diff --git a/.gitignore b/.gitignore
index 054488a..1523582 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,5 @@
 **/log/
 
 ethercat_dev/csp_log.csv
+
+csp_log.csv
diff --git a/ethercat_dev/src/ethercat_control/src/ethercat_core.cpp b/ethercat_dev/src/ethercat_control/src/ethercat_core.cpp
index 3f42af3..8ffb07f 100644
--- a/ethercat_dev/src/ethercat_control/src/ethercat_core.cpp
+++ b/ethercat_dev/src/ethercat_control/src/ethercat_core.cpp
@@ -287,7 +287,8 @@ void cyclic_task()
         // 读取从站状态字、当前位置、速度、扭矩、运行模式
         for (int i = 0; i < NUM_SLAVES; ++i) 
         {                          
-            if (i == 0)
+            if (i == 4)
+            // if (false)
             {
                 uint16_t sw = EC_READ_U16(domain1_pd + zer_offsets[i].status_word);
                 int32_t  pv = EC_READ_S32(domain1_pd + zer_offsets[i].position_actual_value);
@@ -668,10 +669,16 @@ bool start()
 
         std::cout << "Configuring slave " << i << "..." << std::endl;
         
+        int position = i+1;
 
-        if (i == 0)
+        if (i > 3)
         {
-            sc[i] = ecrt_master_slave_config(master, 0, i+1, ZER_VID_PID);
+            position = i+2;
+        }
+
+        if (i == 4)
+        {
+            sc[i] = ecrt_master_slave_config(master, 0, position, ZER_VID_PID);
             if (!sc[i]) 
             { 
                 std::cout << "Failed slave cfg at pos " << i << std::endl;
@@ -683,17 +690,9 @@ bool start()
                 std::cout << "Failed PDO config " << i << std::endl;
                 //   fprintf(stderr,"[S%02d] Failed PDO config\n", i); g_started.store(false); return false;
             }
-            
         }
         else{
 
-            int position = i+1;
-
-            if (i > 5)
-            {
-                position = i+3;
-            }
-
             sc[i] = ecrt_master_slave_config(master, 0, position, MT_VID_PID);
             if (!sc[i]) 
             { 
@@ -714,7 +713,14 @@ bool start()
     // 注册 PDO entry 偏移
     for (int i = 0; i < NUM_SLAVES; ++i) {
 
-        if (i == 0)
+        int position = i+1;
+
+        if (i > 3)
+        {
+            position = i+2;
+        }
+
+        if (i == 4)
         {
             // ---- CSP/CSV/CST PDO ----
             const size_t N = sizeof(zer_domain1_regs)/sizeof(zer_domain1_regs[0]);
@@ -723,7 +729,7 @@ bool start()
             for (size_t j = 0; j + 1 < N; ++j) 
             { 
                 regs[j].alias = 0; 
-                regs[j].position = i+1; 
+                regs[j].position = position; 
             }
 
             regs[0].offset  = &zer_offsets[i].ctrl_word;
@@ -752,13 +758,6 @@ bool start()
             memcpy(regs, mt_domain1_regs, sizeof(mt_domain1_regs));
             for (size_t j = 0; j + 1 < N; ++j) 
             { 
-                int position = i+1;
-
-                if (i > 5)
-                {
-                    position = i+3;
-                }
-
                 regs[j].alias = 0; 
                 regs[j].position = position; 
             }