diff --git a/modbus/modbus_rtu.h b/modbus/modbus_rtu.h
index 16918d5..439af35 100644
--- a/modbus/modbus_rtu.h
+++ b/modbus/modbus_rtu.h
@@ -37,7 +37,7 @@
 /*============================================================================*/
 
 /* 线圈/保持寄存器最大协议地址 */
-#define MODBUS_MB_MAXIMUM         0x270FU
+#define MODBUS_MB_MAXIMUM         0x3000U
 
 /* 实际能存储的最大数据个数 */
 #define MODBUS_POINT_COUNT        (MODBUS_MB_MAXIMUM + 1U)
diff --git a/plsr/command/plsr_command.c b/plsr/command/plsr_command.c
index 2e541af..8ab2ac2 100644
--- a/plsr/command/plsr_command.c
+++ b/plsr/command/plsr_command.c
@@ -1,6 +1,6 @@
 /**
  * @file    plsr_command.c
- * @brief   指令接口：Modbus 命令/线圈 → 参数块 + 运行控制；状态与故障回写
+ * @brief   指令接口：0x3000 控制位 → 运行控制；监控写回 0x2000~0x2006
  */
 #include "plsr_command.h"
 #include "plsr_param.h"
@@ -16,16 +16,25 @@ static void PlsrCommandWriteDWord(uint16_t addr, uint32_t value)
     WriteHoldReg((uint16_t)(addr + 1U), (uint16_t)((value >> 16) & 0xFFFFU));
 }
 
+static void PlsrCommandPublishMonitor(void)
+{
+    PlsrCommandWriteDWord(PLSR_MON_ACC_PULSE_L, (uint32_t)PlsrGetAccPulse());
+    PlsrCommandWriteDWord(PLSR_MON_FREQ_L, PlsrRunControlGetCurFreq());
+    WriteHoldReg(PLSR_MON_RUN_STATUS, PlsrIsBusy() ? 1U : 0U);
+    WriteHoldReg(PLSR_MON_CUR_SEG, PlsrRunControlGetCurSeg());
+    WriteHoldReg(PLSR_MON_ERR, s_fault);
+}
+
 void PlsrCommandSetFault(uint16_t code)
 {
     s_fault = code;
-    WriteHoldReg(PLSR_CMD_REG_ERR, code);
+    WriteHoldReg(PLSR_MON_ERR, code);
 }
 
 void PlsrCommandClearFault(void)
 {
     s_fault = PLSR_ERR_NONE;
-    WriteHoldReg(PLSR_CMD_REG_ERR, PLSR_ERR_NONE);
+    WriteHoldReg(PLSR_MON_ERR, PLSR_ERR_NONE);
 }
 
 uint16_t PlsrCommandGetFault(void)
@@ -35,45 +44,41 @@ uint16_t PlsrCommandGetFault(void)
 
 void PlsrCommandInit(void)
 {
-    WriteHoldReg(PLSR_CMD_REG_COMMAND, PLSR_CMD_IDLE);
+    WriteHoldReg(PLSR_CTRL_REG, 0U);
     PlsrCommandClearFault();
+    PlsrCommandPublishMonitor();
 }
 
 void PlsrCommandPoll(void)
 {
-    uint16_t cmd = ReadHoldReg(PLSR_CMD_REG_COMMAND);
+    uint16_t ctrl = ReadHoldReg(PLSR_CTRL_REG);
 
-    if (ReadCoil(PLSR_CMD_COIL_CLR_ACC) != 0U)
-    {
-        WriteCoil(PLSR_CMD_COIL_CLR_ACC, 0U);
-        PlsrClearAccPulse();
-    }
-    if (ReadCoil(PLSR_CMD_COIL_STOP) != 0U)
+    if (ctrl != 0U)
     {
-        WriteCoil(PLSR_CMD_COIL_STOP, 0U);
-        PlsrStop();
-    }
+        /* 上位机置位，从站处理后立刻清零 */
+        WriteHoldReg(PLSR_CTRL_REG, 0U);
 
-    if (cmd == PLSR_CMD_STOP)
-    {
-        WriteHoldReg(PLSR_CMD_REG_COMMAND, PLSR_CMD_IDLE);
-        PlsrStop();
-    }
-    else if ((cmd == PLSR_CMD_START) || (cmd == PLSR_CMD_IMPORT))
-    {
-        WriteHoldReg(PLSR_CMD_REG_COMMAND, PLSR_CMD_IDLE);
-        (void)PlsrParamBlockApplyFromHold();
-        if (cmd == PLSR_CMD_START)
+        if ((ctrl & PLSR_CTRL_BIT_STOP) != 0U)
+        {
+            PlsrStop();
+        }
+
+        if ((ctrl & PLSR_CTRL_BIT_CLR) != 0U)
+        {
+            PlsrClearAccPulse();
+            PlsrCommandClearFault();
+        }
+
+        /* 同时有停止位时不启动 */
+        if (((ctrl & PLSR_CTRL_BIT_START) != 0U) &&
+            ((ctrl & PLSR_CTRL_BIT_STOP) == 0U))
         {
+            (void)PlsrParamBlockApplyFromHold();
             PlsrCommandClearFault();
             PlsrStop();
             (void)PlsrStart(PlsrParamGetStartSeg());
         }
     }
 
-    WriteHoldReg(PLSR_CMD_REG_BUSY, PlsrIsBusy());
-    WriteHoldReg(PLSR_CMD_REG_CUR_SEG, PlsrRunControlGetCurSeg());
-    PlsrCommandWriteDWord(PLSR_CMD_REG_CUR_FREQ_L, PlsrRunControlGetCurFreq());
-    PlsrCommandWriteDWord(PLSR_CMD_REG_ACC_PULSE_L, (uint32_t)PlsrGetAccPulse());
-    WriteHoldReg(PLSR_CMD_REG_ERR, s_fault);
+    PlsrCommandPublishMonitor();
 }
diff --git a/plsr/command/plsr_command.h b/plsr/command/plsr_command.h
index bfa5659..e6a8b99 100644
--- a/plsr/command/plsr_command.h
+++ b/plsr/command/plsr_command.h
@@ -2,36 +2,29 @@
  * @file    plsr_command.h
  * @brief   指令接口模块
  *
- * 职责（与方案书 3.1 对齐；未实现项后续补充）：
- * 1. 接收启动 / STOP 急停等外部触发（当前经 Modbus 命令寄存器与线圈）
- * 2. （待实现）重复启动防护、GOON 恢复、fault_buf
- * 3. 指令分发：启动时先走参数块管理再启运行；停机直接停运动
- * 4. 状态上报：忙闲、当前段、频率、累计脉冲写回保持寄存器
+ * 监控区 0x2000~0x2006：下位机刷新，上位机 0x03 读。
+ * 控制寄存器 0x3000：上位机置位，下位机处理后清零。
  */
 #ifndef PLSR_COMMAND_H
 #define PLSR_COMMAND_H
 
 #include <stdint.h>
 
-/* 指令与状态保持寄存器（地址与原协议兼容） */
-#define PLSR_CMD_REG_COMMAND      0x10F0U  /* 写命令 */
-#define PLSR_CMD_REG_BUSY         0x10F1U  /* 运动忙 */
-#define PLSR_CMD_REG_CUR_SEG      0x10F2U  /* 当前段号 1-based */
-#define PLSR_CMD_REG_CUR_FREQ_L   0x10F3U
-#define PLSR_CMD_REG_CUR_FREQ_H   0x10F4U
-#define PLSR_CMD_REG_ACC_PULSE_L  0x10F5U
-#define PLSR_CMD_REG_ACC_PULSE_H  0x10F6U
-#define PLSR_CMD_REG_ERR          0x10F7U  /* 故障码 */
+/* ---------- 监控保持寄存器（双字低地址存低字） ---------- */
+#define PLSR_MON_ACC_PULSE_L      0x2000U  /* 脉冲累计，有符号补码 */
+#define PLSR_MON_ACC_PULSE_H      0x2001U
+#define PLSR_MON_FREQ_L           0x2002U  /* 当前发送频率 Hz */
+#define PLSR_MON_FREQ_H           0x2003U
+#define PLSR_MON_RUN_STATUS       0x2004U  /* 0空闲 1运行 */
+#define PLSR_MON_CUR_SEG          0x2005U  /* 当前执行段 1-based */
+#define PLSR_MON_ERR              0x2006U  /* 错误码 */
 
-#define PLSR_CMD_IDLE             0U
-#define PLSR_CMD_START            1U
-#define PLSR_CMD_STOP             2U
-#define PLSR_CMD_IMPORT           3U
+/* ---------- 控制寄存器（读/写，处理后由从站清 0） ---------- */
+#define PLSR_CTRL_REG             0x3000U
+#define PLSR_CTRL_BIT_START       (1U << 0)  /* 启动脉冲 */
+#define PLSR_CTRL_BIT_STOP        (1U << 1)  /* 停止脉冲 */
+#define PLSR_CTRL_BIT_CLR         (1U << 2)  /* 清除状态信息 */
 
-#define PLSR_CMD_COIL_STOP        0x2001U
-#define PLSR_CMD_COIL_CLR_ACC     0x2003U
-
-/* 故障码（写入 0x10F7，供 Modbus 读取） */
 #define PLSR_ERR_NONE             0U
 #define PLSR_ERR_SEG_FREQ         1U  /* 段频率非法（非 0 且越界，或解析后不在 1~100k） */
 
diff --git a/plsr/param/plsr_param.h b/plsr/param/plsr_param.h
index 512bde3..ca581ae 100644
--- a/plsr/param/plsr_param.h
+++ b/plsr/param/plsr_param.h
@@ -47,7 +47,7 @@
 #define PLSR_SEG_OFF_WAIT         4U   /* 等待类型 */
 #define PLSR_SEG_OFF_WAIT_MS      5U
 #define PLSR_SEG_OFF_ACT_MS       6U
-#define PLSR_SEG_OFF_JUMP         7U   /* 0=结束；1~N=跳转目标段号 */
+#define PLSR_SEG_OFF_JUMP         7U   /* 0=末段停 / 非末段接下一段；1~N=跳转目标段号 */
 
 /* 分帧传输状态（上位机可轮询） */
 #define PLSR_PARAM_XFER_RECV_REG        0x0FFCU
@@ -115,7 +115,7 @@ typedef struct {
     PlsrWaitType_e wait_type;
     uint16_t       wait_ms;
     uint16_t       act_ms;
-    uint16_t       jump_seg;    /* 0=结束；1~N=跳转目标段号 */
+    uint16_t       jump_seg;    /* 0=末段结束 / 非末段则顺序下一段；1~N=跳转目标段号 */
 } PlsrSeg_t;
 
 /* ---------- 运行映像访问 ---------- */
diff --git a/plsr/path_plan/plsr_path_plan.c b/plsr/path_plan/plsr_path_plan.c
index 2d5c08c..d6caeec 100644
--- a/plsr/path_plan/plsr_path_plan.c
+++ b/plsr/path_plan/plsr_path_plan.c
@@ -13,13 +13,17 @@ int16_t PlsrPathPlanNextSeg(uint16_t cur_seg_0based)
 
     /*
      * 跳转目标（1-based）：
-     *   0     → 结束（含末段写 0）
+     *   0     → 末段：结束；非末段：顺序下一段（cur+1）
      *   1..N  → 跳到对应段（可顺序、回跳循环、任意段）
      *   其它  → 结束
      */
     if (jump == 0U)
     {
-        (void)cur_seg_0based;
+        /* 非末段写 0：视为顺序下一档，不是停机 */
+        if ((n >= 1U) && (cur_seg_0based + 1U < n))
+        {
+            return (int16_t)(cur_seg_0based + 1U);
+        }
         return -1;
     }
     if ((jump >= 1U) && (jump <= n))
diff --git a/plsr/path_plan/plsr_path_plan.h b/plsr/path_plan/plsr_path_plan.h
index 37bf512..ffe6414 100644
--- a/plsr/path_plan/plsr_path_plan.h
+++ b/plsr/path_plan/plsr_path_plan.h
@@ -14,7 +14,8 @@
  * @brief  解析下一段索引
  * @param  cur_seg_0based 当前段 0-based
  * @return 下一段 0-based；无下一段或非法跳转返回 -1
- * @note   jump=0 结束；jump=1~N 跳到对应段（可循环）
+ * @note   jump=0：末段→结束；非末段→顺序下一段
+ *         jump=1~N：跳到对应段（可循环）
  */
 int16_t PlsrPathPlanNextSeg(uint16_t cur_seg_0based);