diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
index 07f8dd5..15fa460 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1256539702914033922" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-63235014752314356" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1256539702914033922" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-63235014752314356" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
index fccc040..b792187 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c
@@ -234,6 +234,8 @@ uint8_t Pin3 = -1; //下限位，为0表示限位触发
 int32_t KinfePosition = 1000; // 初始化为一个不合理的大值，等于1000时显示为未标定
 int StrongSingleShotFlag = 0;
 
+#define SAFE_MOTOR_COUNT (67*20000) // 电机脉冲安全保护，防止光电限位失效后导致的意外情况
+
 void Manual_Up_State_Do(void)
 {
 	int32_t SliderSpeed_PPS = SliderSpeed_mmps_2_pps(SliderSpeed);
@@ -252,6 +254,11 @@ void Manual_Up_State_Do(void)
         GV.LS_FrontEnd_Motor.Target_Velcity = 0;
         KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
     }
+
+    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
+    {
+        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
+    }
 }
 
 void Manual_Down_State_Do(void)
@@ -271,6 +278,11 @@ void Manual_Down_State_Do(void)
     {
 		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
     }
+
+    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
+    {
+        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
+    }
 }
 
 // 定义前端升降电机速度，单位0.1mm/s
@@ -294,6 +306,11 @@ void Manual_Low_Speed_Up_State_Do(void)
         GV.LS_FrontEnd_Motor.Target_Velcity = 0;
         KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
     }
+
+    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
+    {
+        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
+    }
 }
 
 void Manual_low_speed_Down_State_Do(void)
@@ -313,6 +330,11 @@ void Manual_low_speed_Down_State_Do(void)
     {
 		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
     }
+
+    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
+    {
+        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
+    }
 }
 
 #define STEP_LEN_COUNT 20000 // 位置环每20000个count对应1mm
@@ -339,6 +361,11 @@ void Manual_step_Up_State_Do(void)
         GV.LS_FrontEnd_Motor.Target_Velcity = 0;
         KinfePosition = GV.LS_FrontEnd_Motor.Real_Position;
     }
+
+    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
+    {
+        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
+    }
 }
 
 void Manual_step_Down_State_Do(void)
@@ -362,6 +389,11 @@ void Manual_step_Down_State_Do(void)
     {
 		GV.LS_FrontEnd_Motor.Target_Velcity = 0;
     }
+
+    if (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition >= SAFE_MOTOR_COUNT)
+    {
+        GV.LS_FrontEnd_Motor.Target_Velcity = 0; // 电机脉冲数急停
+    }
 }
 
 void FrontEnd_Halt_State_Do(void)