFinished)
 {
-	if (!m_open)
-		return 1;
+	/*if (!m_open)
+		return 1;*/
 
 	//执行安全回调
 	if (m_onAxisMoveSafeFunc != nullptr)
@@ -237,12 +240,19 @@ int CGugaoDriver::AbsMove(int iAxisId,
 		Logger::GetInstance()->WriteLog(0, "GTN_Update is error");
 		return 1;
 	}
-
+	int totalWaitTime = 120 * 1000 * 10;
+	int useTime = 0;
 	if (bWaitFinished)
 	{
 		long lAxisSts = 0;
 		while (true)
 		{
+			//大于30S必须强制退出，不然会卡死
+			useTime += 25;
+			if (useTime >= totalWaitTime)
+			{
+				return 1;
+			}
 			// 读取AXIS轴的状态
 			sRtn = GTN_GetSts(CORE_NUM, iAxisId, &lAxisSts);
 			if (sRtn)
diff --git a/MotionCtrlCard/CGugaoDriver.h b/MotionCtrlCard/CGugaoDriver.h
index 131b57b..426ba51 100644
--- a/MotionCtrlCard/CGugaoDriver.h
+++ b/MotionCtrlCard/CGugaoDriver.h
@@ -3,7 +3,11 @@
 #define CORE_NUM 1
 #define CYCLIC_SYNC_POSITION 8 //����ģʽΪѭ���˶�����ģʽ
 
+#ifndef _WINDOWS_H
 #include <windows.h>
+#define _WINDOWS_H
+#endif
+
 #include <vector>
 #include "IGugaoDriver.h"
 #include "Logger.h"
@@ -42,7 +46,7 @@ public:
 	virtual bool IsAxisPaslimit(int iAxisId);
 	virtual bool isAxisNagLimit(int iAxisId);
 
-private:
+protected:
 	bool m_open = false;
 };
 
diff --git a/MotionCtrlCard/CMotorDriver.cpp b/MotionCtrlCard/CMotorDriver.cpp
index a4eef48..2e810f0 100644
--- a/MotionCtrlCard/CMotorDriver.cpp
+++ b/MotionCtrlCard/CMotorDriver.cpp
@@ -1,7 +1,10 @@
 #define CARD_DLL_API _declspec(dllexport)
 
 #include "CMotorDriver.h"
+#ifndef _WINDOWS_H
 #include <windows.h>
+#define _WINDOWS_H
+#endif
 #include "gts.h"
 #include "gtgl500.h"
 #include <thread>
@@ -40,7 +43,7 @@ int CMotorDriver::Relmove(int motorId, double pos, bool waitFinished)
 	prfPos += pos;
 	prfPos = prfPos / motorObj->PulseTo1mm();
 
-	AbsMove(motorId, motorObj->PulseTo1mm(), pos, motorObj->Acc(), motorObj->Dec(), motorObj->Vel(),true);
+	AbsMove(motorId, motorObj->PulseTo1mm(), prfPos, motorObj->Acc(), motorObj->Dec(), motorObj->Vel(),true);
 	return 0;
 }
 
@@ -169,8 +172,8 @@ int CMotorDriver::RelmoveMulti(std::vector<int> motorIdVec, std::vector<double>
 
 int CMotorDriver::Home(int motorId, bool waitFinished)
 {
-	if (!m_open)
-		return 1;
+	/*if (!m_open)
+		return 1;*/
 
 	// 必须处于伺服使能状态， 切换到回零模式
 	short sRtn = GTN_SetHomingMode(m_gugaoCardCore, motorId, 6);
diff --git a/MotionCtrlCard/CMotorDriver.h b/MotionCtrlCard/CMotorDriver.h
index 15e2dec..59c553c 100644
--- a/MotionCtrlCard/CMotorDriver.h
+++ b/MotionCtrlCard/CMotorDriver.h
@@ -1,6 +1,9 @@
 #pragma once
 
+#ifndef _WINDOWS_H
 #include <windows.h>
+#define _WINDOWS_H
+#endif
 #include <algorithm>
 #include "Logger.h"
 #include "CGugaoDriver.h"
@@ -29,7 +32,7 @@ public:
 
 public:
 	std::vector<MotorAttr>* m_motor = nullptr; //���е���Ĺ���
-	bool m_open = false;;//���ƿ��Ƿ��ʼ���ɹ�
+	//bool m_open = false;;//���ƿ��Ƿ��ʼ���ɹ�
 	const short m_gugaoCardCore = 1;
 };
 
diff --git a/MotionCtrlCard/Debug/CGugaoDriver.obj b/MotionCtrlCard/Debug/CGugaoDriver.obj
new file mode 100644
index 0000000..0531f00
Binary files /dev/null and b/MotionCtrlCard/Debug/CGugaoDriver.obj differ
diff --git a/MotionCtrlCard/Debug/CMotorDriver.obj b/MotionCtrlCard/Debug/CMotorDriver.obj
new file mode 100644
index 0000000..c045339
Binary files /dev/null and b/MotionCtrlCard/Debug/CMotorDriver.obj differ
diff --git a/MotionCtrlCard/Debug/Logger.obj b/MotionCtrlCard/Debug/Logger.obj
new file mode 100644
index 0000000..104e24a
Binary files /dev/null and b/MotionCtrlCard/Debug/Logger.obj differ
diff --git a/MotionCtrlCard/Debug/MotionCtrlCard.Build.CppClean.log b/MotionCtrlCard/Debug/MotionCtrlCard.Build.CppClean.log
new file mode 100644
index 0000000..f81f939
--- /dev/null
+++ b/MotionCtrlCard/Debug/MotionCtrlCard.Build.CppClean.log
@@ -0,0 +1,18 @@
+e:\third\motionctrlcard\debug\vc140.pdb
+e:\third\motionctrlcard\debug\vc140.idb
+e:\third\motionctrlcard\debug\cgugaodriver.obj
+e:\third\motionctrlcard\debug\cmotordriver.obj
+e:\third\motionctrlcard\debug\logger.obj
+e:\third\motionctrlcard\debug\motor.obj
+e:\wafermark\code\wafermark\debug\motionctrlcard.ilk
+e:\wafermark\code\wafermark\debug\motionctrlcard.dll
+e:\wafermark\code\wafermark\debug\motionctrlcard.pdb
+e:\third\motionctrlcard\motionctrlcard.lib
+e:\third\motionctrlcard\motionctrlcard.exp
+e:\third\motionctrlcard\debug\motionctrlcard.tlog\cl.command.1.tlog
+e:\third\motionctrlcard\debug\motionctrlcard.tlog\cl.read.1.tlog
+e:\third\motionctrlcard\debug\motionctrlcard.tlog\cl.write.1.tlog
+e:\third\motionctrlcard\debug\motionctrlcard.tlog\link.command.1.tlog
+e:\third\motionctrlcard\debug\motionctrlcard.tlog\link.read.1.tlog
+e:\third\motionctrlcard\debug\motionctrlcard.tlog\link.write.1.tlog
+e:\third\motionctrlcard\debug\motionctrlcard.tlog\motionctrlcard.write.1u.tlog
diff --git a/MotionCtrlCard/Debug/MotionCtrlCard.log b/MotionCtrlCard/Debug/MotionCtrlCard.log
new file mode 100644
index 0000000..0f3f60a
--- /dev/null
+++ b/MotionCtrlCard/Debug/MotionCtrlCard.log
@@ -0,0 +1,11 @@
+  CMotorDriver.cpp
+e:\third\motionctrlcard\igugaodriver.h(48): warning C4251: “IGugaoDriver::m_onAxisMoveSafeFunc”: class“std::function<bool (int,double)>”需要有 dll 接口由 class“IGugaoDriver”的客户端使用
+  e:\third\motionctrlcard\igugaodriver.h(7): note: 参见“std::function<bool (int,double)>”的声明
+e:\third\motionctrlcard\igugaodriver.h(49): warning C4251: “IGugaoDriver::m_onAxisPrevHomeFunc”: class“std::function<bool (int)>”需要有 dll 接口由 class“IGugaoDriver”的客户端使用
+  e:\third\motionctrlcard\igugaodriver.h(8): note: 参见“std::function<bool (int)>”的声明
+e:\third\motionctrlcard\igugaodriver.h(50): warning C4251: “IGugaoDriver::m_AxisAfterHomeFunc”: class“std::function<bool (int)>”需要有 dll 接口由 class“IGugaoDriver”的客户端使用
+  e:\third\motionctrlcard\igugaodriver.h(8): note: 参见“std::function<bool (int)>”的声明
+e:\third\motionctrlcard\igugaodriver.h(51): warning C4251: “IGugaoDriver::m_onSetIoSafeFunc”: class“std::function<bool (int,unsigned char)>”需要有 dll 接口由 class“IGugaoDriver”的客户端使用
+  e:\third\motionctrlcard\igugaodriver.h(10): note: 参见“std::function<bool (int,unsigned char)>”的声明
+  MotionCtrlCard.vcxproj -> E:\WaferMark\code\WaferMark\Debug\MotionCtrlCard.dll
+  MotionCtrlCard.vcxproj -> E:\WaferMark\code\WaferMark\Debug\MotionCtrlCard.pdb (Full PDB)
diff --git a/MotionCtrlCard/Debug/MotionCtrlCard.tlog/CL.command.1.tlog b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/CL.command.1.tlog
new file mode 100644
index 0000000..f97b149
Binary files /dev/null and b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/CL.command.1.tlog differ
diff --git a/MotionCtrlCard/Debug/MotionCtrlCard.tlog/CL.read.1.tlog b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/CL.read.1.tlog
new file mode 100644
index 0000000..8be5f68
Binary files /dev/null and b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/CL.read.1.tlog differ
diff --git a/MotionCtrlCard/Debug/MotionCtrlCard.tlog/CL.write.1.tlog b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/CL.write.1.tlog
new file mode 100644
index 0000000..f0e48e8
Binary files /dev/null and b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/CL.write.1.tlog differ
diff --git a/MotionCtrlCard/Debug/MotionCtrlCard.tlog/MotionCtrlCard.lastbuildstate b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/MotionCtrlCard.lastbuildstate
new file mode 100644
index 0000000..7660ecb
--- /dev/null
+++ b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/MotionCtrlCard.lastbuildstate
@@ -0,0 +1,2 @@
+#TargetFrameworkVersion=v4.0:PlatformToolSet=v140:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native32Bit:WindowsTargetPlatformVersion=8.1
+Debug|Win32|E:\WaferMark\code\WaferMark\|
diff --git a/MotionCtrlCard/Debug/MotionCtrlCard.tlog/MotionCtrlCard.write.1u.tlog b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/MotionCtrlCard.write.1u.tlog
new file mode 100644
index 0000000..b64b82e
Binary files /dev/null and b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/MotionCtrlCard.write.1u.tlog differ
diff --git a/MotionCtrlCard/Debug/MotionCtrlCard.tlog/link.command.1.tlog b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/link.command.1.tlog
new file mode 100644
index 0000000..3566032
Binary files /dev/null and b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/link.command.1.tlog differ
diff --git a/MotionCtrlCard/Debug/MotionCtrlCard.tlog/link.read.1.tlog b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/link.read.1.tlog
new file mode 100644
index 0000000..1f926a9
Binary files /dev/null and b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/link.read.1.tlog differ
diff --git a/MotionCtrlCard/Debug/MotionCtrlCard.tlog/link.write.1.tlog b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/link.write.1.tlog
new file mode 100644
index 0000000..31795e1
Binary files /dev/null and b/MotionCtrlCard/Debug/MotionCtrlCard.tlog/link.write.1.tlog differ
diff --git a/MotionCtrlCard/Debug/Motor.obj b/MotionCtrlCard/Debug/Motor.obj
new file mode 100644
index 0000000..f8d0b13
Binary files /dev/null and b/MotionCtrlCard/Debug/Motor.obj differ
diff --git a/MotionCtrlCard/Debug/vc140.idb b/MotionCtrlCard/Debug/vc140.idb
new file mode 100644
index 0000000..a606c42
Binary files /dev/null and b/MotionCtrlCard/Debug/vc140.idb differ
diff --git a/MotionCtrlCard/Debug/vc140.pdb b/MotionCtrlCard/Debug/vc140.pdb
new file mode 100644
index 0000000..8f91012
Binary files /dev/null and b/MotionCtrlCard/Debug/vc140.pdb differ
diff --git a/MotionCtrlCard/MotionCtrlCard.exp b/MotionCtrlCard/MotionCtrlCard.exp
index bd5408f..6b4677a 100644
Binary files a/MotionCtrlCard/MotionCtrlCard.exp and b/MotionCtrlCard/MotionCtrlCard.exp differ
diff --git a/MotionCtrlCard/MotionCtrlCard.lib b/MotionCtrlCard/MotionCtrlCard.lib
index c68513a..8e5aadf 100644
Binary files a/MotionCtrlCard/MotionCtrlCard.lib and b/MotionCtrlCard/MotionCtrlCard.lib differ
diff --git a/camera/mfcdll-basler b/camera/mfcdll-basler
new file mode 160000
index 0000000..a7cb218
--- /dev/null
+++ b/camera/mfcdll-basler
@@ -0,0 +1 @@
+Subproject commit a7cb2188765b88c84535f9b4d3a8691eeeaf7ee5
diff --git a/xizan/XizanManage.cpp b/xizan/XizanManage.cpp
index 44dee8c..0dea1f3 100644
--- a/xizan/XizanManage.cpp
+++ b/xizan/XizanManage.cpp
@@ -21,8 +21,9 @@ void XizanManage::connectXizan()
 	if (m_xizanSocket == nullptr)
 	{
 		m_xizanSocket = new QTcpSocket(this);
+		//connect(m_xizanSocket, SIGNAL(readyRead()), this, SLOT(onReadyRead()));
 		//connect(m_xizanSocket, &QTcpSocket::connected, this, &XizanManage::onConnected);
-		connect(m_xizanSocket, &QTcpSocket::readyRead, this, &XizanManage::onReadyRead);
+		//connect(m_xizanSocket, &QTcpSocket::readyRead, this, &XizanManage::onReadyRead);
 		//connect(m_xizanSocket, &QTcpSocket::disconnected, this, &XizanManage::onReadyRead);
 	}
 	m_xizanSocket->connectToHost(m_ip, m_port);
@@ -31,17 +32,38 @@ void XizanManage::connectXizan()
 
 void XizanManage::SendOrder(QString& order)
 {
-	m_xizanSocket->write(order.toUtf8());
-	m_xizanSocket->flush();
+	
 }
 
 void XizanManage::disConnectXizan()
 {
-	m_xizanSocket->disconnectFromHost();
+	if (m_xizanSocket != nullptr)
+	{
+		m_xizanSocket->disconnectFromHost();
+	}
+}
+
+QString XizanManage::GetXizanData()
+{
+	QString recvStr;
+
+	connectXizan();
+	QString str = "VTFP 0 0";
+	if (m_xizanSocket != nullptr)
+	{
+		m_xizanSocket->write(str.toStdString().c_str());
+		m_xizanSocket->waitForBytesWritten(); // ȷ��������ȫ����
+		m_xizanSocket->waitForReadyRead(3000); // �ȴ���������Ӧ
+		recvStr = QString::fromUtf8(m_xizanSocket->readAll());
+		int i = 0;
+	}
+	disConnectXizan();
+	return recvStr;
 }
 
 void XizanManage::onReadyRead()
 {
-	QString recvStr = QString::fromUtf8(m_xizanSocket->readAll());
-	emit signal_sendRecvStr(recvStr);
+	//�������ݸ�ʽ: VTFP 0 2572.59 2631.00
+	/*QString recvStr = QString::fromUtf8(m_xizanSocket->readAll());
+	emit signal_sendRecvStr(recvStr);*/
 }
diff --git a/xizan/XizanManage.h b/xizan/XizanManage.h
index 52184ba..6c1f670 100644
--- a/xizan/XizanManage.h
+++ b/xizan/XizanManage.h
@@ -15,6 +15,7 @@ public:
 	void connectXizan();
 	void SendOrder(QString& order);
 	void disConnectXizan();
+	QString GetXizanData();
 signals:
 	void signal_sendRecvStr(QString str);