diff --git a/README.md b/README.md
index f1d6278..4ac9fcd 100644
--- a/README.md
+++ b/README.md
@@ -109,3 +109,4 @@ dotnet build XplorePlane.sln -c Release
 - [x] 打通与硬件层的调用流程
 - [x] 打通与图像层的调用流程
 - [ ] CNC的执行、存储逻辑的开发测试
+- [ ] 涉及到图像校准，矩阵
diff --git a/XP.Hardware.MotionControl/Implementations/SimulatedLinearAxis.cs b/XP.Hardware.MotionControl/Implementations/SimulatedLinearAxis.cs
index d2cd41b..92c4ea6 100644
--- a/XP.Hardware.MotionControl/Implementations/SimulatedLinearAxis.cs
+++ b/XP.Hardware.MotionControl/Implementations/SimulatedLinearAxis.cs
@@ -30,7 +30,7 @@ namespace XP.Hardware.MotionControl.Implementations
         /// <param name="max">最大位置（mm）| Maximum position (mm)</param>
         /// <param name="origin">原点偏移（mm）| Origin offset (mm)</param>
         /// <param name="defaultSpeed">默认速度（mm/s）| Default speed (mm/s)</param>
-        public SimulatedLinearAxis(AxisId axisId, double min, double max, double origin, double defaultSpeed = 50.0)
+        public SimulatedLinearAxis(AxisId axisId, double min, double max, double origin, double defaultSpeed = 5.0)
             : base(axisId, min, max, origin)
         {
             _defaultSpeed = defaultSpeed;
diff --git a/XplorePlane/Services/Cnc/CncExecutionService.cs b/XplorePlane/Services/Cnc/CncExecutionService.cs
index d8e8235..2c1bdcf 100644
--- a/XplorePlane/Services/Cnc/CncExecutionService.cs
+++ b/XplorePlane/Services/Cnc/CncExecutionService.cs
@@ -333,14 +333,18 @@ namespace XplorePlane.Services.Cnc
             if (!detectorZResult.Success) return Task.FromResult(detectorZResult);
 
             // Rotary axes: angles are already in degrees, no conversion needed
+            // 禁用轴返回失败时仅记录警告，不中断执行
             var detectorSwingResult = _motionControlService.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, target.DetectorSwing);
-            if (!detectorSwingResult.Success) return Task.FromResult(detectorSwingResult);
+            if (!detectorSwingResult.Success)
+                _logger.ForModule<CncExecutionService>().Warn("旋转轴 DetectorSwing 移动跳过：{0}", detectorSwingResult.ErrorMessage);
 
             var stageRotationResult = _motionControlService.MoveRotaryToTarget(RotaryAxisId.StageRotation, target.StageRotation);
-            if (!stageRotationResult.Success) return Task.FromResult(stageRotationResult);
+            if (!stageRotationResult.Success)
+                _logger.ForModule<CncExecutionService>().Warn("旋转轴 StageRotation 移动跳过：{0}", stageRotationResult.ErrorMessage);
 
             var fixtureRotationResult = _motionControlService.MoveRotaryToTarget(RotaryAxisId.FixtureRotation, target.FixtureRotation);
-            if (!fixtureRotationResult.Success) return Task.FromResult(fixtureRotationResult);
+            if (!fixtureRotationResult.Success)
+                _logger.ForModule<CncExecutionService>().Warn("旋转轴 FixtureRotation 移动跳过：{0}", fixtureRotationResult.ErrorMessage);
 
             return Task.FromResult(MotionResult.Ok());
         }
@@ -387,11 +391,17 @@ namespace XplorePlane.Services.Cnc
                 }
 
                 if (allIdle)
+                {
+                    _logger.ForModule<CncExecutionService>().Info(
+                        "所有轴已到位，等待耗时 {0}ms", sw.ElapsedMilliseconds);
                     return true;
+                }
 
                 await Task.Delay(pollIntervalMs, ct);
             }
 
+            _logger.ForModule<CncExecutionService>().Warn(
+                "等待轴到位超时（{0}ms），继续执行", timeoutMs);
             return false;
         }
 
@@ -516,6 +526,7 @@ namespace XplorePlane.Services.Cnc
             }
 
             BitmapSource resultImage = null;
+            IReadOnlyDictionary<string, object> lastOutputData = null;
             if (_pipelineExecutionService != null && inspectionNode.Pipeline?.Nodes?.Count > 0 && sourceImage != null)
             {
                 try
@@ -524,6 +535,7 @@ namespace XplorePlane.Services.Cnc
                     var execResult = await _pipelineExecutionService.ExecutePipelineAsync(
                         pipelineNodes, sourceImage, null, cancellationToken);
                     resultImage = execResult.Image;
+                    lastOutputData = execResult.LastStepOutputData;
 
                     if (resultImage != null)
                     {
@@ -597,10 +609,70 @@ namespace XplorePlane.Services.Cnc
                 }
             }
 
-            await _store.AppendNodeResultAsync(nodeResult, pipelineSnapshot: pipelineSnapshot, assets: assets);
+            await _store.AppendNodeResultAsync(nodeResult, metrics: ExtractMetrics(runId, inspectionNode, lastOutputData), pipelineSnapshot: pipelineSnapshot, assets: assets);
             return resultImage;
         }
 
+        /// <summary>
+        /// 从流水线最后一步的 OutputData 中提取检测指标（BGA空洞率、孔隙测量等）。
+        /// 写入 manifest.json 的 Metrics 部分。
+        /// </summary>
+        private static List<InspectionMetricResult> ExtractMetrics(
+            Guid runId,
+            InspectionModuleNode inspectionNode,
+            IReadOnlyDictionary<string, object> outputData)
+        {
+            var metrics = new List<InspectionMetricResult>();
+            if (outputData == null) return metrics;
+
+            var nodeId = inspectionNode.Id;
+            int order = 0;
+
+            // ── BGA 空洞率检测指标 ──
+            if (outputData.ContainsKey("BgaVoidResult"))
+            {
+                if (outputData.TryGetValue("BgaCount", out var bgaCount))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "BgaCount", MetricName = "BGA焊球数", MetricValue = Convert.ToDouble(bgaCount), Unit = "个", IsPass = true, DisplayOrder = order++ });
+
+                if (outputData.TryGetValue("VoidRate", out var voidRate))
+                {
+                    var rate = Convert.ToDouble(voidRate);
+                    var limit = outputData.TryGetValue("VoidLimit", out var vl) ? Convert.ToDouble(vl) : 50.0;
+                    var classification = outputData.TryGetValue("Classification", out var cls) ? cls?.ToString() : "";
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "BgaVoidRate", MetricName = "BGA空洞率", MetricValue = Math.Round(rate, 2), Unit = "%", UpperLimit = limit, IsPass = classification == "PASS", DisplayOrder = order++ });
+                }
+
+                if (outputData.TryGetValue("FillRate", out var fillRate))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "BgaFillRate", MetricName = "BGA填充率", MetricValue = Math.Round(Convert.ToDouble(fillRate), 2), Unit = "%", IsPass = true, DisplayOrder = order++ });
+
+                if (outputData.TryGetValue("TotalVoidCount", out var voidCount))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "BgaTotalVoidCount", MetricName = "气泡总数", MetricValue = Convert.ToDouble(voidCount), Unit = "个", IsPass = true, DisplayOrder = order++ });
+            }
+
+            // ── 孔隙测量指标 ──
+            if (outputData.ContainsKey("VoidMeasurementResult"))
+            {
+                if (outputData.TryGetValue("VoidRate", out var voidRate))
+                {
+                    var rate = Convert.ToDouble(voidRate);
+                    var limit = outputData.TryGetValue("VoidLimit", out var vl) ? Convert.ToDouble(vl) : 50.0;
+                    var classification = outputData.TryGetValue("Classification", out var cls) ? cls?.ToString() : "";
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "VoidRate", MetricName = "空隙率", MetricValue = Math.Round(rate, 2), Unit = "%", UpperLimit = limit, IsPass = classification == "PASS", DisplayOrder = order++ });
+                }
+
+                if (outputData.TryGetValue("VoidCount", out var voidCount))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "VoidCount", MetricName = "空隙数量", MetricValue = Convert.ToDouble(voidCount), Unit = "个", IsPass = true, DisplayOrder = order++ });
+
+                if (outputData.TryGetValue("MaxVoidArea", out var maxArea))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "MaxVoidArea", MetricName = "最大空隙面积", MetricValue = Math.Round(Convert.ToDouble(maxArea), 1), Unit = "px²", IsPass = true, DisplayOrder = order++ });
+
+                if (outputData.TryGetValue("RoiArea", out var roiArea))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "RoiArea", MetricName = "ROI面积", MetricValue = Math.Round(Convert.ToDouble(roiArea), 1), Unit = "px²", IsPass = true, DisplayOrder = order++ });
+            }
+
+            return metrics;
+        }
+
         /// <summary>
         /// 将 PipelineModel（数据模型）转换为 PipelineNodeViewModel 列表（执行模型）。
         /// 加载每个算子的参数定义和保存值，处理 JsonElement 类型转换。
diff --git a/XplorePlane/Services/Cnc/CncProgramService.cs b/XplorePlane/Services/Cnc/CncProgramService.cs
index d922e9b..44ee7d3 100644
--- a/XplorePlane/Services/Cnc/CncProgramService.cs
+++ b/XplorePlane/Services/Cnc/CncProgramService.cs
@@ -389,19 +389,19 @@ namespace XplorePlane.Services.Cnc
             var raySource = _appStateService.RaySourceState;
             return new ReferencePointNode(
                 id, index, $"参考点_{index}",
-                StageX: motion.StageX,
-                StageY: motion.StageY,
-                SourceZ: motion.SourceZ,
-                DetectorZ: motion.DetectorZ,
-                DetectorSwing: motion.DetectorSwing,
-                FDD: motion.FDD,
+                StageX: Math.Round(motion.StageX, 3),
+                StageY: Math.Round(motion.StageY, 3),
+                SourceZ: Math.Round(motion.SourceZ, 3),
+                DetectorZ: Math.Round(motion.DetectorZ, 3),
+                DetectorSwing: Math.Round(motion.DetectorSwing, 3),
+                FDD: Math.Round(motion.FDD, 3),
                 IsRayOn: raySource.IsOn,
-                Voltage: raySource.Voltage,
-                Current: TryReadCurrent(),
-                StageRotation: motion.StageRotation,
-                FixtureRotation: motion.FixtureRotation,
-                FOD: motion.FOD,
-                Magnification: motion.Magnification);
+                Voltage: Math.Round(raySource.Voltage, 3),
+                Current: Math.Round(TryReadCurrent(), 3),
+                StageRotation: Math.Round(motion.StageRotation, 3),
+                FixtureRotation: Math.Round(motion.FixtureRotation, 3),
+                FOD: Math.Round(motion.FOD, 3),
+                Magnification: Math.Round(motion.Magnification, 3));
         }
 
         /// <summary>创建保存节点（含图像）| Create save node with image</summary>
@@ -409,7 +409,7 @@ namespace XplorePlane.Services.Cnc
         {
             return new SaveNodeWithImageNode(
                 id, index, $"保存节点_图像_{index}",
-                MotionState: _appStateService.MotionState,
+                MotionState: RoundMotionState(_appStateService.MotionState),
                 RaySourceState: _appStateService.RaySourceState,
                 DetectorState: _appStateService.DetectorState,
                 ImageFileName: "");
@@ -420,7 +420,7 @@ namespace XplorePlane.Services.Cnc
         {
             return new SaveNodeNode(
                 id, index, $"保存节点_{index}",
-                MotionState: _appStateService.MotionState,
+                MotionState: RoundMotionState(_appStateService.MotionState),
                 RaySourceState: _appStateService.RaySourceState,
                 DetectorState: _appStateService.DetectorState);
         }
@@ -430,9 +430,30 @@ namespace XplorePlane.Services.Cnc
         {
             return new SavePositionNode(
                 id, index, $"检测位置_{index}",
-                MotionState: _appStateService.MotionState,
+                MotionState: RoundMotionState(_appStateService.MotionState),
                 SaveImage: false);
         }
+
+        /// <summary>
+        /// 将 MotionState 中的位置/角度值四舍五入到 3 位小数。
+        /// 避免浮点精度噪声写入 CNC 程序文件。
+        /// </summary>
+        private static MotionState RoundMotionState(MotionState s, int decimals = 3)
+        {
+            return s with
+            {
+                StageX = Math.Round(s.StageX, decimals),
+                StageY = Math.Round(s.StageY, decimals),
+                SourceZ = Math.Round(s.SourceZ, decimals),
+                DetectorZ = Math.Round(s.DetectorZ, decimals),
+                DetectorSwing = Math.Round(s.DetectorSwing, decimals),
+                FDD = Math.Round(s.FDD, decimals),
+                StageRotation = Math.Round(s.StageRotation, decimals),
+                FixtureRotation = Math.Round(s.FixtureRotation, decimals),
+                FOD = Math.Round(s.FOD, decimals),
+                Magnification = Math.Round(s.Magnification, decimals)
+            };
+        }
         private double TryReadCurrent()
         {
             try
diff --git a/XplorePlane/Services/Cnc/ImagePersistenceService.cs b/XplorePlane/Services/Cnc/ImagePersistenceService.cs
index 13e49c6..667dbce 100644
--- a/XplorePlane/Services/Cnc/ImagePersistenceService.cs
+++ b/XplorePlane/Services/Cnc/ImagePersistenceService.cs
@@ -103,7 +103,8 @@ namespace XplorePlane.Services.Cnc
 
                 var options = new JsonSerializerOptions
                 {
-                    WriteIndented = true
+                    WriteIndented = true,
+                    Encoder = System.Text.Encodings.Web.JavaScriptEncoder.UnsafeRelaxedJsonEscaping
                 };
 
                 var json = JsonSerializer.Serialize(summary, options);
diff --git a/XplorePlane/Services/MainViewport/DetectorFramePipelineService.cs b/XplorePlane/Services/MainViewport/DetectorFramePipelineService.cs
index fbd1588..54fb4e9 100644
--- a/XplorePlane/Services/MainViewport/DetectorFramePipelineService.cs
+++ b/XplorePlane/Services/MainViewport/DetectorFramePipelineService.cs
@@ -105,7 +105,7 @@ namespace XplorePlane.Services.MainViewport
                 {
                     EnqueueBounded(_processQueue, frame, ProcessQueueCapacity, ref _processQueueCount);
                     _processSignal.Release();
-                    _logger.Info(
+                    _logger.Debug(
                         "[图像链路] 帧 #{N} 已入处理队列（每 {Every} 帧采样一次），累计接收 {Total} 帧",
                         args.FrameNumber, ProcessEveryNFrames, sequence);
                 }
diff --git a/XplorePlane/Views/Cnc/CncPageView.xaml b/XplorePlane/Views/Cnc/CncPageView.xaml
index 9e042a2..d16833a 100644
--- a/XplorePlane/Views/Cnc/CncPageView.xaml
+++ b/XplorePlane/Views/Cnc/CncPageView.xaml
@@ -634,43 +634,43 @@
                                 <UniformGrid Margin="8,8,8,6" Columns="2">
                                     <StackPanel Margin="0,0,6,0">
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="载物台 X (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageX, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageX, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel>
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="载物台 Y (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageY, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageY, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="射线源 Z (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.SourceZ, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.SourceZ, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel>
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="探测器 Z (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorZ, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorZ, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="探测器摆动 (°)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorSwing, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorSwing, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel>
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="载物台旋转 (°)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageRotation, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageRotation, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="夹具旋转 (°)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FixtureRotation, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FixtureRotation, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel>
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="FOD (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FOD, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FOD, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="FDD (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FDD, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FDD, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel>
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="放大倍率" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Magnification, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Magnification, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                 </UniformGrid>
                             </GroupBox>
@@ -739,6 +739,7 @@
                                         <Grid.ColumnDefinitions>
                                             <ColumnDefinition Width="*" />
                                             <ColumnDefinition Width="Auto" />
+                                            <ColumnDefinition Width="Auto" />
                                         </Grid.ColumnDefinitions>
                                         <TextBox
                                             Grid.Column="0"
@@ -751,7 +752,7 @@
                                             Grid.Column="1"
                                             Height="28"
                                             Width="32"
-                                            Margin="0,0,0,8"
+                                            Margin="0,0,2,8"
                                             Padding="0"
                                             Content="…"
                                             FontSize="13"
@@ -761,6 +762,21 @@
                                             BorderBrush="#CFCFCF"
                                             BorderThickness="1"
                                             Cursor="Hand" />
+                                        <Button
+                                            Grid.Column="2"
+                                            Height="28"
+                                            Width="28"
+                                            Margin="0,0,0,8"
+                                            Padding="0"
+                                            Content="×"
+                                            FontSize="14"
+                                            Foreground="#E05050"
+                                            ToolTip="清空手动图像路径"
+                                            Click="ClearManualImagePath_Click"
+                                            Background="#F8F8F8"
+                                            BorderBrush="#CFCFCF"
+                                            BorderThickness="1"
+                                            Cursor="Hand" />
                                     </Grid>
                                 </StackPanel>
                             </GroupBox>
diff --git a/XplorePlane/Views/Cnc/CncPageView.xaml.cs b/XplorePlane/Views/Cnc/CncPageView.xaml.cs
index 6a0230f..8481deb 100644
--- a/XplorePlane/Views/Cnc/CncPageView.xaml.cs
+++ b/XplorePlane/Views/Cnc/CncPageView.xaml.cs
@@ -169,6 +169,15 @@ namespace XplorePlane.Views.Cnc
             editor.Visibility = Visibility.Collapsed;
         }
 
+        /// <summary>清空手动图像路径</summary>
+        private void ClearManualImagePath_Click(object sender, RoutedEventArgs e)
+        {
+            if (DataContext is CncEditorViewModel viewModel && viewModel.SelectedNode != null)
+            {
+                viewModel.SelectedNode.ManualImagePath = string.Empty;
+            }
+        }
+
         private void CncTreeView_PreviewKeyDown(object sender, KeyEventArgs e)
         {
             if (e.Key != Key.Delete || DataContext is not CncEditorViewModel viewModel)