现场调试OK

app/user/MotorCtrl.c

@@ -426,7 +426,7 @@ void MotorCtrl(void)//10ms
         MotorStateReal[i] = MotorState[i];
         if (MotorState[i] == ACT_NOACT  && MotorHardStop1[i] != 0 && MotorHardStop2[i] != 0 )
         {
-            if (MotorTarget[i]!=0 && MotorHardStop1[i] > MotorTarget[i] && MotorTarget[i] > MotorHardStop2[i])
+            if (MotorTarget[i]!=0 && MotorHardStop1[i] >= MotorTarget[i] && MotorTarget[i] >= MotorHardStop2[i])
             {
                 if (MotorTarget[i] > MotorHallLoc[i]+10)
                 {

app/user/appTask.c

@@ -53,7 +53,7 @@ uint16_t js_cnt;
 
 #define PLAN1 0
 #define PLAN2 1
-#define M26B_PLAN PLAN1
+#define M26B_PLAN PLAN2
 
 
 void Apply_task(void)

output/M26B1_SW0101.mot

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