diff --git a/Controller/driver/motors/dmbots/motor.py b/Controller/driver/motors/dmbots/motor.py
index 52f6c2f96c99e1754847fc2550d922eee2975e76..911b7953ab8164c523da3e8c6a2a374b4c1a4494 100644
--- a/Controller/driver/motors/dmbots/motor.py
+++ b/Controller/driver/motors/dmbots/motor.py
@@ -132,7 +132,7 @@ class Sync(threading.Thread):
             return numpy.uint16((value - min_value) * (((1 << bits) - 1) / (max_value - min_value)))
 
         def decode_response_frame(data):
-            status = (data[0] & 0x10) >> 4
+            status = (data[0] & 0xF0) >> 4
             position = uint_to_float((data[1] << 8) + data[2], -12.5, 12.5, 16)
             velocity = uint_to_float((data[3] << 4) + (data[4] >> 4), -30, 30, 12)
             torque = uint_to_float(((data[4] & 0x0F) << 8) + data[5], -10, 10, 12)
@@ -240,7 +240,7 @@ class Sync(threading.Thread):
                     target_velocity = pvt[1][0]
                     target_position = pvt[0][0]
                     if target_position != 0:
-                        last_velocity = target_velocity
+                        last_velocity = pvt[1][0]
                 else:
                     # target_velocity = self.__target_velocity
                     if self.__motor_control_mode == POS_VEL or self.__motor_control_mode == Torque_Pos:
@@ -496,6 +496,7 @@ class Motor(MotorBase):
                 time.sleep(0.1)
                 # Clear Error
                 self.sync.clear_error()
+                time.sleep(0.1)
             # Switch motor control mode
             self.switch_control_mode(self.motor_control_mode)
             # Power on motor and set motion to PP mode
diff --git a/README.md b/README.md
index e3f26070f6b4b1f4665b0b7b63a55419b9143e68..96578c9ab8ad00d3ee19ef914af6698bd5840004 100644
--- a/README.md
+++ b/README.md
@@ -12,6 +12,10 @@ Coarm机械臂底层运动控制库
 
 ## 更新说明
 
+### Update v1.0.10
+1. 修改motor中上一时刻速度取值细节
+2. 修改电机反馈帧解码函数，提取数据位高位
+
 ### Update v1.0.9
 1. 修改轨迹运动部分，在到位精度内关节不运动
 2. 增加运动完成时间比率