diff --git a/Rs.Motion/Base/IAxis.cs b/Rs.Motion/Base/IAxis.cs
index 3b5ffc2..3027f11 100644
--- a/Rs.Motion/Base/IAxis.cs
+++ b/Rs.Motion/Base/IAxis.cs
@@ -81,12 +81,12 @@ namespace Rs.Motion.Base
             return ErrorCode.Ok;
         }
 
-        public virtual ErrorCode MovePos(double dfPosVal, int percent = 100,double accTime=0,double decTime=0)
+        public virtual ErrorCode MovePos(double dfPosVal, int percent = 100)
         {
             return ErrorCode.Ok;
         }
 
-        public virtual ErrorCode MoveOffset(double dfDistVal, int percent = 100,double accTime=0,double decTime=0)
+        public virtual ErrorCode MoveOffset(double dfDistVal, int percent = 100)
         {
             return ErrorCode.Ok;
         }
diff --git a/Rs.Motion/GugaoEcat/GugaoAxis.cs b/Rs.Motion/GugaoEcat/GugaoAxis.cs
index bf3ea44..890871c 100644
--- a/Rs.Motion/GugaoEcat/GugaoAxis.cs
+++ b/Rs.Motion/GugaoEcat/GugaoAxis.cs
@@ -263,7 +263,7 @@ namespace Rs.Motion.GugaoEcat
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100,double accTime=0,double decTime=0)
+        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100)
         {
             if (!cardManager.IsInitialized)
                 return ErrorCode.CardNotInit;
@@ -308,8 +308,11 @@ namespace Rs.Motion.GugaoEcat
             MmToPulse(Config.StopSpeed, out double stopSpeedPulse);
 
             float fMaxVel = (float)(maxSpeedPulse * dfPercent / 1000.0);//pulse/ms
-            float fAcc = (float)(maxSpeedPulse / (accTime == 0 ? Config.AccTime : accTime) / 1000000.0);
-            float fDec = (float)(maxSpeedPulse / (decTime == 0 ? Config.DecTime : decTime) / 1000000.0);
+            //float fAcc = (float)(maxSpeedPulse / (accTime == 0 ? Config.AccTime : accTime) / 1000000.0);
+            //float fDec = (float)(maxSpeedPulse / (decTime == 0 ? Config.DecTime : decTime) / 1000000.0);
+
+            float fAcc = (float)(maxSpeedPulse / Config.AccTime / 1000000.0);
+            float fDec = (float)(maxSpeedPulse / Config.DecTime / 1000000.0);
             float fStart = (float)(minSpeedPulse / 1000.0);
             float fStop = (float)(stopSpeedPulse / 1000.0);
             apiResult = mc_ecat.GTN_PrfTrap(core, (short)Config.AxisId);//设置运动模式为点位运动
@@ -356,7 +359,7 @@ namespace Rs.Motion.GugaoEcat
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
+        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100)
         {
             if (!cardManager.IsInitialized)
             {
diff --git a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
index cf2203a..d321ca6 100644
--- a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
+++ b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
@@ -300,7 +300,7 @@ namespace Rs.Motion.GugaoPulse
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 4,double accTime=0,double decTime=0)
+        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 4)
         {
             if (!cardManager.IsInitialized)
                 return ErrorCode.CardNotInit;
@@ -348,8 +348,10 @@ namespace Rs.Motion.GugaoPulse
             MmToPulse(Config.StopSpeed, out double stopSpeedPulse);
 
             float fMaxVel = (float)(maxSpeedPulse * dfPercent / 1000.0);//pulse/ms
-            float fAcc = (float)(maxSpeedPulse / (accTime == 0 ? Config.AccTime : accTime) / 1000000.0);
-            float fDec = (float)(maxSpeedPulse / (decTime == 0 ? Config.DecTime : decTime) / 1000000.0);
+            //float fAcc = (float)(maxSpeedPulse / (accTime == 0 ? Config.AccTime : accTime) / 1000000.0);
+            //float fDec = (float)(maxSpeedPulse / (decTime == 0 ? Config.DecTime : decTime) / 1000000.0);
+            float fAcc = (float)(maxSpeedPulse / Config.AccTime / 1000000.0);
+            float fDec = (float)(maxSpeedPulse / Config.DecTime / 1000000.0);
             float fStart = (float)(minSpeedPulse / 1000.0);
             float fStop = (float)(stopSpeedPulse / 1000.0);
             apiResult = mc_pulse.GT_PrfTrap((short)Config.CardId, (short)Config.AxisId);//设置运动模式为点位运动
@@ -400,7 +402,7 @@ namespace Rs.Motion.GugaoPulse
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
+        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100)
         {
             if (!cardManager.IsInitialized)
             {
diff --git a/Rs.Motion/Properties/AssemblyInfo.cs b/Rs.Motion/Properties/AssemblyInfo.cs
index 39e6715..e5711a2 100644
--- a/Rs.Motion/Properties/AssemblyInfo.cs
+++ b/Rs.Motion/Properties/AssemblyInfo.cs
@@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
 //通过使用 "*"，如下所示:
 // [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("2.0.2.31")]
+[assembly: AssemblyVersion("2.20.24.3")]
 //[assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/Rs.Motion/Ztm/ZtmAxis.cs b/Rs.Motion/Ztm/ZtmAxis.cs
index c249a25..c3a17f8 100644
--- a/Rs.Motion/Ztm/ZtmAxis.cs
+++ b/Rs.Motion/Ztm/ZtmAxis.cs
@@ -268,7 +268,7 @@ namespace Rs.Motion.GugaoEcat
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
+        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100)
         {
             if (!cardManager.IsInitialized)
                 return ErrorCode.CardNotInit;
@@ -316,8 +316,10 @@ namespace Rs.Motion.GugaoEcat
             float fMaxVel = (float)(maxSpeedPulse * dfPercent / 1000.0);//pulse/ms
             //float fAcc = (float)(maxSpeedPulse / Config.AccTime / 1000000.0);
             //float fDec = (float)(maxSpeedPulse / Config.DecTime / 1000000.0);
-            float fAcc = (float)(fMaxVel / (accTime==0?Config.AccTime:accTime * 1000));
-            float fDec = (float)(fMaxVel / (decTime==0?Config.DecTime:decTime * 1000));
+            //float fAcc = (float)(fMaxVel / (accTime==0?Config.AccTime:accTime * 1000));
+            //float fDec = (float)(fMaxVel / (decTime==0?Config.DecTime:decTime * 1000));
+             float fAcc = (float)(fMaxVel / Config.AccTime / 1000.0);//pulse/ms2
+             float fDec = (float)(fMaxVel / Config.DecTime / 1000.0);//pulse/ms2
             float fStart = (float)(minSpeedPulse / 1000.0);
             float fStop = (float)(stopSpeedPulse / 1000.0);
             m_apiResult = ZTM.ZT_MoveA(Config.CardMc, (short)Config.AxisId, (int)dfPos, fStart, fMaxVel, fAcc, fDec, fStop, (ushort)(Config.STime * 1000.0));
@@ -338,7 +340,7 @@ namespace Rs.Motion.GugaoEcat
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
+        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100)
         {
             if (!cardManager.IsInitialized)
             {