diff --git a/Rs.Motion/GugaoEcat/GugaoAxis.cs b/Rs.Motion/GugaoEcat/GugaoAxis.cs
index 48fb546..52b2cb1 100644
--- a/Rs.Motion/GugaoEcat/GugaoAxis.cs
+++ b/Rs.Motion/GugaoEcat/GugaoAxis.cs
@@ -272,7 +272,8 @@ namespace Rs.Motion.GugaoEcat
                 return ErrorCode.CardNotInit;
             if (!IsInitialized)
                 return ErrorCode.AxisNotInit;
-
+            if (!SafeCheck())
+                return ErrorCode.Unsafe;
             nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent;
             nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent;
             if (HomeStatus != EHomeStatus.Finished)
@@ -372,6 +373,8 @@ namespace Rs.Motion.GugaoEcat
             {
                 return ErrorCode.AxisNotInit;
             }
+            if (!SafeCheck())
+                return ErrorCode.Unsafe;
             nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent;
             nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent;
             double curPos = 0.0;
@@ -502,7 +505,8 @@ namespace Rs.Motion.GugaoEcat
             {
                 return ErrorCode.AxisNotInit;
             }
-
+            if (!SafeCheck())
+                return ErrorCode.Unsafe;
             nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent;
             nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent;
             ErrorCode err = IsEnable(out bool bEnable);
diff --git a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
index d1f9be5..fafea77 100644
--- a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
+++ b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
@@ -34,27 +34,27 @@ namespace Rs.Motion.GugaoPulse
         public override ErrorCode Init()
         {
 
-            mc_pulse_cfg.TAxisConfig axisConfig;
-            apiResult = mc_pulse_cfg.GT_GetAxisConfig((short)Config.CardId,(short)Config.AxisId,out axisConfig);
-            mc_pulse_cfg.TDiConfig diConfig;
-            if (!cardManager.IsInitialized)
-            {
-                return ErrorCode.CardNotInit;
-            }
-            HomeStatus = EHomeStatus.NotStart;
-            if (Config.EnableAlarm == 0)
-            {
-                mc_pulse.GT_AlarmOff((short)Config.CardId, (short)Config.AxisId);
-            }
-            else if (Config.EnableAlarm == 1)
-            {
-                axisConfig.alarmIndex = (short)Config.AxisId;
-                apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, out diConfig);
-                diConfig.active = 1;
-                diConfig.reverse = (short)Config.AlarmLogic;
-                diConfig.filterTime = 3;
-                apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, ref diConfig);
-            }
+            //mc_pulse_cfg.TAxisConfig axisConfig;
+            //apiResult = mc_pulse_cfg.GT_GetAxisConfig((short)Config.CardId,(short)Config.AxisId,out axisConfig);
+            //mc_pulse_cfg.TDiConfig diConfig;
+            //if (!cardManager.IsInitialized)
+            //{
+            //    return ErrorCode.CardNotInit;
+            //}
+            //HomeStatus = EHomeStatus.NotStart;
+            //if (Config.EnableAlarm == 0)
+            //{
+            //    mc_pulse.GT_AlarmOff((short)Config.CardId, (short)Config.AxisId);
+            //}
+            //else if (Config.EnableAlarm == 1)
+            //{
+            //    axisConfig.alarmIndex = (short)Config.AxisId;
+            //    apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, out diConfig);
+            //    diConfig.active = 1;
+            //    diConfig.reverse = (short)Config.AlarmLogic;
+            //    diConfig.filterTime = 3;
+            //    apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, ref diConfig);
+            //}
 
             //mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 11, out mc_pulse_cfg.TDoConfig oConfig);
             //oConfig.reverse = 0;
@@ -108,11 +108,11 @@ namespace Rs.Motion.GugaoPulse
             //    diConfig.reverse = (short)Config.InpLogic;
             //    apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ARRIVE, (short)Config.AxisId, ref diConfig);
             //}
-            apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, out diConfig);
-            diConfig.active = 1;
-            diConfig.reverse = (short)Config.HomeOrgLogic;
-            diConfig.filterTime = 3;
-            apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, ref diConfig);
+            //apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, out diConfig);
+            //diConfig.active = 1;
+            //diConfig.reverse = (short)Config.HomeOrgLogic;
+            //diConfig.filterTime = 3;
+            //apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, ref diConfig);
 
             //apiResult = mc_pulse_cfg.GT_SetAxisConfig((short)Config.CardId, (short)Config.AxisId, ref axisConfig);
             // mc_cfg.GT_SetDiConfig(short diType, short diIndex, ref TDiConfig pDi);