diff --git a/CapMachine.Wpf/CanDrive/ToomossCan.cs b/CapMachine.Wpf/CanDrive/ToomossCan.cs
index bda0124..c908574 100644
--- a/CapMachine.Wpf/CanDrive/ToomossCan.cs
+++ b/CapMachine.Wpf/CanDrive/ToomossCan.cs
@@ -1,6 +1,7 @@
 using CapMachine.Wpf.Models.Tag;
 using CapMachine.Wpf.Services;
 using HslCommunication;
+using ImTools;
 using NPOI.OpenXmlFormats.Wordprocessing;
 using Prism.Ioc;
 using Prism.Mvvm;
@@ -21,6 +22,8 @@ namespace CapMachine.Wpf.CanDrive
 {
     /// <summary>
     /// Toomoss CAN
+    /// 如果精度达不到的话则使用CAN通信调度表模式实现方案
+    /// 目前有0-1ms的抖动
     /// </summary>
     public class ToomossCan : BindableBase
     {
@@ -33,6 +36,7 @@ namespace CapMachine.Wpf.CanDrive
         {
             ContainerProvider = containerProvider;
             HighSpeedDataService = ContainerProvider.Resolve<HighSpeedDataService>();
+            HightDriveMsgService = ContainerProvider.Resolve<HightDriveMsgService>();
 
             //Stopwatch.Frequency表示高精度计时器每秒的计数次数（ticks/秒）每毫秒的ticks数 = 每秒的ticks数 ÷ 1000
             TicksPerMs = Stopwatch.Frequency / 1000.0;
@@ -478,8 +482,6 @@ namespace CapMachine.Wpf.CanDrive
                     RaisePropertyChanged();
                     _IsSendOk = value;
                 }
-                
-
             }
         }
 
@@ -604,7 +606,6 @@ namespace CapMachine.Wpf.CanDrive
             CycleSendCts = cancellationTokenSource;//将取消标记源保存到类的成员变量CycleSendCts，这样在外部调用停止方法时可以访问它
             NextExecutionTime = 0;//初始化NextExecutionTime为0，这个变量用于记录下一次执行的目标时间点
 
-
             CycleSendTask = Task.Factory.StartNew(async () =>
             {
                 try
@@ -667,6 +668,7 @@ namespace CapMachine.Wpf.CanDrive
                             lastTicks = Stopwatcher.ElapsedTicks;
                             //Console.WriteLine($"--当前时间(毫秒): {DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}");
 
+
                             // 执行发送CAN逻辑
                             {
 
@@ -697,13 +699,13 @@ namespace CapMachine.Wpf.CanDrive
 
                                 //释放申请的临时缓冲区
                                 Marshal.FreeHGlobal(msgPtSend);
-                                
+
                                 //发送CAN数据
                                 int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, CanMsg, (uint)CanMsg.Length);
                                 if (SendedNum >= 0)
                                 {
                                     //Console.WriteLine("Success send frames:{0}", SendedNum);
-                                    IsSendOk=true;
+                                    IsSendOk = true;
                                 }
                                 else
                                 {
@@ -796,7 +798,7 @@ namespace CapMachine.Wpf.CanDrive
                                     Category = "CAN",
                                     MsgInfo = "0x" + CanMsgBuffer[i].ID.ToString("X8"),
                                     MsgData = BitConverter.ToString(CanMsgBuffer[i].Data),
-                                    Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")
+                                    Time = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds()
                                 });
 
                                 //报文给高速报文处理服务
@@ -805,7 +807,7 @@ namespace CapMachine.Wpf.CanDrive
                                     Category = "CAN",
                                     MsgInfo = "0x" + CanMsgBuffer[i].ID.ToString("X8"),
                                     MsgData = BitConverter.ToString(CanMsgBuffer[i].Data),
-                                    Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")
+                                    Time = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds()
                                 });
                             }
                         }
diff --git a/CapMachine.Wpf/Models/HighSpeed/CommMsg.cs b/CapMachine.Wpf/Models/HighSpeed/CommMsg.cs
index 11779ad..cf9273a 100644
--- a/CapMachine.Wpf/Models/HighSpeed/CommMsg.cs
+++ b/CapMachine.Wpf/Models/HighSpeed/CommMsg.cs
@@ -12,9 +12,9 @@ namespace CapMachine.Wpf.Models.HighSpeed
     public class CommMsg
     {
         /// <summary>
-        /// 时间
+        /// 整数时间戳（毫秒）
         /// </summary>
-        public string? Time { get; set; }
+        public long Time { get; set; }
 
         /// <summary>
         /// 分类
diff --git a/CapMachine.Wpf/Services/CanDriveService.cs b/CapMachine.Wpf/Services/CanDriveService.cs
index 751fca9..2089729 100644
--- a/CapMachine.Wpf/Services/CanDriveService.cs
+++ b/CapMachine.Wpf/Services/CanDriveService.cs
@@ -86,6 +86,45 @@ namespace CapMachine.Wpf.Services
         #region 程序驱动CAN
 
 
+
+        private bool _CanAutoHand;
+        /// <summary>
+        /// CAN 手自动 模式，自动代表接受程序步骤的数据，手动代表接受手动输入的数据
+        /// True代表自动，False代表手动
+        /// </summary>
+        public bool CanAutoHand
+        {
+            get { return _CanAutoHand; }
+            set
+            {
+                if (_CanAutoHand != value)
+                {
+                    RaisePropertyChanged();
+                    _CanAutoHand = value;
+                }
+            }
+        }
+
+
+        private bool _CanHandEnable;
+        /// <summary>
+        /// CAN 手动 模式，是否使能，用于报文的使能和非使能的数据
+        /// True代表使能，False代表禁用
+        /// </summary>
+        public bool CanHandEnable
+        {
+            get { return _CanHandEnable; }
+            set
+            {
+                if (_CanHandEnable != value)
+                {
+                    RaisePropertyChanged();
+                    _CanHandEnable = value;
+                }
+            }
+        }
+
+
         private int _AutoSpeedSv;
         /// <summary>
         /// 转速SV
@@ -93,7 +132,15 @@ namespace CapMachine.Wpf.Services
         public int AutoSpeedSv
         {
             get { return _AutoSpeedSv; }
-            set { _AutoSpeedSv = value; RaisePropertyChanged(); }
+            set
+            {
+                if (value!= _AutoSpeedSv)
+                {
+                    _AutoSpeedSv = value;
+                    RaisePropertyChanged();
+                }
+              
+            }
         }
 
 
@@ -167,7 +214,7 @@ namespace CapMachine.Wpf.Services
                 {
                     //LogicRuleService.ApplyExpressionFast(SpeedData, SpeedCanCmdData.LogicRuleDto);
                     SpeedCanCmdData.SignalCmdValue = LogicRuleService.ApplyExpressionFast(SpeedData, SpeedCanCmdData.LogicRuleDto);
-                    Console.WriteLine($"实时转换后转速值：{SpeedCanCmdData.SignalCmdValue}-SV值:{SpeedData}");
+                    //Console.WriteLine($"实时转换后转速值：{SpeedCanCmdData.SignalCmdValue}-SV值:{SpeedData}");
                 }
 
             }
@@ -184,7 +231,7 @@ namespace CapMachine.Wpf.Services
         public void UpdateCapEnableCmdData(bool IsEnable)
         {
             if (!ToomossCanDrive.IsCycleSend) return;
-
+            if (!CanAutoHand) return;
             if (EnableCanCmdData != null)
             {
                 EnableCanCmdData.SignalCmdValue = IsEnable ? 1 : 0;
@@ -194,6 +241,7 @@ namespace CapMachine.Wpf.Services
 
         /// <summary>
         /// 发送消息给CAN 驱动
+        /// 手动发送时使用
         /// </summary>
         public void SendMsgToCanDrive(double SpeedData)
         {
diff --git a/CapMachine.Wpf/Services/MachineRtDataService.cs b/CapMachine.Wpf/Services/MachineRtDataService.cs
index d82cd8f..1c4c978 100644
--- a/CapMachine.Wpf/Services/MachineRtDataService.cs
+++ b/CapMachine.Wpf/Services/MachineRtDataService.cs
@@ -2747,7 +2747,7 @@ namespace CapMachine.Wpf.Services
                                     switch (ConfigService.CanLinRunStateModel.CurSysSelectedCanLin)
                                     {
                                         case CanLinEnum.Can:
-                                            //获取PLC的使能状态，更新到CAN的使能状态
+                                            //获取PLC的使能状态，更新到CAN的使能状态  
                                             CanDriveService.UpdateCapEnableCmdData(item.State);
                                             //itemTag.Value.EngPvValue = 0;
                                             break;
@@ -3068,10 +3068,12 @@ namespace CapMachine.Wpf.Services
                             switch (itemStepExd.ValueType)
                             {
                                 case ExdValueType.Bool:
-                                    SiemensDrive.Write(DataAdrees.Address, (bool)itemStepExd.Value == true ? 1 : 0);
+                                    var ResultBool = SiemensDrive.Write(DataAdrees.Address, (bool)itemStepExd.Value == true ? 1 : 0);
+                                    if (!ResultBool.IsSuccess) Console.WriteLine($"{ProRunChannelData.MeterName}:{itemStepExd.Name}写入失败");
                                     break;
                                 case ExdValueType.Short:
-                                    SiemensDrive.Write(DataAdrees.Address, (short)itemStepExd.Value);
+                                    var ResultShort = SiemensDrive.Write(DataAdrees.Address, (short)itemStepExd.Value);
+                                    if (!ResultShort.IsSuccess) Console.WriteLine($"{ProRunChannelData.MeterName}:{itemStepExd.Name}写入失败");
                                     break;
                                 case ExdValueType.Double:
                                     break;
@@ -3117,6 +3119,7 @@ namespace CapMachine.Wpf.Services
 
         /// <summary>
         /// 发送速度SV到压缩机
+        /// 自动步骤数据发送
         /// </summary>
         private void SendSpeedSvToCap(int SpeedSv)
         {
@@ -3124,7 +3127,11 @@ namespace CapMachine.Wpf.Services
             {
                 case CanLinEnum.Can:
                     //获取PLC的SV数据 更新SV的速度值到压缩机
-                    CanDriveService.UpdateSpeedCmdData(SpeedSv);
+                    if (CanDriveService.CanAutoHand)//自动时步骤的数据可以赋值数据
+                    {
+                        CanDriveService.UpdateSpeedCmdData(SpeedSv);
+                    }
+                    
                     //itemTag.Value.EngPvValue = 0;
                     break;
                 case CanLinEnum.Lin:
diff --git a/CapMachine.Wpf/ViewModels/CANConfigViewModel.cs b/CapMachine.Wpf/ViewModels/CANConfigViewModel.cs
index fbc92dd..8dfff35 100644
--- a/CapMachine.Wpf/ViewModels/CANConfigViewModel.cs
+++ b/CapMachine.Wpf/ViewModels/CANConfigViewModel.cs
@@ -25,6 +25,7 @@ using System.Text;
 using System.Threading.Tasks;
 using System.Windows;
 using System.Windows.Controls;
+using System.Windows.Controls.Primitives;
 using System.Windows.Documents;
 using static CapMachine.Wpf.Models.ComEnum;
 
@@ -38,7 +39,7 @@ namespace CapMachine.Wpf.ViewModels
         public CANConfigViewModel(IDialogService dialogService, IFreeSql freeSql,
             IEventAggregator eventAggregator, IRegionManager regionManager, SysRunService sysRunService,
             ComActionService actionService, LogicRuleService logicRuleService,
-            ConfigService configService, CanDriveService canDriveService,HightDriveMsgService hightDriveMsgService,
+            ConfigService configService, CanDriveService canDriveService, HightDriveMsgService hightDriveMsgService,
             IMapper mapper, MachineRtDataService machineRtDataService)
         {
             //LogService = logService;
@@ -96,7 +97,7 @@ namespace CapMachine.Wpf.ViewModels
         public ComActionService ComActionService { get; }
         public LogicRuleService LogicRuleService { get; }
         public ConfigService ConfigService { get; }
-        public CanDriveService CanDriveService { get; }
+        public CanDriveService CanDriveService { get; set; }
         public HightDriveMsgService HightDriveMsgService { get; }
         public IMapper Mapper { get; }
         private MachineRtDataService MachineRtDataService { get; }
@@ -991,7 +992,7 @@ namespace CapMachine.Wpf.ViewModels
                 case "CycleRecive":
                     CanDriveService.CycleReciveMsg();
 
-                    //Listen
+                    //Listen 
                     break;
                 default:
                     break;
@@ -999,6 +1000,87 @@ namespace CapMachine.Wpf.ViewModels
         }
 
 
+        private DelegateCommand<object> _CanAutoHandCmd;
+        /// <summary>
+        /// CAN的手自动切换
+        /// </summary>
+        public DelegateCommand<object> CanAutoHandCmd
+        {
+            set
+            {
+                _CanAutoHandCmd = value;
+            }
+            get
+            {
+                if (_CanAutoHandCmd == null)
+                {
+                    _CanAutoHandCmd = new DelegateCommand<object>((p) => CanAutoHandCmdCall(p));
+                }
+                return _CanAutoHandCmd;
+            }
+        }
+        /// <summary>
+        /// CAN的手自动切换操作指令执行方法
+        /// CAN的手自动切换，在调试时手动操作，在正常运行时自动操作
+        /// </summary>
+        /// <exception cref="NotImplementedException"></exception>
+        private void CanAutoHandCmdCall(object Par)
+        {
+            if (Par != null && Par is ToggleButton)
+            {
+                var ControlData = Par as ToggleButton;
+                var Name = ControlData.ToolTip;
+                var Data = ControlData.IsChecked;
+                //ToDo cmd
+                CanDriveService.CanAutoHand = (bool)Data!;
+                //CAN手自动切换时报文的展示需要配置一下，自动时报文不再展示（节省资源），手动时报文才展示，
+                HightDriveMsgService.IsDisplayEnabled= !(bool)Data!;
+            }
+
+        }
+
+
+        private DelegateCommand<object> _CanHandEnableCmd;
+        /// <summary>
+        /// CAN 手动 模式，是否使能，用于报文的使能和非使能的数据
+        /// True代表使能，False代表禁用
+        /// </summary>
+        public DelegateCommand<object> CanHandEnableCmd
+        {
+            set
+            {
+                _CanHandEnableCmd = value;
+            }
+            get
+            {
+                if (_CanHandEnableCmd == null)
+                {
+                    _CanHandEnableCmd = new DelegateCommand<object>((p) => CanHandEnableCmdCall(p));
+                }
+                return _CanHandEnableCmd;
+            }
+        }
+        /// <summary>
+        /// CAN 手动 模式，是否使能，用于报文的使能和非使能的数据
+        /// True代表使能，False代表禁用
+        /// </summary>
+        /// <exception cref="NotImplementedException"></exception>
+        private void CanHandEnableCmdCall(object Par)
+        {
+            if (Par != null && Par is ToggleButton)
+            {
+                var ControlData = Par as ToggleButton;
+                var Name = ControlData.ToolTip;
+                var Data = ControlData.IsChecked;
+                //ToDo cmd
+                CanDriveService.CanHandEnable = (bool)Data!;
+                //给使能数据
+                CanDriveService.UpdateCapEnableCmdData(CanDriveService.CanHandEnable);
+            }
+
+        }
+
+
         private double _HandSpeed;
         /// <summary>
         /// 手动转速数据
diff --git a/CapMachine.Wpf/Views/CANConfigView.xaml b/CapMachine.Wpf/Views/CANConfigView.xaml
index a2b3295..a1aadbe 100644
--- a/CapMachine.Wpf/Views/CANConfigView.xaml
+++ b/CapMachine.Wpf/Views/CANConfigView.xaml
@@ -383,7 +383,6 @@
                                     </StackPanel>
                                 </Button>
                             </StackPanel>
-
                         </Grid>
 
                         <Grid Grid.Row="1">
@@ -578,19 +577,93 @@
                                     VerticalAlignment="Center"
                                     FontFamily="/Assets/Fonts/#iconfont"
                                     FontSize="18"
-                                    Foreground="LimeGreen"
+                                    Foreground="DodgerBlue"
                                     Text="&#xe673;" />
                                 <TextBlock
                                     Width="auto"
-                                    Foreground="LimeGreen"
+                                    Foreground="DodgerBlue"
                                     Style="{StaticResource TextBlockStyle}"
                                     Text="自动转速(rpm)" />
                                 <TextBlock
                                     Margin="5,0"
-                                    Foreground="LimeGreen"
+                                    Foreground="DodgerBlue"
                                     Style="{StaticResource TextBlockStyle}"
                                     Text="{Binding CanDriveService.AutoSpeedSv}" />
                             </StackPanel>
+
+                            <StackPanel Grid.Column="2" Orientation="Horizontal">
+                                <TextBlock
+                                    Margin="5,0,5,0"
+                                    VerticalAlignment="Center"
+                                    FontFamily="/Assets/Fonts/#iconfont"
+                                    FontSize="18"
+                                    Foreground="DodgerBlue"
+                                    Text="&#xe95a;" />
+                                <TextBlock
+                                    Width="auto"
+                                    Foreground="DodgerBlue"
+                                    Style="{StaticResource TextBlockStyle}"
+                                    Text="CAN手自动" />
+                                <ToggleButton
+                                    Width="70"
+                                    Margin="10,0,0,0"
+                                    Command="{Binding CanAutoHandCmd}"
+                                    CommandParameter="{Binding RelativeSource={RelativeSource Self}}"
+                                    FontSize="11"
+                                    ToolTip="自动时：接受程序步骤的转速控制；手动时：手动发送转速数据">
+                                    <ToggleButton.Style>
+                                        <Style BasedOn="{StaticResource MaterialDesignSwitchToggleButton}" TargetType="ToggleButton">
+                                            <Style.Triggers>
+                                                <Trigger Property="IsChecked" Value="True">
+                                                    <Setter Property="Content" Value="自动" />
+                                                </Trigger>
+                                                <Trigger Property="IsChecked" Value="False">
+                                                    <Setter Property="Content" Value="手动" />
+                                                </Trigger>
+                                            </Style.Triggers>
+                                        </Style>
+                                    </ToggleButton.Style>
+                                </ToggleButton>
+                            </StackPanel>
+
+                            <StackPanel
+                                Grid.Row="1"
+                                Grid.Column="1"
+                                Orientation="Horizontal">
+                                <TextBlock
+                                    Margin="5,0,5,0"
+                                    VerticalAlignment="Center"
+                                    FontFamily="/Assets/Fonts/#iconfont"
+                                    FontSize="18"
+                                    Foreground="DodgerBlue"
+                                    Text="&#xe921;" />
+                                <TextBlock
+                                    Width="auto"
+                                    Foreground="DodgerBlue"
+                                    Style="{StaticResource TextBlockStyle}"
+                                    Text="CAN使能" />
+                                <ToggleButton
+                                    Width="70"
+                                    Margin="10,0,0,0"
+                                    Command="{Binding CanHandEnableCmd}"
+                                    CommandParameter="{Binding RelativeSource={RelativeSource Self}}"
+                                    FontSize="11"
+                                    ToolTip="使能时：触发报文中使能；禁用时：触发报文中使能=False">
+                                    <ToggleButton.Style>
+                                        <Style BasedOn="{StaticResource MaterialDesignSwitchToggleButton}" TargetType="ToggleButton">
+                                            <Style.Triggers>
+                                                <Trigger Property="IsChecked" Value="True">
+                                                    <Setter Property="Content" Value="使能" />
+                                                </Trigger>
+                                                <Trigger Property="IsChecked" Value="False">
+                                                    <Setter Property="Content" Value="禁用" />
+                                                </Trigger>
+                                            </Style.Triggers>
+                                        </Style>
+                                    </ToggleButton.Style>
+                                </ToggleButton>
+                            </StackPanel>
+
                         </Grid>
 
                     </Grid>
@@ -998,6 +1071,8 @@
                     </TabItem>
                     <TabItem Header="CAN报文">
                         <ListView
+                            BorderBrush="Black"
+                            BorderThickness="1"
                             ItemsSource="{Binding HightDriveMsgService.DisplayMessages}"
                             ScrollViewer.IsDeferredScrollingEnabled="True"
                             VirtualizingPanel.CacheLength="1,1"
diff --git a/CapMachine.Wpf/Views/ProConfigView.xaml b/CapMachine.Wpf/Views/ProConfigView.xaml
index c9f5c34..495d88a 100644
--- a/CapMachine.Wpf/Views/ProConfigView.xaml
+++ b/CapMachine.Wpf/Views/ProConfigView.xaml
@@ -1411,7 +1411,7 @@
                                     </StackPanel>
 
                                     <StackPanel Grid.Column="2" HorizontalAlignment="Center">
-                                        <TextBlock FontSize="12" Text="EV(1～3)" />
+                                        <TextBlock FontSize="12" Text="EV(1～4)" />
                                         <TextBox Style="{StaticResource txtboxStyle}" Text="{Binding SelectedSlopMeterSpeed.Ev}" />
                                     </StackPanel>
                                     <StackPanel Grid.Column="3" HorizontalAlignment="Center">