修复运动控制问题：ExecuteToggleEnable 在 PLC 写入失败或异常时回滚 IsJoystickEnabled 状态；OnPlcConnectionChanged 中改为 new List<>(dict.Keys) 遍历副本，避免潜在的集合修改问题；SendSourceDetectorZMoveCommand 新增 sourcePropertyName 参数，根据用户编辑的是 SourceZ 还是 DetectorZ 来决定 delta 计算方向；SavePositionsCommand 增加 () => IsPlcConnected 条件，PLC 未连接时禁止保存。

补充射线源和PLC类库所需配置和信号地址定义文件。

XP.Hardware.MotionControl/Documents/AxisControlView_PLC_Communication.md

@@ -1,449 +0,0 @@
-# AxisControlView PLC 通信机制 | AxisControlView PLC Communication
-
-## 概述 | Overview
-
-AxisControlView 是运动控制模块的核心用户控件，通过 AxisControlViewModel 与 PLC 进行双向通信。本文档详细说明摇杆 Jog 操作、轴位置输入框操作以及射线源/探测器Z轴联动状态下的 PLC 信号下发机制。
-
-## 通信架构 | Communication Architecture
-
-```
-AxisControlView (XAML)
-    ↓ (数据绑定)
-AxisControlViewModel (C#)
-    ↓ (调用)
-IMotionControlService
-    ↓ (调用)
-ISignalDataService
-    ↓ (写入队列)
-PLC (DB31, WriteCommon 组)
-```
-
-## 1. 摇杆 Jog 操作 | Joystick Jog Operation
-
-### 1.1 双轴摇杆（圆形）| Dual Axis Joystick (Circular)
-
-**左键拖拽（默认模式）**：
-- X 轴输出 → StageX Jog（正向/反向）
-- Y 轴输出 → StageY Jog（正向/反向）
-
-**右键拖拽（默认模式）**：
-- X 轴输出 → DetectorSwing Jog（正向/反向）
-- Y 轴输出 → StageRotation/FixtureRotation Jog（正向/反向）
-
-**信号下发流程**：
-
-```csharp
-// 1. 摇杆输出变化触发 HandleDualJoystickOutput()
-private void HandleDualJoystickOutput()
-{
-    switch (DualJoystickActiveButton)
-    {
-        case MouseButtonType.Left:
-            UpdateLinearJog(AxisId.StageX, DualJoystickOutputX);
-            UpdateLinearJog(AxisId.StageY, DualJoystickOutputY);
-            break;
-        case MouseButtonType.Right:
-            UpdateRotaryJog(RotaryAxisId.DetectorSwing, DualJoystickOutputX);
-            var rotationAxisId = GetEnabledRotationAxisId();
-            if (rotationAxisId.HasValue)
-                UpdateRotaryJog(rotationAxisId.Value, DualJoystickOutputY);
-            break;
-    }
-}
-
-// 2. UpdateLinearJog/UpdateRotaryJog 处理 Jog 启动/速度更新/停止
-private void UpdateLinearJog(AxisId axisId, double output)
-{
-    if (output != 0)
-    {
-        var speedPercent = Math.Abs(output) * 100;
-        var positive = output > 0;
-
-        if (!_linearJogActive[axisId])
-        {
-            // 首次非零：设置速度并启动 Jog
-            _motionControlService.SetJogSpeed(axisId, speedPercent);
-            _motionControlService.JogStart(axisId, positive);
-            _linearJogActive[axisId] = true;
-        }
-        else
-        {
-            // 已在 Jog：仅更新速度
-            _motionControlService.SetJogSpeed(axisId, speedPercent);
-        }
-    }
-    else
-    {
-        // 松开鼠标：停止 Jog
-        if (_linearJogActive[axisId])
-        {
-            _motionControlService.JogStop(axisId);
-            _linearJogActive[axisId] = false;
-        }
-    }
-}
-
-// 3. IMotionControlService 调用 ISignalDataService.EnqueueWrite 写入 PLC
-public MotionResult JogStart(AxisId axisId, bool positive)
-{
-    var signalName = positive ? MotionSignalNames.SourceZ_JogPos : MotionSignalNames.SourceZ_JogNeg;
-    var result = _signalService.EnqueueWrite(signalName, true);
-    return result ? MotionResult.Ok() : MotionResult.Fail("Jog 启动写入失败");
-}
-```
-
-**PLC 信号地址**：
-
-| 轴 | 信号名 | 地址 | 说明 |
-|----|--------|------|------|
-| StageX | `MC_StageX_JogPos` | 42 | 正向 Jog（0:缺省, 1:点动） |
-| StageX | `MC_StageX_JogNeg` | 43 | 反向 Jog（0:缺省, 1:点动） |
-| StageY | `MC_StageY_JogPos` | 54 | 正向 Jog（0:缺省, 1:点动） |
-| StageY | `MC_StageY_JogNeg` | 55 | 反向 Jog（0:缺省, 1:点动） |
-| DetectorSwing | `MC_DetSwing_JogPos` | 66 | 正向 Jog（0:缺省, 1:点动） |
-| DetectorSwing | `MC_DetSwing_JogNeg` | 67 | 反向 Jog（0:缺省, 1:点动） |
-| StageRotation | `MC_StageRot_JogPos` | 78 | 正向 Jog（0:缺省, 1:点动） |
-| StageRotation | `MC_StageRot_JogNeg` | 79 | 反向 Jog（0:缺省, 1:点动） |
-| FixtureRotation | `MC_FixRot_JogPos` | 90 | 正向 Jog（0:缺省, 1:点动） |
-| FixtureRotation | `MC_FixRot_JogNeg` | 91 | 反向 Jog（0:缺省, 1:点动） |
-
-### 1.2 单轴摇杆（腰圆）| Single Axis Joystick (Oval)
-
-**左键拖拽（默认模式）**：
-- Y 轴输出 → SourceZ Jog（正向/反向）
-- 若 SZDZLock=true，同时 → DetectorZ Jog（正向/反向）
-
-**右键拖拽（默认模式）**：
-- Y 轴输出 → DetectorZ Jog（正向/反向）
-- 若 SZDZLock=true，同时 → SourceZ Jog（正向/反向）
-
-**信号下发流程**：
-
-```csharp
-private void HandleSingleJoystickOutput()
-{
-    switch (SingleJoystickActiveButton)
-    {
-        case MouseButtonType.Left:
-            UpdateLinearJog(AxisId.SourceZ, SingleJoystickOutputY);
-            if (_szdzLock)
-                UpdateLinearJog(AxisId.DetectorZ, SingleJoystickOutputY);
-            break;
-        case MouseButtonType.Right:
-            UpdateLinearJog(AxisId.DetectorZ, SingleJoystickOutputY);
-            if (_szdzLock)
-                UpdateLinearJog(AxisId.SourceZ, SingleJoystickOutputY);
-            break;
-    }
-}
-```
-
-**PLC 信号地址**：
-
-| 轴 | 信号名 | 地址 | 说明 |
-|----|--------|------|------|
-| SourceZ | `MC_SourceZ_JogPos` | 18 | 正向 Jog（0:缺省, 1:点动） |
-| SourceZ | `MC_SourceZ_JogNeg` | 19 | 反向 Jog（0:缺省, 1:点动） |
-| DetectorZ | `MC_DetZ_JogPos` | 30 | 正向 Jog（0:缺省, 1:点动） |
-| DetectorZ | `MC_DetZ_JogNeg` | 31 | 反向 Jog（0:缺省, 1:点动） |
-
-### 1.3 Jog 速度控制 | Jog Speed Control
-
-摇杆输出值（-1.0 ~ 1.0）映射为速度百分比（0% ~ 100%）：
-
-```csharp
-var speedPercent = Math.Abs(output) * 100;  // 0% ~ 100%
-```
-
-**速度计算流程**：
-
-1. **MotionControlService.SetJogSpeed** 计算实际速度：
-   ```csharp
-   var actualSpeed = _config.DefaultVelocity * speedPercent / 100.0;
-   // 例如：DefaultVelocity=100, speedPercent=50 → actualSpeed=50 mm/s
-   ```
-
-2. **PlcLinearAxis.SetJogSpeed** 将实际速度写入 PLC：
-   ```csharp
-   _signalService.EnqueueWrite(_speedSignal, (float)speedPercent);
-   // 注意：参数名 speedPercent 实际接收的是 actualSpeed（已计算的实际速度值）
-   ```
-
-**PLC 信号地址**：
-
-| 轴 | 信号名 | 地址 | 说明 |
-|----|--------|------|------|
-| SourceZ | `MC_SourceZ_Speed` | 14 | 速度值（mm/s，由 DefaultVelocity * speedPercent / 100 计算） |
-| DetectorZ | `MC_DetZ_Speed` | 26 | 速度值（mm/s，由 DefaultVelocity * speedPercent / 100 计算） |
-| StageX | `MC_StageX_Speed` | 38 | 速度值（mm/s，由 DefaultVelocity * speedPercent / 100 计算） |
-| StageY | `MC_StageY_Speed` | 50 | 速度值（mm/s，由 DefaultVelocity * speedPercent / 100 计算） |
-| DetectorSwing | `MC_DetSwing_Speed` | 62 | 速度值（度/s，由 DefaultVelocity * speedPercent / 100 计算） |
-| StageRotation | `MC_StageRot_Speed` | 74 | 速度值（度/s，由 DefaultVelocity * speedPercent / 100 计算） |
-| FixtureRotation | `MC_FixRot_Speed` | 86 | 速度值（度/s，由 DefaultVelocity * speedPercent / 100 计算） |
-
-**示例**：
-- `DefaultVelocity = 100` mm/s
-- 摇杆输出 30% → PLC 接收速度 = 100 * 30% = 30 mm/s
-- 摇杆输出 100% → PLC 接收速度 = 100 * 100% = 100 mm/s
-
-## 2. 轴位置输入框操作 | Axis Position Input Box Operation
-
-### 2.1 编辑状态管理 | Editing State Management
-
-- **GotFocus**：`SetEditing(propertyName, true)` → 冻结实时更新
-- **LostFocus/Escape**：`CancelEditing(propertyName)` → 恢复实时更新，显示实际值
-- **Enter**：`ConfirmPosition(propertyName)` → 发送目标位置移动命令
-
-### 2.2 移动命令下发流程 | Move Command Flow
-
-```csharp
-public void ConfirmPosition(string propertyName)
-{
-    var value = GetPropertyValue(propertyName);
-    SafeRun(() =>
-    {
-        MotionResult result;
-        // 如果射线源与探测器Z轴联动，且操作的是SourceZ或DetectorZ，则同时发送两个轴
-        if (SZDZLock && (propertyName == nameof(SourceZPosition) || propertyName == nameof(DetectorZPosition)))
-        {
-            result = SendSourceDetectorZMoveCommand(value);
-        }
-        else
-        {
-            result = SendMoveCommand(propertyName, value);
-        }
-        if (result.Success)
-            _logger.Info("目标位置已发送：{Property}={Value}", propertyName, value);
-        else
-            _logger.Warn("目标位置发送失败：{Property}={Value}，原因={Reason}", propertyName, value, result.ErrorMessage);
-    });
-    _editingFlags[propertyName] = false;
-}
-
-private MotionResult SendMoveCommand(string propertyName, double value)
-{
-    switch (propertyName)
-    {
-        case nameof(StageXPosition):
-            return _motionControlService.MoveToTarget(AxisId.StageX, value);
-        case nameof(SourceZPosition):
-            return _motionControlService.MoveToTarget(AxisId.SourceZ, value);
-        // ... 其他轴
-    }
-}
-```
-
-### 2.3 单轴移动 | Single Axis Move
-
-```csharp
-public MotionResult MoveToTarget(AxisId axisId, double targetPosition, int? speed = null)
-{
-    var axis = _motionSystem.GetLinearAxis(axisId);
-    var actualSpeed = speed ?? _config.DefaultVelocity;
-    
-    // 边界检查（使用配置中的 Min/Max）
-    if (targetPosition < config.Min || targetPosition > config.Max)
-        return MotionResult.Fail("目标位置超出范围");
-    
-    // 写入目标位置和速度
-    var targetResult = _signalService.EnqueueWrite(signalName, targetPosition);
-    var speedResult = _signalService.EnqueueWrite(speedSignalName, actualSpeed);
-    
-    // 启动移动（写入目标位置会自动触发移动）
-    return targetResult && speedResult ? MotionResult.Ok() : MotionResult.Fail("移动命令写入失败");
-}
-```
-
-**PLC 信号地址**：
-
-| 轴 | 目标位置信号 | 地址 | 速度信号 | 地址 |
-|----|-------------|------|---------|------|
-| SourceZ | `MC_SourceZ_Target` | 10 | `MC_SourceZ_Speed` | 14 |
-| DetectorZ | `MC_DetZ_Target` | 22 | `MC_DetZ_Speed` | 26 |
-| StageX | `MC_StageX_Target` | 34 | `MC_StageX_Speed` | 38 |
-| StageY | `MC_StageY_Target` | 46 | `MC_StageY_Speed` | 50 |
-| DetectorSwing | `MC_DetSwing_Target` | 58 | `MC_DetSwing_Speed` | 62 |
-| StageRotation | `MC_StageRot_Target` | 70 | `MC_StageRot_Speed` | 74 |
-| FixtureRotation | `MC_FixRot_Target` | 82 | `MC_FixRot_Speed` | 86 |
-
-### 2.4 步进移动 | Step Move
-
-上下箭头键触发 `StepPosition(propertyName, delta)`：
-
-```csharp
-public void StepPosition(string propertyName, double delta)
-{
-    var currentValue = GetPropertyValue(propertyName);
-    var newValue = currentValue + delta;
-    SetPropertyValue(propertyName, newValue);
-    
-    // 直接发送移动命令，不进入编辑冻结
-    if (SZDZLock && (propertyName == nameof(SourceZPosition) || propertyName == nameof(DetectorZPosition)))
-    {
-        result = SendSourceDetectorZMoveCommand(newValue);
-    }
-    else
-    {
-        result = SendMoveCommand(propertyName, newValue);
-    }
-}
-```
-
-## 3. 射线源/探测器Z轴联动 | Source-Detector Z-axis Linkage
-
-### 3.1 联动使能 | Linkage Enable
-
-点击"SZDZLock"按钮切换联动状态：
-
-```csharp
-private void ExecuteSZDZLock()
-{
-    SZDZLock = !SZDZLock;
-    var result = _motionControlService.SetSourceDetectorZLinkage(SZDZLock);
-    
-    if (!result.Success)
-    {
-        // 设置失败，恢复状态
-        SZDZLock = !SZDZLock;
-        MessageBox.Show(result.ErrorMessage);
-    }
-}
-```
-
-**PLC 信号**：
-
-| 信号名 | 地址 | 类型 | 说明 |
-|--------|------|------|------|
-| `MC_SourceDetZ_Linkage_Enable` | 101 | bool | 联动使能（true=启用, false=禁用） |
-
-### 3.2 联动移动 | Linkage Move
-
-当 SZDZLock=true 时，移动 SourceZ 或 DetectorZ 会同时移动两个轴，保持位移量相同：
-
-```csharp
-private MotionResult SendSourceDetectorZMoveCommand(double targetValue)
-{
-    // 1. 检查联动是否在配置中启用
-    if (!_config.SourceDetectorZLinkage.Enabled)
-        return MotionResult.Fail("射线源与探测器Z轴联动未启用");
-
-    // 2. 检查两个轴是否都在空闲状态
-    var sourceZAxis = _motionSystem.GetLinearAxis(AxisId.SourceZ);
-    var detectorZAxis = _motionSystem.GetLinearAxis(AxisId.DetectorZ);
-
-    if (sourceZAxis.Status == AxisStatus.Moving)
-        return MotionResult.Fail("射线源Z轴正在运动中，无法联动移动");
-
-    if (detectorZAxis.Status == AxisStatus.Moving)
-        return MotionResult.Fail("探测器Z轴正在运动中，无法联动移动");
-
-    // 3. 计算位移量和目标位置
-    var currentSourceZ = sourceZAxis.ActualPosition;
-    var currentDetectorZ = detectorZAxis.ActualPosition;
-    var sourceDelta = targetValue - currentSourceZ;
-    var targetDetectorZ = currentDetectorZ + sourceDelta;
-
-    // 4. 边界检查（使用配置中的 Min/Max）
-    if (targetValue < sourceConfig.Min || targetValue > sourceConfig.Max)
-        return MotionResult.Fail("射线源Z轴目标位置超出范围");
-
-    if (targetDetectorZ < detectorConfig.Min || targetDetectorZ > detectorConfig.Max)
-        return MotionResult.Fail("探测器Z轴目标位置超出范围");
-
-    // 5. 同时发送两个轴的移动命令
-    var sourceResult = sourceZAxis.MoveToTarget(targetValue, _config.DefaultVelocity);
-    var detectorResult = detectorZAxis.MoveToTarget(targetDetectorZ, _config.DefaultVelocity);
-
-    return sourceResult.Success && detectorResult.Success 
-        ? MotionResult.Ok() 
-        : (sourceResult.Success ? detectorResult : sourceResult);
-}
-```
-
-**PLC 信号下发**：
-
-1. **SourceZ 移动**：
-   - `MC_SourceZ_Target` = targetValue（地址 10）
-   - `MC_SourceZ_Speed` = DefaultVelocity（地址 14）
-
-2. **DetectorZ 移动**：
-   - `MC_DetZ_Target` = currentDetectorZ + (targetValue - currentSourceZ)（地址 22）
-   - `MC_DetZ_Speed` = DefaultVelocity（地址 26）
-
-### 3.3 联动 Jog | Linkage Jog
-
-当 SZDZLock=true 时，单轴摇杆的左右键会同时控制两个轴：
-
-```csharp
-private void HandleSingleJoystickOutput()
-{
-    switch (SingleJoystickActiveButton)
-    {
-        case MouseButtonType.Left:
-            UpdateLinearJog(AxisId.SourceZ, SingleJoystickOutputY);
-            if (_szdzLock)
-                UpdateLinearJog(AxisId.DetectorZ, SingleJoystickOutputY);
-            break;
-        case MouseButtonType.Right:
-            UpdateLinearJog(AxisId.DetectorZ, SingleJoystickOutputY);
-            if (_szdzLock)
-                UpdateLinearJog(AxisId.SourceZ, SingleJoystickOutputY);
-            break;
-    }
-}
-```
-
-**PLC 信号下发**：
-
-- **SourceZ Jog**：
-  - `MC_SourceZ_JogPos`/`MC_SourceZ_JogNeg` = true（地址 18/19）
-  - `MC_SourceZ_Speed` = speedPercent（地址 14）
-
-- **DetectorZ Jog**：
-  - `MC_DetZ_JogPos`/`MC_DetZ_JogNeg` = true（地址 30/31）
-  - `MC_DetZ_Speed` = speedPercent（地址 26）
-
-## 4. 虚拟摇杆使能 | Virtual Joystick Enable
-
-点击"使能开关"按钮切换虚拟摇杆使能状态：
-
-```csharp
-private void ExecuteToggleEnable()
-{
-    IsJoystickEnabled = !IsJoystickEnabled;
-    _motionControlService.SetVirtualJoystickEnable(IsJoystickEnabled);
-}
-```
-
-**PLC 信号**：
-
-| 信号名 | 地址 | 类型 | 说明 |
-|--------|------|------|------|
-| `MC_VirtualJoystick_Enable` | 111 | bool | 虚拟摇杆使能（true=启用, false=禁用） |
-
-## 5. 信号写入队列机制 | Signal Write Queue Mechanism
-
-所有 PLC 写入操作通过 `ISignalDataService.EnqueueWrite()` 进入写入队列：
-
-```csharp
-public interface ISignalDataService
-{
-    bool EnqueueWrite(string signalName, object value);
-    bool EnqueueWriteBatch(Dictionary<string, object> writes);
-}
-```
-
-**队列处理流程**：
-
-1. ViewModel 调用 `EnqueueWrite(signalName, value)`
-2. 信号数据服务将写入请求加入队列
-3. PLC 服务在轮询周期（默认 100ms）中批量写入
-4. 写入成功后从队列移除
-
-**优势**：
-
-- 批量写入减少 PLC 通讯次数
-- 避免频繁写入导致的通讯拥塞
-- 统一的错误处理和重试机制
-
----

XP.Hardware.MotionControl/Documents/AxisControlView_PLC_Communication.md.md

@@ -0,0 +1,803 @@
+# AxisControlView PLC 通信机制 | AxisControlView PLC Communication
+
+## 概述 | Overview
+
+AxisControlView 是运动控制模块的核心用户控件，通过 AxisControlViewModel 与 PLC 进行双向通信。本文档详细说明摇杆 Jog 操作、轴位置输入框操作、射线源/探测器Z轴联动、安全机制以及辅助功能的 PLC 信号下发机制。
+
+## 通信架构 | Communication Architecture
+
+```
+AxisControlView (XAML)
+    ↓ (数据绑定)
+AxisControlViewModel (C#)
+    ↓ (调用)
+IMotionControlService
+    ↓ (调用)
+IMotionSystem → PlcLinearAxis / PlcRotaryAxis
+    ↓ (调用)
+ISignalDataService.EnqueueWrite()
+    ↓ (写入队列)
+PLC (DB31, WriteCommon 组)
+```
+
+**关键分层说明**：
+- `AxisControlViewModel` 调用 `IMotionControlService` 的业务方法
+- `IMotionControlService` 委托给 `IMotionSystem` 获取轴实例（`PlcLinearAxis` / `PlcRotaryAxis`）
+- 轴实例内部通过 `ISignalDataService.EnqueueWrite()` 写入 PLC 信号
+- ViewModel 不直接操作信号，所有信号写入由轴实现层完成
+
+## 1. 摇杆 Jog 操作 | Joystick Jog Operation
+
+### 1.1 双轴摇杆（圆形）| Dual Axis Joystick (Circular)
+
+**左键拖拽（默认模式）**：
+- X 轴输出 → StageX Jog（正向/反向）
+- Y 轴输出 → StageY Jog（正向/反向）
+
+**右键拖拽（默认模式）**：
+- X 轴输出 → DetectorSwing Jog（正向/反向）
+- Y 轴输出 → StageRotation/FixtureRotation Jog（正向/反向）
+
+> 注：当 `SwapMouseButtons=true` 时，左右键功能互换。
+
+**信号下发流程**：
+
+```csharp
+// 1. 摇杆输出变化触发 HandleDualJoystickOutput()
+private void HandleDualJoystickOutput()
+{
+    switch (DualJoystickActiveButton)
+    {
+        case MouseButtonType.Left:
+            UpdateLinearJog(AxisId.StageX, DualJoystickOutputX);
+            UpdateLinearJog(AxisId.StageY, DualJoystickOutputY);
+            break;
+        case MouseButtonType.Right:
+            UpdateRotaryJog(RotaryAxisId.DetectorSwing, DualJoystickOutputX);
+            var rotationAxisId = GetEnabledRotationAxisId();
+            if (rotationAxisId.HasValue)
+                UpdateRotaryJog(rotationAxisId.Value, DualJoystickOutputY);
+            break;
+    }
+}
+
+// 2. UpdateLinearJog 处理 Jog 启动/速度更新/停止
+private void UpdateLinearJog(AxisId axisId, double output)
+{
+    if (output != 0)
+    {
+        var speedPercent = Math.Abs(output) * 100;
+        var positive = output > 0;
+
+        if (!_linearJogActive[axisId])
+        {
+            // 从零变为非零：先设速度再启动 Jog
+            _motionControlService.SetJogSpeed(axisId, speedPercent);
+            _motionControlService.JogStart(axisId, positive);
+            _linearJogActive[axisId] = true;
+        }
+        else
+        {
+            // 已在 Jog 中：仅更新速度
+            _motionControlService.SetJogSpeed(axisId, speedPercent);
+        }
+    }
+    else
+    {
+        // 从非零变为零：停止 Jog
+        if (_linearJogActive[axisId])
+        {
+            _motionControlService.JogStop(axisId);
+            _linearJogActive[axisId] = false;
+        }
+    }
+}
+
+// 3. MotionControlService.JogStart 委托给轴实现
+public MotionResult JogStart(AxisId axisId, bool positive)
+{
+    var axis = _motionSystem.GetLinearAxis(axisId);
+    // Homing 状态检查
+    if (axis.Status == AxisStatus.Homing)
+        return MotionResult.Fail("轴正在回零，拒绝 Jog 命令");
+    return axis.JogStart(positive);
+}
+
+// 4. PlcLinearAxis.JogStart 写入 PLC 信号
+public override MotionResult JogStart(bool positive)
+{
+    if (Status == AxisStatus.Homing)
+        return MotionResult.Fail("轴正在回零，拒绝 Jog 命令");
+    var signal = positive ? _jogPosSignal : _jogNegSignal;
+    _signalService.EnqueueWrite(signal, true);
+    return MotionResult.Ok();
+}
+```
+
+**旋转轴 Jog 流程类似**（`UpdateRotaryJog` → `SetJogRotarySpeed` → `JogRotaryStart`），额外包含禁用轴检查。
+
+
+**PLC 信号地址（直线轴 Jog）**：
+
+| 轴 | 信号名 | 地址 | 说明 |
+|----|--------|------|------|
+| SourceZ | `MC_SourceZ_JogPos` | 18 | 正向 Jog（0:缺省, 1:点动） |
+| SourceZ | `MC_SourceZ_JogNeg` | 19 | 反向 Jog（0:缺省, 1:点动） |
+| DetectorZ | `MC_DetZ_JogPos` | 30 | 正向 Jog（0:缺省, 1:点动） |
+| DetectorZ | `MC_DetZ_JogNeg` | 31 | 反向 Jog（0:缺省, 1:点动） |
+| StageX | `MC_StageX_JogPos` | 42 | 正向 Jog（0:缺省, 1:点动） |
+| StageX | `MC_StageX_JogNeg` | 43 | 反向 Jog（0:缺省, 1:点动） |
+| StageY | `MC_StageY_JogPos` | 54 | 正向 Jog（0:缺省, 1:点动） |
+| StageY | `MC_StageY_JogNeg` | 55 | 反向 Jog（0:缺省, 1:点动） |
+
+**PLC 信号地址（旋转轴 Jog）**：
+
+| 轴 | 信号名 | 地址 | 说明 |
+|----|--------|------|------|
+| DetectorSwing | `MC_DetSwing_JogPos` | 66 | 正向 Jog（0:缺省, 1:点动） |
+| DetectorSwing | `MC_DetSwing_JogNeg` | 67 | 反向 Jog（0:缺省, 1:点动） |
+| StageRotation | `MC_StageRot_JogPos` | 78 | 正向 Jog（0:缺省, 1:点动） |
+| StageRotation | `MC_StageRot_JogNeg` | 79 | 反向 Jog（0:缺省, 1:点动） |
+| FixtureRotation | `MC_FixRot_JogPos` | 90 | 正向 Jog（0:缺省, 1:点动） |
+| FixtureRotation | `MC_FixRot_JogNeg` | 91 | 反向 Jog（0:缺省, 1:点动） |
+
+### 1.2 单轴摇杆（腰圆）| Single Axis Joystick (Oval)
+
+**左键拖拽（默认模式）**：
+- Y 轴输出 → SourceZ Jog（正向/反向）
+- 若 SZDZLock=true，同时 → DetectorZ Jog（正向/反向）
+
+**右键拖拽（默认模式）**：
+- Y 轴输出 → DetectorZ Jog（正向/反向）
+- 若 SZDZLock=true，同时 → SourceZ Jog（正向/反向）
+
+**信号下发流程**：
+
+```csharp
+private void HandleSingleJoystickOutput()
+{
+    switch (SingleJoystickActiveButton)
+    {
+        case MouseButtonType.Left:
+            UpdateLinearJog(AxisId.SourceZ, SingleJoystickOutputY);
+            if (_szdzLock)
+                UpdateLinearJog(AxisId.DetectorZ, SingleJoystickOutputY);
+            break;
+        case MouseButtonType.Right:
+            UpdateLinearJog(AxisId.DetectorZ, SingleJoystickOutputY);
+            if (_szdzLock)
+                UpdateLinearJog(AxisId.SourceZ, SingleJoystickOutputY);
+            break;
+    }
+}
+```
+
+### 1.3 按键释放自动停止 | Button Release Auto-Stop
+
+当摇杆按键从非 None 变为 None 时，自动停止所有关联轴的 Jog：
+
+```csharp
+// DualJoystickActiveButton setter 中
+if (value == MouseButtonType.None && oldValue != MouseButtonType.None)
+    StopDualJoystickAxes();
+
+// StopDualJoystickAxes 停止所有双轴摇杆关联轴
+private void StopDualJoystickAxes()
+{
+    UpdateLinearJog(AxisId.StageX, 0);
+    UpdateLinearJog(AxisId.StageY, 0);
+    UpdateRotaryJog(RotaryAxisId.DetectorSwing, 0);
+    var rotationAxisId = GetEnabledRotationAxisId();
+    if (rotationAxisId.HasValue)
+        UpdateRotaryJog(rotationAxisId.Value, 0);
+}
+```
+
+单轴摇杆同理（`StopSingleJoystickAxes` 停止 SourceZ 和 DetectorZ）。
+
+### 1.4 Jog 速度控制 | Jog Speed Control
+
+摇杆输出值（-1.0 ~ 1.0）映射为速度百分比（0% ~ 100%）：
+
+```csharp
+var speedPercent = Math.Abs(output) * 100;  // 0% ~ 100%
+```
+
+**速度计算流程**：
+
+1. **MotionControlService.SetJogSpeed** 计算实际速度：
+   ```csharp
+   public MotionResult SetJogSpeed(AxisId axisId, double speedPercent)
+   {
+       var axis = _motionSystem.GetLinearAxis(axisId);
+       var actualSpeed = _config.DefaultVelocity * speedPercent / 100.0;
+       return axis.SetJogSpeed(actualSpeed);
+   }
+   ```
+
+2. **PlcLinearAxis.SetJogSpeed** 将实际速度写入 PLC：
+   ```csharp
+   public override MotionResult SetJogSpeed(double speedPercent)
+   {
+       // 注意：参数名为 speedPercent，但实际接收的是已计算的速度值（mm/s 或 度/s）
+       _signalService.EnqueueWrite(_speedSignal, (float)speedPercent);
+       return MotionResult.Ok();
+   }
+   ```
+
+**PLC 速度信号地址**：
+
+| 轴 | 信号名 | 地址 | 说明 |
+|----|--------|------|------|
+| SourceZ | `MC_SourceZ_Speed` | 14 | 速度值（mm/s，由 DefaultVelocity × speedPercent / 100 计算） |
+| DetectorZ | `MC_DetZ_Speed` | 26 | 速度值（mm/s，由 DefaultVelocity × speedPercent / 100 计算） |
+| StageX | `MC_StageX_Speed` | 38 | 速度值（mm/s，由 DefaultVelocity × speedPercent / 100 计算） |
+| StageY | `MC_StageY_Speed` | 50 | 速度值（mm/s，由 DefaultVelocity × speedPercent / 100 计算） |
+| DetectorSwing | `MC_DetSwing_Speed` | 62 | 速度值（度/s，由 DefaultVelocity × speedPercent / 100 计算） |
+| StageRotation | `MC_StageRot_Speed` | 74 | 速度值（度/s，由 DefaultVelocity × speedPercent / 100 计算） |
+| FixtureRotation | `MC_FixRot_Speed` | 86 | 速度值（度/s，由 DefaultVelocity × speedPercent / 100 计算） |
+
+**示例**：
+- `DefaultVelocity = 100` mm/s
+- 摇杆输出 30% → PLC 接收速度 = 100 × 30 / 100 = 30 mm/s
+- 摇杆输出 100% → PLC 接收速度 = 100 × 100 / 100 = 100 mm/s
+
+## 2. 轴位置输入框操作 | Axis Position Input Box Operation
+
+### 2.1 编辑状态管理 | Editing State Management
+
+- **GotFocus**：`SetEditing(propertyName, true)` → 冻结实时更新
+- **LostFocus/Escape**：`CancelEditing(propertyName)` → 恢复实时更新，显示实际值
+- **Enter**：`ConfirmPosition(propertyName)` → 发送目标位置移动命令
+
+### 2.2 移动命令下发流程 | Move Command Flow
+
+```csharp
+public void ConfirmPosition(string propertyName)
+{
+    var value = GetPropertyValue(propertyName);
+    SafeRun(() =>
+    {
+        MotionResult result;
+        // 如果射线源与探测器Z轴联动，且操作的是SourceZ或DetectorZ，则同时发送两个轴
+        if (SZDZLock && (propertyName == nameof(SourceZPosition) || propertyName == nameof(DetectorZPosition)))
+        {
+            result = SendSourceDetectorZMoveCommand(value);
+        }
+        else
+        {
+            result = SendMoveCommand(propertyName, value);
+        }
+        if (result.Success)
+            _logger.Info("目标位置已发送：{Property}={Value}", propertyName, value);
+        else
+            _logger.Warn("目标位置发送失败：{Property}={Value}，原因={Reason}", propertyName, value, result.ErrorMessage);
+    });
+    _editingFlags[propertyName] = false;
+}
+
+private MotionResult SendMoveCommand(string propertyName, double value)
+{
+    switch (propertyName)
+    {
+        case nameof(StageXPosition):
+            return _motionControlService.MoveToTarget(AxisId.StageX, value);
+        case nameof(StageYPosition):
+            return _motionControlService.MoveToTarget(AxisId.StageY, value);
+        case nameof(SourceZPosition):
+            return _motionControlService.MoveToTarget(AxisId.SourceZ, value);
+        case nameof(DetectorZPosition):
+            return _motionControlService.MoveToTarget(AxisId.DetectorZ, value);
+        case nameof(DetectorSwingAngle):
+            return _motionControlService.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, value);
+        case nameof(StageRotationAngle):
+            return _motionControlService.MoveRotaryToTarget(RotaryAxisId.StageRotation, value);
+        case nameof(FixtureRotationAngle):
+            return _motionControlService.MoveRotaryToTarget(RotaryAxisId.FixtureRotation, value);
+        default:
+            return MotionResult.Fail($"未知的属性名称：{propertyName}");
+    }
+}
+```
+
+### 2.3 单轴移动 | Single Axis Move
+
+```csharp
+// MotionControlService.MoveToTarget — 业务层
+public MotionResult MoveToTarget(AxisId axisId, double target, double? speed = null)
+{
+    var axis = _motionSystem.GetLinearAxis(axisId);
+
+    // 运动中防重入检查
+    if (axis.Status == AxisStatus.Moving)
+        return MotionResult.Fail("轴正在运动中，拒绝重复命令");
+
+    // 委托给轴实现（轴内部包含边界检查）
+    return axis.MoveToTarget(target, speed ?? _config.DefaultVelocity);
+}
+
+// PlcLinearAxis.MoveToTarget — 轴实现层
+public override MotionResult MoveToTarget(double target, double? speed = null)
+{
+    if (!ValidateTarget(target))
+        return MotionResult.Fail($"目标位置 {target} 超出范围 [{_min}, {_max}]");
+    if (Status == AxisStatus.Moving)
+        return MotionResult.Fail("轴正在运动中，拒绝重复命令");
+
+    if (speed.HasValue)
+        _signalService.EnqueueWrite(_speedSignal, (float)speed.Value);
+    _signalService.EnqueueWrite(_writeSignal, (float)target);
+    Status = AxisStatus.Moving;
+    return MotionResult.Ok();
+}
+```
+
+**PLC 信号地址**：
+
+| 轴 | 目标位置信号 | 地址 | 速度信号 | 地址 |
+|----|-------------|------|---------|------|
+| SourceZ | `MC_SourceZ_Target` | 10 | `MC_SourceZ_Speed` | 14 |
+| DetectorZ | `MC_DetZ_Target` | 22 | `MC_DetZ_Speed` | 26 |
+| StageX | `MC_StageX_Target` | 34 | `MC_StageX_Speed` | 38 |
+| StageY | `MC_StageY_Target` | 46 | `MC_StageY_Speed` | 50 |
+| DetectorSwing | `MC_DetSwing_Target` | 58 | `MC_DetSwing_Speed` | 62 |
+| StageRotation | `MC_StageRot_Target` | 70 | `MC_StageRot_Speed` | 74 |
+| FixtureRotation | `MC_FixRot_Target` | 82 | `MC_FixRot_Speed` | 86 |
+
+### 2.4 步进移动 | Step Move
+
+上下箭头键触发 `StepPosition(propertyName, delta)`：
+
+```csharp
+public void StepPosition(string propertyName, double delta)
+{
+    var currentValue = GetPropertyValue(propertyName);
+    var newValue = currentValue + delta;
+    SetPropertyValue(propertyName, newValue);
+    SafeRun(() =>
+    {
+        MotionResult result;
+        if (SZDZLock && (propertyName == nameof(SourceZPosition) || propertyName == nameof(DetectorZPosition)))
+        {
+            result = SendSourceDetectorZMoveCommand(newValue);
+        }
+        else
+        {
+            result = SendMoveCommand(propertyName, newValue);
+        }
+        if (!result.Success)
+            _logger.Warn("步进移动失败：{Property}，原因={Reason}", propertyName, result.ErrorMessage);
+    });
+}
+```
+
+## 3. 射线源/探测器Z轴联动 | Source-Detector Z-axis Linkage
+
+### 3.1 联动使能 | Linkage Enable
+
+点击"SZDZLock"按钮切换联动状态：
+
+```csharp
+private void ExecuteSZDZLock()
+{
+    // 切换联动状态
+    SZDZLock = !SZDZLock;
+
+    // 调用服务设置联动
+    var result = _motionControlService.SetSourceDetectorZLinkage(SZDZLock);
+
+    if (!result.Success)
+    {
+        // 如果设置失败，恢复状态
+        SZDZLock = !SZDZLock;
+        MessageBox.Show(result.ErrorMessage, ...);
+    }
+}
+
+// MotionControlService.SetSourceDetectorZLinkage
+public MotionResult SetSourceDetectorZLinkage(bool enabled)
+{
+    var config = _config.SourceDetectorZLinkage;
+    if (!config.Enabled)
+        return MotionResult.Fail("射线源与探测器Z轴联动未启用");
+
+    var result = _signalService.EnqueueWrite(MotionSignalNames.SourceDetZ_Linkage_Enable, (bool)enabled);
+    return result ? MotionResult.Ok() : MotionResult.Fail("联动使能写入失败");
+}
+```
+
+另外提供公开方法 `SetSZDZLinkageToPlc()` 供外部直接同步当前联动状态到 PLC：
+
+```csharp
+public MotionResult SetSZDZLinkageToPlc()
+{
+    return _motionControlService.SetSourceDetectorZLinkage(SZDZLock);
+}
+```
+
+**PLC 信号**：
+
+| 信号名 | 地址 | 类型 | 说明 |
+|--------|------|------|------|
+| `MC_SourceDetZ_Linkage_Enable` | 101 | bool | 联动使能（true=启用, false=禁用） |
+
+### 3.2 联动移动 | Linkage Move
+
+当 SZDZLock=true 时，移动 SourceZ 或 DetectorZ 会同时移动两个轴，保持位移量相同：
+
+```csharp
+private MotionResult SendSourceDetectorZMoveCommand(double targetValue)
+{
+    // 1. 检查联动是否在配置中启用
+    if (!_config.SourceDetectorZLinkage.Enabled)
+        return MotionResult.Fail("射线源与探测器Z轴联动未启用");
+
+    // 2. 获取两个轴并检查是否都在空闲状态
+    var sourceZAxis = _motionSystem.GetLinearAxis(AxisId.SourceZ);
+    var detectorZAxis = _motionSystem.GetLinearAxis(AxisId.DetectorZ);
+
+    if (sourceZAxis.Status == AxisStatus.Moving)
+        return MotionResult.Fail("射线源Z轴正在运动中，无法联动移动");
+    if (detectorZAxis.Status == AxisStatus.Moving)
+        return MotionResult.Fail("探测器Z轴正在运动中，无法联动移动");
+
+    // 3. 计算位移量和目标位置
+    var currentSourceZ = sourceZAxis.ActualPosition;
+    var currentDetectorZ = detectorZAxis.ActualPosition;
+    var sourceDelta = targetValue - currentSourceZ;
+    var targetDetectorZ = currentDetectorZ + sourceDelta;
+
+    // 4. 边界检查（使用配置中的 Min/Max，收集所有错误后统一返回）
+    if (_config.LinearAxes.TryGetValue(AxisId.SourceZ, out var sourceConfig) &&
+        _config.LinearAxes.TryGetValue(AxisId.DetectorZ, out var detectorConfig))
+    {
+        var errors = new List<string>();
+        if (targetValue < sourceConfig.Min || targetValue > sourceConfig.Max)
+            errors.Add("射线源Z轴目标位置超出范围");
+        if (targetDetectorZ < detectorConfig.Min || targetDetectorZ > detectorConfig.Max)
+            errors.Add("探测器Z轴目标位置超出范围");
+        if (errors.Count > 0)
+            return MotionResult.Fail(string.Join("; ", errors));
+    }
+
+    // 5. 同时发送两个轴的移动命令（通过轴实现层写入 PLC）
+    var sourceResult = sourceZAxis.MoveToTarget(targetValue, _config.DefaultVelocity);
+    var detectorResult = detectorZAxis.MoveToTarget(targetDetectorZ, _config.DefaultVelocity);
+
+    if (!sourceResult.Success) return sourceResult;
+    if (!detectorResult.Success) return detectorResult;
+    return MotionResult.Ok();
+}
+```
+
+**PLC 信号下发**：
+
+1. **SourceZ 移动**：
+   - `MC_SourceZ_Speed` = DefaultVelocity（地址 14）
+   - `MC_SourceZ_Target` = targetValue（地址 10）
+
+2. **DetectorZ 移动**：
+   - `MC_DetZ_Speed` = DefaultVelocity（地址 26）
+   - `MC_DetZ_Target` = currentDetectorZ + (targetValue - currentSourceZ)（地址 22）
+
+### 3.3 联动 Jog | Linkage Jog
+
+当 SZDZLock=true 时，单轴摇杆的左右键会同时控制两个轴：
+
+```csharp
+private void HandleSingleJoystickOutput()
+{
+    switch (SingleJoystickActiveButton)
+    {
+        case MouseButtonType.Left:
+            UpdateLinearJog(AxisId.SourceZ, SingleJoystickOutputY);
+            if (_szdzLock)
+                UpdateLinearJog(AxisId.DetectorZ, SingleJoystickOutputY);
+            break;
+        case MouseButtonType.Right:
+            UpdateLinearJog(AxisId.DetectorZ, SingleJoystickOutputY);
+            if (_szdzLock)
+                UpdateLinearJog(AxisId.SourceZ, SingleJoystickOutputY);
+            break;
+    }
+}
+```
+
+**PLC 信号下发**：
+
+- **SourceZ Jog**：
+  - `MC_SourceZ_Speed` = actualSpeed（地址 14）
+  - `MC_SourceZ_JogPos`/`MC_SourceZ_JogNeg` = true（地址 18/19）
+
+- **DetectorZ Jog**：
+  - `MC_DetZ_Speed` = actualSpeed（地址 26）
+  - `MC_DetZ_JogPos`/`MC_DetZ_JogNeg` = true（地址 30/31）
+
+
+## 4. 虚拟摇杆使能 | Virtual Joystick Enable
+
+点击"使能开关"按钮切换虚拟摇杆使能状态：
+
+```csharp
+private void ExecuteToggleEnable()
+{
+    IsJoystickEnabled = !IsJoystickEnabled;
+
+    var result = _motionControlService.SetVirtualJoystickEnable(IsJoystickEnabled);
+    if (!result.Success)
+    {
+        MessageBox.Show(result.ErrorMessage, ...);
+    }
+}
+
+// MotionControlService.SetVirtualJoystickEnable
+public MotionResult SetVirtualJoystickEnable(bool enabled)
+{
+    var result = _signalService.EnqueueWrite(MotionSignalNames.VirtualJoystick_Enable, (bool)enabled);
+    return result ? MotionResult.Ok() : MotionResult.Fail("虚拟摇杆使能写入失败");
+}
+```
+
+**PLC 信号**：
+
+| 信号名 | 地址 | 类型 | 说明 |
+|--------|------|------|------|
+| `MC_VirtualJoystick_Enable` | 111 | bool | 虚拟摇杆使能（true=启用, false=禁用） |
+
+## 5. 鼠标按键交换 | Mouse Button Swap
+
+点击"交换按键"按钮切换摇杆左右键功能映射：
+
+```csharp
+private void ExecuteToggleSwapMouseButtons()
+{
+    SwapMouseButtons = !SwapMouseButtons;
+}
+```
+
+此功能为纯 UI 层逻辑，不涉及 PLC 信号写入。当 `SwapMouseButtons=true` 时，摇杆控件内部交换左右键的功能映射。
+
+## 6. 保存/恢复轴位置 | Save/Restore Axis Positions
+
+### 6.1 保存当前位置 | Save Current Positions
+
+```csharp
+private void ExecuteSavePositions()
+{
+    _savedPositions = new SavedPositions
+    {
+        StageX = StageXPosition,
+        StageY = StageYPosition,
+        SourceZ = SourceZPosition,
+        DetectorZ = DetectorZPosition,
+        DetectorSwing = DetectorSwingAngle,
+        StageRotation = StageRotationAngle,
+        FixtureRotation = FixtureRotationAngle
+    };
+}
+```
+
+### 6.2 恢复保存的位置 | Restore Saved Positions
+
+恢复时会同时向所有轴发送移动命令：
+
+```csharp
+private void ExecuteRestorePositions()
+{
+    if (_savedPositions == null) return;
+
+    // 恢复到输入框
+    StageXPosition = _savedPositions.StageX;
+    StageYPosition = _savedPositions.StageY;
+    SourceZPosition = _savedPositions.SourceZ;
+    DetectorZPosition = _savedPositions.DetectorZ;
+    DetectorSwingAngle = _savedPositions.DetectorSwing;
+    StageRotationAngle = _savedPositions.StageRotation;
+    FixtureRotationAngle = _savedPositions.FixtureRotation;
+
+    // 发送移动命令（通过 MotionControlService → PlcLinearAxis/PlcRotaryAxis → PLC）
+    _motionControlService.MoveToTarget(AxisId.StageX, _savedPositions.StageX);
+    _motionControlService.MoveToTarget(AxisId.StageY, _savedPositions.StageY);
+    _motionControlService.MoveToTarget(AxisId.SourceZ, _savedPositions.SourceZ);
+    _motionControlService.MoveToTarget(AxisId.DetectorZ, _savedPositions.DetectorZ);
+    _motionControlService.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, _savedPositions.DetectorSwing);
+    _motionControlService.MoveRotaryToTarget(RotaryAxisId.StageRotation, _savedPositions.StageRotation);
+    _motionControlService.MoveRotaryToTarget(RotaryAxisId.FixtureRotation, _savedPositions.FixtureRotation);
+}
+```
+
+**PLC 信号下发**：恢复时向所有 7 个轴写入目标位置和速度信号（参见第 2.3 节信号地址表）。
+
+## 7. 安全参数 | Safety Parameters
+
+ViewModel 提供以下安全参数属性：
+
+| 属性 | 说明 |
+|------|------|
+| `SafetyHeight` | 探测器安全高度限定值 |
+| `CalibrationValue` | 校准自动计算值 |
+
+```csharp
+public void ConfirmSafetyHeight()
+{
+    _logger.Info("探测器安全高度限定值已保存：{Value}", SafetyHeight);
+}
+
+public void ConfirmCalibrationValue()
+{
+    _logger.Info("校准自动计算值已保存：{Value}", CalibrationValue);
+}
+```
+
+> 注：当前实现仅记录日志，未写入 PLC 信号。后续可能扩展为写入 PLC 安全参数区域。
+
+## 8. PLC 断连安全处理 | PLC Disconnection Safety
+
+当 PLC 连接断开时，ViewModel 自动执行以下安全操作：
+
+```csharp
+private void OnPlcConnectionChanged()
+{
+    IsPlcConnected = _plcService.IsConnected;
+
+    if (!_plcService.IsConnected)
+    {
+        // 1. 停止所有活跃的 Jog 操作（标记为停止）
+        foreach (var axisId in _linearJogActive.Keys)
+            if (_linearJogActive[axisId])
+                _linearJogActive[axisId] = false;
+        foreach (var axisId in _rotaryJogActive.Keys)
+            if (_rotaryJogActive[axisId])
+                _rotaryJogActive[axisId] = false;
+
+        // 2. 禁用摇杆
+        IsJoystickEnabled = false;
+
+        // 3. 显示连接断开提示
+        ErrorMessage = LocalizationHelper.Get("MC_PlcNotConnected");
+    }
+    else
+    {
+        // PLC 重连：清除错误信息（不自动启用摇杆，需用户手动开启）
+        ErrorMessage = null;
+    }
+}
+```
+
+**安全策略**：
+- PLC 断连时立即标记所有 Jog 为停止状态
+- 禁用虚拟摇杆，防止用户误操作
+- PLC 重连后不自动恢复使能，需用户手动确认后开启
+
+## 9. 实体摇杆状态 | Physical Joystick Status
+
+通过 `JoystickActiveEvent` 事件订阅实体摇杆的激活状态：
+
+```csharp
+_eventAggregator.GetEvent<JoystickActiveEvent>().Subscribe(OnJoystickActiveChanged, ThreadOption.UIThread);
+
+private void OnJoystickActiveChanged(bool isActive)
+{
+    IsJoystickActive = isActive;
+}
+```
+
+**PLC 信号（读取）**：
+
+| 信号名 | 说明 |
+|--------|------|
+| `MC_Joystick_Active` | 实体摇杆输入激活状态（由 PLC 轮询读取） |
+
+## 10. 旋转轴可见性控制 | Rotary Axis Visibility Control
+
+根据配置动态控制旋转轴输入框的可见性：
+
+```csharp
+DetectorSwingVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.DetectorSwing)
+    && _config.RotaryAxes[RotaryAxisId.DetectorSwing].Enabled
+    ? Visibility.Visible : Visibility.Collapsed;
+
+StageRotationVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.StageRotation)
+    && _config.RotaryAxes[RotaryAxisId.StageRotation].Enabled
+    ? Visibility.Visible : Visibility.Collapsed;
+
+FixtureRotationVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.FixtureRotation)
+    && _config.RotaryAxes[RotaryAxisId.FixtureRotation].Enabled
+    ? Visibility.Visible : Visibility.Collapsed;
+```
+
+此功能为纯 UI 层逻辑，不涉及 PLC 信号。
+
+## 11. 信号写入队列机制 | Signal Write Queue Mechanism
+
+所有 PLC 写入操作通过 `ISignalDataService.EnqueueWrite()` 进入写入队列：
+
+```csharp
+public interface ISignalDataService
+{
+    bool EnqueueWrite(string signalName, object value);
+    bool EnqueueWriteBatch(Dictionary<string, object> writes);
+    T GetValueByName<T>(string signalName);
+}
+```
+
+**队列处理流程**：
+
+1. 轴实现层（`PlcLinearAxis`/`PlcRotaryAxis`）调用 `EnqueueWrite(signalName, value)`
+2. 信号数据服务将写入请求加入队列
+3. PLC 服务在轮询周期（默认 100ms）中批量写入
+4. 写入成功后从队列移除
+
+**优势**：
+
+- 批量写入减少 PLC 通讯次数
+- 避免频繁写入导致的通讯拥塞
+- 统一的错误处理和重试机制
+
+## 12. 完整 PLC 信号名称常量 | Complete PLC Signal Name Constants
+
+定义在 `MotionSignalNames.cs` 中：
+
+| 分类 | 常量名 | 信号名 | 方向 |
+|------|--------|--------|------|
+| 联动 | `SourceDetZ_Linkage_Enable` | `MC_SourceDetZ_Linkage_Enable` | 写入 |
+| 使能 | `VirtualJoystick_Enable` | `MC_VirtualJoystick_Enable` | 写入 |
+| 状态 | `Joystick_Active` | `MC_Joystick_Active` | 读取 |
+| SourceZ | `SourceZ_Pos` | `MC_SourceZ_Pos` | 读取 |
+| SourceZ | `SourceZ_Target` | `MC_SourceZ_Target` | 写入 |
+| SourceZ | `SourceZ_Speed` | `MC_SourceZ_Speed` | 写入 |
+| SourceZ | `SourceZ_JogPos` | `MC_SourceZ_JogPos` | 写入 |
+| SourceZ | `SourceZ_JogNeg` | `MC_SourceZ_JogNeg` | 写入 |
+| SourceZ | `SourceZ_Home` | `MC_SourceZ_Home` | 写入 |
+| SourceZ | `SourceZ_Stop` | `MC_SourceZ_Stop` | 写入 |
+| DetectorZ | `DetZ_Pos` | `MC_DetZ_Pos` | 读取 |
+| DetectorZ | `DetZ_Target` | `MC_DetZ_Target` | 写入 |
+| DetectorZ | `DetZ_Speed` | `MC_DetZ_Speed` | 写入 |
+| DetectorZ | `DetZ_JogPos` | `MC_DetZ_JogPos` | 写入 |
+| DetectorZ | `DetZ_JogNeg` | `MC_DetZ_JogNeg` | 写入 |
+| DetectorZ | `DetZ_Home` | `MC_DetZ_Home` | 写入 |
+| DetectorZ | `DetZ_Stop` | `MC_DetZ_Stop` | 写入 |
+| StageX | `StageX_Pos` | `MC_StageX_Pos` | 读取 |
+| StageX | `StageX_Target` | `MC_StageX_Target` | 写入 |
+| StageX | `StageX_Speed` | `MC_StageX_Speed` | 写入 |
+| StageX | `StageX_JogPos` | `MC_StageX_JogPos` | 写入 |
+| StageX | `StageX_JogNeg` | `MC_StageX_JogNeg` | 写入 |
+| StageX | `StageX_Home` | `MC_StageX_Home` | 写入 |
+| StageX | `StageX_Stop` | `MC_StageX_Stop` | 写入 |
+| StageY | `StageY_Pos` | `MC_StageY_Pos` | 读取 |
+| StageY | `StageY_Target` | `MC_StageY_Target` | 写入 |
+| StageY | `StageY_Speed` | `MC_StageY_Speed` | 写入 |
+| StageY | `StageY_JogPos` | `MC_StageY_JogPos` | 写入 |
+| StageY | `StageY_JogNeg` | `MC_StageY_JogNeg` | 写入 |
+| StageY | `StageY_Home` | `MC_StageY_Home` | 写入 |
+| StageY | `StageY_Stop` | `MC_StageY_Stop` | 写入 |
+| DetSwing | `DetSwing_Angle` | `MC_DetSwing_Angle` | 读取 |
+| DetSwing | `DetSwing_Target` | `MC_DetSwing_Target` | 写入 |
+| DetSwing | `DetSwing_Speed` | `MC_DetSwing_Speed` | 写入 |
+| DetSwing | `DetSwing_JogPos` | `MC_DetSwing_JogPos` | 写入 |
+| DetSwing | `DetSwing_JogNeg` | `MC_DetSwing_JogNeg` | 写入 |
+| DetSwing | `DetSwing_Home` | `MC_DetSwing_Home` | 写入 |
+| DetSwing | `DetSwing_Stop` | `MC_DetSwing_Stop` | 写入 |
+| StageRot | `StageRot_Angle` | `MC_StageRot_Angle` | 读取 |
+| StageRot | `StageRot_Target` | `MC_StageRot_Target` | 写入 |
+| StageRot | `StageRot_Speed` | `MC_StageRot_Speed` | 写入 |
+| StageRot | `StageRot_JogPos` | `MC_StageRot_JogPos` | 写入 |
+| StageRot | `StageRot_JogNeg` | `MC_StageRot_JogNeg` | 写入 |
+| StageRot | `StageRot_Home` | `MC_StageRot_Home` | 写入 |
+| StageRot | `StageRot_Stop` | `MC_StageRot_Stop` | 写入 |
+| FixRot | `FixRot_Angle` | `MC_FixRot_Angle` | 读取 |
+| FixRot | `FixRot_Target` | `MC_FixRot_Target` | 写入 |
+| FixRot | `FixRot_Speed` | `MC_FixRot_Speed` | 写入 |
+| FixRot | `FixRot_JogPos` | `MC_FixRot_JogPos` | 写入 |
+| FixRot | `FixRot_JogNeg` | `MC_FixRot_JogNeg` | 写入 |
+| FixRot | `FixRot_Home` | `MC_FixRot_Home` | 写入 |
+| FixRot | `FixRot_Stop` | `MC_FixRot_Stop` | 写入 |
+| 安全门 | `Door_Open` | `MC_Door_Open` | 写入 |
+| 安全门 | `Door_Close` | `MC_Door_Close` | 写入 |
+| 安全门 | `Door_Stop` | `MC_Door_Stop` | 写入 |
+| 安全门 | `Door_Status` | `MC_Door_Status` | 读取 |
+| 安全门 | `Door_Interlock` | `MC_Door_Interlock` | 读取 |
+| 轴复位 | `Axis_Reset` | `MC_Axis_Reset` | 写入 |
+| 轴复位 | `Axis_ResetDone` | `MC_Axis_ResetDone` | 读取 |
+
+---

XP.Hardware.MotionControl/ViewModels/AxisControlViewModel.cs

@@ -83,7 +83,7 @@ namespace XP.Hardware.MotionControl.ViewModels
             // 初始化命令 | Initialize commands
             ToggleEnableCommand = new DelegateCommand(ExecuteToggleEnable, () => IsPlcConnected);
             ToggleSwapMouseButtonsCommand = new DelegateCommand(ExecuteToggleSwapMouseButtons);
-            SavePositionsCommand = new DelegateCommand(ExecuteSavePositions);
+            SavePositionsCommand = new DelegateCommand(ExecuteSavePositions, () => IsPlcConnected);
             RestorePositionsCommand = new DelegateCommand(ExecuteRestorePositions, () => _savedPositions != null && IsPlcConnected);
             // 射线源与探测器Z轴联动命令 | Source-Detector Z-axis linkage command
             SZDZLockCommand = new DelegateCommand(() => SafeRun(ExecuteSZDZLock), () => IsPlcConnected);
@@ -125,11 +125,7 @@ namespace XP.Hardware.MotionControl.ViewModels
         public double DualJoystickOutputX
         {
             get => _dualJoystickOutputX;
-            set
-            {
-                if (SetProperty(ref _dualJoystickOutputX, value))
-                    HandleDualJoystickOutput();
-            }
+            set => SetProperty(ref _dualJoystickOutputX, value);
         }
 
         private double _dualJoystickOutputY;
@@ -430,7 +426,7 @@ namespace XP.Hardware.MotionControl.ViewModels
             if (!_plcService.IsConnected)
             {
                 // PLC 断开：停止所有活跃的 Jog 操作 | PLC disconnected: stop all active jog operations
-                foreach (var axisId in _linearJogActive.Keys)
+                foreach (var axisId in new List<AxisId>(_linearJogActive.Keys))
                 {
                     if (_linearJogActive[axisId])
                     {
@@ -438,7 +434,7 @@ namespace XP.Hardware.MotionControl.ViewModels
                         _logger.Debug("PLC 断开，直线轴 Jog 已标记停止：{AxisId} | PLC disconnected, linear axis jog marked stopped: {AxisId}", axisId);
                     }
                 }
-                foreach (var axisId in _rotaryJogActive.Keys)
+                foreach (var axisId in new List<RotaryAxisId>(_rotaryJogActive.Keys))
                 {
                     if (_rotaryJogActive[axisId])
                     {
@@ -484,12 +480,16 @@ namespace XP.Hardware.MotionControl.ViewModels
 
 				if (!result.Success)
 				{
+					// 写入失败，回滚状态 | Write failed, rollback state
+					IsJoystickEnabled = !IsJoystickEnabled;
 					MessageBox.Show(result.ErrorMessage, XP.Common.Localization.LocalizationHelper.Get("MC_Error"),
 						MessageBoxButton.OK, MessageBoxImage.Warning);
 				}
 			}
 			catch (Exception ex)
 			{
+				// 异常时回滚状态 | Rollback state on exception
+				IsJoystickEnabled = !IsJoystickEnabled;
 				MessageBox.Show(ex.Message, XP.Common.Localization.LocalizationHelper.Get("MC_Error"),
 					MessageBoxButton.OK, MessageBoxImage.Error);
 			}
@@ -831,7 +831,7 @@ namespace XP.Hardware.MotionControl.ViewModels
                 // 如果射线源与探测器Z轴联动，且操作的是SourceZ或DetectorZ，则同时发送两个轴
                 if (SZDZLock && (propertyName == nameof(SourceZPosition) || propertyName == nameof(DetectorZPosition)))
                 {
-                    result = SendSourceDetectorZMoveCommand(value);
+                    result = SendSourceDetectorZMoveCommand(value, propertyName);
                 }
                 else
                 {
@@ -873,7 +873,7 @@ namespace XP.Hardware.MotionControl.ViewModels
                 // 如果射线源与探测器Z轴联动，且操作的是SourceZ或DetectorZ，则同时步进两个轴
                 if (SZDZLock && (propertyName == nameof(SourceZPosition) || propertyName == nameof(DetectorZPosition)))
                 {
-                    result = SendSourceDetectorZMoveCommand(newValue);
+                    result = SendSourceDetectorZMoveCommand(newValue, propertyName);
                 }
                 else
                 {
@@ -920,7 +920,7 @@ namespace XP.Hardware.MotionControl.ViewModels
         /// </summary>
         /// <param name="targetValue">目标位置 | Target position</param>
         /// <returns>操作结果 | Operation result</returns>
-        private MotionResult SendSourceDetectorZMoveCommand(double targetValue)
+        private MotionResult SendSourceDetectorZMoveCommand(double targetValue, string sourcePropertyName = null)
         {
             // 1. 检查联动是否在配置中启用 | Check if linkage is enabled in config
             if (!_config.SourceDetectorZLinkage.Enabled)
@@ -945,11 +945,27 @@ namespace XP.Hardware.MotionControl.ViewModels
                 return MotionResult.Fail("探测器Z轴正在运动中，无法联动移动 | Detector Z-axis is moving, linkage move rejected");
             }
 
-            // 3. 计算位移量和目标位置 | Calculate displacement and target positions
+            // 3. 根据编辑来源计算位移量和目标位置 | Calculate displacement and targets based on edit source
             var currentSourceZ = sourceZAxis.ActualPosition;
             var currentDetectorZ = detectorZAxis.ActualPosition;
-            var sourceDelta = targetValue - currentSourceZ;
-            var targetDetectorZ = currentDetectorZ + sourceDelta;
+
+            double targetSourceZ;
+            double targetDetectorZ;
+
+            if (sourcePropertyName == nameof(DetectorZPosition))
+            {
+                // 用户编辑的是探测器Z：以探测器Z为基准计算位移 | User edited DetectorZ: calculate delta from DetectorZ
+                var delta = targetValue - currentDetectorZ;
+                targetDetectorZ = targetValue;
+                targetSourceZ = currentSourceZ + delta;
+            }
+            else
+            {
+                // 用户编辑的是射线源Z（默认）：以射线源Z为基准计算位移 | User edited SourceZ (default): calculate delta from SourceZ
+                var delta = targetValue - currentSourceZ;
+                targetSourceZ = targetValue;
+                targetDetectorZ = currentDetectorZ + delta;
+            }
 
             // 4. 边界检查（使用配置中的 Min/Max）| Boundary check (use Min/Max from config)
             if (_config.LinearAxes.TryGetValue(AxisId.SourceZ, out var sourceConfig) &&
@@ -957,10 +973,10 @@ namespace XP.Hardware.MotionControl.ViewModels
             {
                 var errors = new List<string>();
 
-                if (targetValue < sourceConfig.Min || targetValue > sourceConfig.Max)
+                if (targetSourceZ < sourceConfig.Min || targetSourceZ > sourceConfig.Max)
                 {
-                    errors.Add($"射线源Z轴目标位置 {targetValue} 超出范围 [{sourceConfig.Min}, {sourceConfig.Max}] | " +
-                               $"Source Z-axis target {targetValue} out of range [{sourceConfig.Min}, {sourceConfig.Max}]");
+                    errors.Add($"射线源Z轴目标位置 {targetSourceZ} 超出范围 [{sourceConfig.Min}, {sourceConfig.Max}] | " +
+                               $"Source Z-axis target {targetSourceZ} out of range [{sourceConfig.Min}, {sourceConfig.Max}]");
                 }
 
                 if (targetDetectorZ < detectorConfig.Min || targetDetectorZ > detectorConfig.Max)
@@ -983,7 +999,7 @@ namespace XP.Hardware.MotionControl.ViewModels
             }
 
             // 5. 所有检查通过，同时发送两个轴的移动命令 | All checks passed, send move commands to both axes simultaneously
-            var sourceResult = sourceZAxis.MoveToTarget(targetValue, _config.DefaultVelocity);
+            var sourceResult = sourceZAxis.MoveToTarget(targetSourceZ, _config.DefaultVelocity);
             var detectorResult = detectorZAxis.MoveToTarget(targetDetectorZ, _config.DefaultVelocity);
 
             // 6. 返回结果（任一失败都记录日志）| Return result (log if any fails)

XP.Hardware.PLC/ReleaseFiles/PlcAddrDfn.xml

@@ -0,0 +1,70 @@
+<?xml version="1.0" encoding="utf-8" standalone="yes"?>
+<Config>
+  <Group ID="WriteCommon" DBNumber="31">
+    <Signal Name="SoftLive" Type="byte" StartAddr="0" IndexOrLength="" Remark="软件心跳，01周期变化表示PLC存活" />
+    <Signal Name="MC_SourceZ_Target" Type="single" StartAddr="10" IndexOrLength="" Remark="射线源Z目标位置" />
+    <Signal Name="MC_SourceZ_Speed" Type="single" StartAddr="14" IndexOrLength="" Remark="射线源Z运动速度" />
+    <Signal Name="MC_SourceZ_JogPos" Type="byte" StartAddr="18" IndexOrLength="" Remark="射线源Z正向Jog，0：缺省，1：正向点动" />
+    <Signal Name="MC_SourceZ_JogNeg" Type="byte" StartAddr="19" IndexOrLength="" Remark="射线源Z反向Jog，0：缺省，1：反向点动" />
+    <Signal Name="MC_SourceZ_Home" Type="byte" StartAddr="20" IndexOrLength="" Remark="射线源Z回零，0：缺省，1：触发回零" />
+    <Signal Name="MC_SourceZ_Stop" Type="byte" StartAddr="21" IndexOrLength="" Remark="射线源Z停止，0：缺省，1：触发停止" />
+    <Signal Name="MC_DetZ_Target" Type="single" StartAddr="22" IndexOrLength="" Remark="探测器Z目标位置" />
+    <Signal Name="MC_DetZ_Speed" Type="single" StartAddr="26" IndexOrLength="" Remark="探测器Z运动速度" />
+    <Signal Name="MC_DetZ_JogPos" Type="byte" StartAddr="30" IndexOrLength="" Remark="探测器Z正向Jog，0：缺省，1：正向点动" />
+    <Signal Name="MC_DetZ_JogNeg" Type="byte" StartAddr="31" IndexOrLength="" Remark="探测器Z反向Jog，0：缺省，1：反向点动" />
+    <Signal Name="MC_DetZ_Home" Type="byte" StartAddr="32" IndexOrLength="" Remark="探测器Z回零，0：缺省，1：触发回零" />
+    <Signal Name="MC_DetZ_Stop" Type="byte" StartAddr="33" IndexOrLength="" Remark="探测器Z停止，0：缺省，1：触发停止" />
+    <Signal Name="MC_StageX_Target" Type="single" StartAddr="34" IndexOrLength="" Remark="载物台X目标位置" />
+    <Signal Name="MC_StageX_Speed" Type="single" StartAddr="38" IndexOrLength="" Remark="载物台X运动速度" />
+    <Signal Name="MC_StageX_JogPos" Type="byte" StartAddr="42" IndexOrLength="" Remark="载物台X正向Jog，0：缺省，1：正向点动" />
+    <Signal Name="MC_StageX_JogNeg" Type="byte" StartAddr="43" IndexOrLength="" Remark="载物台X反向Jog，0：缺省，1：反向点动" />
+    <Signal Name="MC_StageX_Home" Type="byte" StartAddr="44" IndexOrLength="" Remark="载物台X回零，0：缺省，1：触发回零" />
+    <Signal Name="MC_StageX_Stop" Type="byte" StartAddr="45" IndexOrLength="" Remark="载物台X停止，0：缺省，1：触发停止" />
+    <Signal Name="MC_StageY_Target" Type="single" StartAddr="46" IndexOrLength="" Remark="载物台Y目标位置" />
+    <Signal Name="MC_StageY_Speed" Type="single" StartAddr="50" IndexOrLength="" Remark="载物台Y运动速度" />
+    <Signal Name="MC_StageY_JogPos" Type="byte" StartAddr="54" IndexOrLength="" Remark="载物台Y正向Jog，0：缺省，1：正向点动" />
+    <Signal Name="MC_StageY_JogNeg" Type="byte" StartAddr="55" IndexOrLength="" Remark="载物台Y反向Jog，0：缺省，1：反向点动" />
+    <Signal Name="MC_StageY_Home" Type="byte" StartAddr="56" IndexOrLength="" Remark="载物台Y回零，0：缺省，1：触发回零" />
+    <Signal Name="MC_StageY_Stop" Type="byte" StartAddr="57" IndexOrLength="" Remark="载物台Y停止，0：缺省，1：触发停止" />
+    <Signal Name="MC_DetSwing_Target" Type="single" StartAddr="58" IndexOrLength="" Remark="探测器摆动目标角度" />
+    <Signal Name="MC_DetSwing_Speed" Type="single" StartAddr="62" IndexOrLength="" Remark="探测器摆动运动速度" />
+    <Signal Name="MC_DetSwing_JogPos" Type="byte" StartAddr="66" IndexOrLength="" Remark="探测器摆动正向Jog，0：缺省，1：正向点动" />
+    <Signal Name="MC_DetSwing_JogNeg" Type="byte" StartAddr="67" IndexOrLength="" Remark="探测器摆动反向Jog，0：缺省，1：反向点动" />
+    <Signal Name="MC_DetSwing_Home" Type="byte" StartAddr="68" IndexOrLength="" Remark="探测器摆动回零，0：缺省，1：触发回零" />
+    <Signal Name="MC_DetSwing_Stop" Type="byte" StartAddr="69" IndexOrLength="" Remark="探测器摆动停止，0：缺省，1：触发停止" />
+    <Signal Name="MC_StageRot_Target" Type="single" StartAddr="70" IndexOrLength="" Remark="载物台旋转目标角度" />
+    <Signal Name="MC_StageRot_Speed" Type="single" StartAddr="74" IndexOrLength="" Remark="载物台旋转运动速度" />
+    <Signal Name="MC_StageRot_JogPos" Type="byte" StartAddr="78" IndexOrLength="" Remark="载物台旋转正向Jog，0：缺省，1：正向点动" />
+    <Signal Name="MC_StageRot_JogNeg" Type="byte" StartAddr="79" IndexOrLength="" Remark="载物台旋转反向Jog，0：缺省，1：反向点动" />
+    <Signal Name="MC_StageRot_Home" Type="byte" StartAddr="80" IndexOrLength="" Remark="载物台旋转回零，0：缺省，1：触发回零" />
+    <Signal Name="MC_StageRot_Stop" Type="byte" StartAddr="81" IndexOrLength="" Remark="载物台旋转停止，0：缺省，1：触发停止" />
+    <Signal Name="MC_FixRot_Target" Type="single" StartAddr="82" IndexOrLength="" Remark="夹具旋转目标角度" />
+    <Signal Name="MC_FixRot_Speed" Type="single" StartAddr="86" IndexOrLength="" Remark="夹具旋转运动速度" />
+    <Signal Name="MC_FixRot_JogPos" Type="byte" StartAddr="90" IndexOrLength="" Remark="夹具旋转正向Jog，0：缺省，1：正向点动" />
+    <Signal Name="MC_FixRot_JogNeg" Type="byte" StartAddr="91" IndexOrLength="" Remark="夹具旋转反向Jog，0：缺省，1：反向点动" />
+    <Signal Name="MC_FixRot_Home" Type="byte" StartAddr="92" IndexOrLength="" Remark="夹具旋转回零，0：缺省，1：触发回零" />
+    <Signal Name="MC_FixRot_Stop" Type="byte" StartAddr="93" IndexOrLength="" Remark="夹具旋转停止，0：缺省，1：触发停止" />
+    <Signal Name="MC_Door_Open" Type="byte" StartAddr="94" IndexOrLength="" Remark="安全门开门，0：缺省，1：触发开门" />
+    <Signal Name="MC_Door_Close" Type="byte" StartAddr="95" IndexOrLength="" Remark="安全门关门，0：缺省，1：触发关门" />
+    <Signal Name="MC_Door_Stop" Type="byte" StartAddr="96" IndexOrLength="" Remark="安全门停止，0：缺省，1：触发停止" />
+	<Signal Name="MC_VirtualJoystick_Enable" Type="bool" StartAddr="111"  IndexOrLength="" Remark="虚拟摇杆使能"/>
+	<Signal Name="MC_SourceDetZ_Linkage_Enable" Type="bool" StartAddr="101" IndexOrLength="" Remark="联动使能"/>
+  </Group>
+  <Group ID="ReadCommon" DBNumber="31">
+    <Signal Name="PlcLive" Type="byte" StartAddr="200" IndexOrLength="" Remark="PLC心跳，01周期变化表示PLC存活" />
+    <Signal Name="PlcAlarm" Type="byte" StartAddr="201" IndexOrLength="" Remark="系统报警，0：缺省，10：有报警" />
+    <Signal Name="MC_SourceZ_Pos" Type="single" StartAddr="100" IndexOrLength="" Remark="射线源Z实际位置" />
+    <Signal Name="MC_DetZ_Pos" Type="single" StartAddr="104" IndexOrLength="" Remark="探测器Z实际位置" />
+    <Signal Name="MC_StageX_Pos" Type="single" StartAddr="108" IndexOrLength="" Remark="载物台X实际位置" />
+    <Signal Name="MC_StageY_Pos" Type="single" StartAddr="112" IndexOrLength="" Remark="载物台Y实际位置" />
+    <Signal Name="MC_DetSwing_Angle" Type="single" StartAddr="116" IndexOrLength="" Remark="探测器摆动实际角度" />
+    <Signal Name="MC_StageRot_Angle" Type="single" StartAddr="120" IndexOrLength="" Remark="载物台旋转实际角度" />
+    <Signal Name="MC_FixRot_Angle" Type="single" StartAddr="124" IndexOrLength="" Remark="夹具旋转实际角度" />
+    <Signal Name="MC_Door_Status" Type="byte" StartAddr="128" IndexOrLength="" Remark="安全门状态，0：未知，1：正在开门，2：已开，3：正在关门，4：已关，5：已锁定，6：故障" />
+    <Signal Name="MC_Door_Interlock" Type="byte" StartAddr="130" IndexOrLength="" Remark="安全门联锁信号，0：缺省（无联锁），10：联锁有效（禁止开门）" />
+	<Signal Name="MC_Joystick_Active" Type="bool" StartAddr="110" IndexOrLength=""  Remark="实体摇杆输入"/>
+  </Group>
+  <Group ID="Status" DBNumber="4100">
+    <Signal Name="ScanMode" Type="byte" StartAddr="201" IndexOrLength="" Remark="扫描模式，0：缺省（空闲），具体值由PLC定义" />
+  </Group>
+</Config>

XP.Hardware.RaySource/ReleaseFiles/ManiUpdateParams.txt

@@ -0,0 +1,90 @@
+[sys1____]
+"SerialNumber"
+[geo_dm__#Cougar]
+"Name9"
+"Value9"
+"Name10"
+"Value10"
+"Name19"
+"Value19"
+"Name21"
+"Value21"
+"Name24"
+"Value24"
+"Name29"
+"Value29"
+"Name30"
+"Value30"
+"Name48"
+"Value48"
+[geo_dm__#Cheetah]
+"Name9"
+"Value9"
+"Name10"
+"Value10"
+"Name12"
+"Value12"
+"Name13"
+"Value13"
+"Name22"
+"Value22"
+"Name24"
+"Value24"
+"Name27"
+"Value27"
+"Name48"
+"Value48"
+[joyspeed]
+"Speed0"
+"Speed1"
+"Speed2"
+"Speed3"
+"Speed4"
+"Speed5"
+"Speed6"
+"Speed7"
+"Speed8"
+"Speed9"
+[loadpos_]
+"SafePos[3]"
+[para_1__]
+"PosSW_End"
+"NegSW_End"
+"RefPosition"
+[para_2__]
+"PosSW_End"
+"NegSW_End"
+"RefPosition"
+[para_3__]
+"PosSW_End"
+"NegSW_End"
+"RefPosition"
+[para_4__]
+"PosSW_End"
+"NegSW_End"
+"RefPosition"
+"RefPositionEnd"
+[para_5__]
+"PosSW_End"
+"NegSW_End"
+"RefPosition"
+[para_6__]
+"PosSW_End"
+"NegSW_End"
+"RefPosition"
+"DistPerTurn"
+[para_7__]
+"PosSW_End"
+"NegSW_End"
+"RefPosition"
+[para_8__]
+"PosSW_End"
+"NegSW_End"
+"RefPosition"
+[para_9__]
+"PosSW_End"
+"NegSW_End"
+"RefPosition"
+[dm_door_]
+"DoorOpenSwitchAvail#410"
+EOF

XP.Hardware.RaySource/ReleaseFiles/XRayUpdateParams.txt

@@ -0,0 +1,93 @@
+[MODEDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"endExceptions"
+!*************************************************************
+[TARGETDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"endExceptions"
+!*************************************************************
+[TUBEDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"endExceptions"
+!*************************************************************
+[HSGDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"endExceptions"
+!*************************************************************
+[SYSDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"SoftwareVersionPLC"
+"SysConfig"
+"SoftwareVersion"
+"endExceptions"
+!*************************************************************
+[AMPDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"endExceptions"
+!*************************************************************
+[VACDM#all]
+"everything"
+"beginExceptions"
+"Version_vacuum_system"
+"endExceptions"
+!*************************************************************
+[CENTDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"endExceptions"
+!*************************************************************
+[FOCUSDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"endExceptions"
+!*************************************************************
+[CONSDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"endExceptions"
+!*************************************************************
+[TREGDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"endExceptions"
+!*************************************************************
+[CONDDM#all]
+"everything"
+"beginExceptions"
+"Version"
+"endExceptions"
+!*************************************************************
+[FILDM#all]
+"everything"
+"beginExceptions"
+"Version"        
+"endExceptions"
+!*************************************************************
+[TUBEHEADDM#all]
+"everything"
+"beginExceptions"
+"version"        
+"endExceptions"
+!*************************************************************
+[INITDM#all]
+"everything"
+"beginExceptions"
+"version"        
+"endExceptions"
+EOF

XP.Hardware.RaySource/ReleaseFiles/Y.Tracing.Configuration.txt

@@ -0,0 +1,6 @@
+// Flag, ob die Trace-Meldungen asynchron zu protokolliern sind: 1 für asynchron, 0 für synchron.
+1
+// Kategorie Konfigurationen: <Kategorie-Name> <Enabled[0/1]>
+FXDriver 0
+FXDriverPviXCreateResponse 0
+FXDriverUpgradeCP1483ToCP1583 0

XP.Hardware.RaySource/ReleaseFiles/fxerr.ini

@@ -0,0 +1,294 @@
+[XRaySystemErrors]
+ErrorNumber0=101
+ErrorString0="Data module init error"
+ErrorNumber1=102
+ErrorString1="Data module sys error"
+ErrorNumber2=103
+ErrorString2="Data module amp error"
+ErrorNumber3=301
+ErrorString3="Timeout during filament adjusting"
+ErrorNumber4=302
+ErrorString4="Timeout during warmup"
+ErrorNumber5=303
+ErrorString5="Error door control"
+ErrorNumber6=401
+ErrorString6="Defective warn lamp 1"
+ErrorNumber7=402
+ErrorString7="Defective warn lamp 2"
+ErrorNumber8=403
+ErrorString8="Defective warn lamp 3"
+ErrorNumber9=404
+ErrorString9="Cooling defect"
+ErrorNumber10=405
+ErrorString10="Error COM2"
+ErrorNumber11=406
+ErrorString12="Error COM2"
+ErrorNumber13=407
+ErrorString13="Error COM2"
+ErrorNumber14=408
+ErrorString14="Error COM2"
+ErrorNumber15=601
+ErrorString15="Defective warn lamp 1"
+ErrorNumber16=602
+ErrorString16="Defective warn lamp 2"
+ErrorNumber17=603
+ErrorString17="Defective warn lamp 3"
+ErrorNumber18=604
+ErrorString18="Cooling defect"
+ErrorNumber19=605
+ErrorString19="Error COM2"
+
+[HSGErrors]
+ErrorNumber0=101
+ErrorString0="Data module error"
+ErrorNumber1=201
+ErrorString1="Underflow of actual accelerating voltage"
+ErrorNumber2=202
+ErrorString2="Overflow of actual accelerating voltage"
+ErrorNumber3=203
+ErrorString3="Underflow of actual tube current"
+ErrorNumber4=204
+ErrorString4="Overflow of actual tube current"
+ErrorNumber5=205
+ErrorString5="Underflow of actual filament current"
+ErrorNumber6=206
+ErrorString6="Overflow of actual filament current"
+ErrorNumber7=301
+ErrorString7="Timeout acceleration voltage"
+ErrorNumber8=302
+ErrorString8="Timeout tube current"
+ErrorNumber9=303
+ErrorString9="Timeout filament adjust"
+ErrorNumber10=402
+ErrorString10="High voltage generator overload"
+ErrorNumber11=403
+ErrorString11="No filament current"
+ErrorNumber12=501
+ErrorString12="Overvlow of nominal filament current"
+ErrorNumber13=502
+ErrorString13="Overflow or underflow of nominal accelerating voltage"
+ErrorNumber14=503
+ErrorString14="Overflow of nominal tube current"
+ErrorNumber15=510
+ErrorString15="Error during filament adjust step 30"
+ErrorNumber16=520
+ErrorString16="Nominal filament current smaller than filament offset"
+ErrorNumber17=524
+ErrorString17="Filament working current exceeds limit during filament adjust"
+ErrorNumber18=525
+ErrorString18="Filament working current exceeds limit during filament adjust"
+ErrorNumber19=526
+ErrorString19="Nominal filament current smaller than filament offset during filament adjust"
+ErrorNumber19=527
+ErrorString19="Nominal filament current smaller than filament offset during filament adjust"
+
+[TubeErrors]
+ErrorNumber0=101
+ErrorString0="Data module error"
+ErrorNumber1=102
+ErrorString1="Data module focus table created"
+ErrorNumber2=103
+ErrorString2="Focus data module write error"
+ErrorNumber3=104
+ErrorString3="Focus data module error"
+ErrorNumber4=105
+ErrorString4="Focus table data module info error"
+ErrorNumber5=106
+ErrorString5="Focus table data module read error"
+ErrorNumber6=107
+ErrorString6="Condensor data module error"
+ErrorNumber7=108
+ErrorString7="Data module condensor table created"
+ErrorNumber8=109
+ErrorString8="Condensor table data module info error"
+ErrorNumber9=110
+ErrorString9="Condensor table data module read error"
+ErrorNumber10=111
+ErrorString10="Centering 1 / Centering 2 / Centering 3 data module error"
+ErrorNumber11=114
+ErrorString11="Centering table 1 data module error"
+ErrorNumber12=115
+ErrorString12="Centering table 2 data module error"
+ErrorNumber13=116
+ErrorString13="Centering table 3 data module error"
+ErrorNumber14=117
+ErrorString14="Conditioning data module error"
+ErrorNumber15=118
+ErrorString15="Read focus data module error"
+ErrorNumber16=119
+ErrorString16="Write focus data module error"
+ErrorNumber17=120
+ErrorString17="Read default focus data module error"
+ErrorNumber18=121
+ErrorString18="Write default focus data module error"
+ErrorNumber19=122
+ErrorString19="Read condensor data module error"
+ErrorNumber20=123
+ErrorString20="Write condensor data module error"
+ErrorNumber21=124
+ErrorString21="Read default condensor data module error"
+ErrorNumber22=125
+ErrorString22="Write default condensor data module error"
+ErrorNumber23=126
+ErrorString23="Read centering 1 data module error"
+ErrorNumber24=127
+ErrorString24="Read centering 2 data module error"
+ErrorNumber25=128
+ErrorString25="Read centering 3 data module error"
+ErrorNumber26=129
+ErrorString26="Write centering 1 data module error"
+ErrorNumber27=130
+ErrorString27="Write centering 2 data module error"
+ErrorNumber28=131
+ErrorString28="Write centering 3 data module error"
+ErrorNumber29=132
+ErrorString29="Read default centering 1 data module error"
+ErrorNumber30=133
+ErrorString30="Read default centering 2 data module error"
+ErrorNumber31=134
+ErrorString31="Read default centering 3 data module error"
+ErrorNumber32=135
+ErrorString32="Write default centering 1 data module error"
+ErrorNumber33=136
+ErrorString33="Write default centering 2 data module error"
+ErrorNumber34=137
+ErrorString34="Write default centering 3 data module error"
+ErrorNumber35=140
+ErrorString35="Shutter data module error"
+ErrorNumber36=141
+ErrorString36="Data module shutter created"
+ErrorNumber37=142
+ErrorString37="Shutter table data module info error"
+ErrorNumber38=143
+ErrorString38="Shutter table data module read error"
+ErrorNumber39=144
+ErrorString39="Scan data module error"
+ErrorNumber40=145
+ErrorString40="Scan table data module error"
+ErrorNumber41=146
+ErrorString41="Ti_Reg data module error"
+ErrorNumber42=147
+ErrorString42="dm_ken (focus) data module error"
+ErrorNumber43=148
+ErrorString43="dm_ken (condensor) data module error"
+ErrorNumber44=149
+ErrorString44="Mode_x data module error"
+ErrorNumber45=150
+ErrorString45="burn data module error"
+ErrorNumber46=151
+ErrorString46="tube_cur data module error"
+ErrorNumber47=152
+ErrorString47="Tubehead data module error"
+ErrorNumber48=153
+ErrorString48="Target data module error"
+ErrorNumber49=154
+ErrorString49="read_def_tube_cur data module error"
+ErrorNumber50=155
+ErrorString50="write_def_tube_cur data module error"
+ErrorNumber51=156
+ErrorString51="Filament data module error"
+ErrorNumber52=201
+ErrorString52="Underflow of actual target (amp1) current"
+ErrorNumber53=202
+ErrorString53="Overflow of actual target (amp1) current"
+ErrorNumber54=203
+ErrorString54="Underflow of actual target (amp2) current"
+ErrorNumber55=204
+ErrorString55="Overflow of actual target (amp2) current"
+ErrorNumber56=205
+ErrorString56="Underflow of actual amp3 current"
+ErrorNumber57=206
+ErrorString57="Overflow of actual amp3 current"
+ErrorNumber58=301
+ErrorString58="Time limit for centering current overflow exeeded, x-ray switched off"
+ErrorNumber59=302
+ErrorString59="Time limit for shutter exceeded, xray switched off"
+ErrorNumber60=401
+ErrorString60="Overflow of target power"
+ErrorNumber61=402
+ErrorString61="Missing amplifier"
+ErrorNumber62=403
+ErrorString62="Scanning coil temperature overflow"
+ErrorNumber63=501
+ErrorString63="Overflow of nominal focus current"
+ErrorNumber64=502
+ErrorString64="Overflow of nominal centering current x"
+ErrorNumber65=503
+ErrorString65="Overflow of nominal centering current y"
+ErrorNumber66=504
+ErrorString66="Overflow of nominal centering current"
+ErrorNumber67=505
+ErrorString67="Overflow of nominal shutter current"
+ErrorNumber68=506
+ErrorString68="Overflow of actual focus current"
+ErrorNumber69=507
+ErrorString69="Negative focus current"
+ErrorNumber70=611
+ErrorString70="Error during autocentering (plane 1)"
+ErrorNumber71=612
+ErrorString71="Error during autocentering (plane 1)"
+ErrorNumber72=613
+ErrorString72="Error during autocentering (plane 1)"
+ErrorNumber73=614
+ErrorString73="Error during autocentering (plane 1)"
+ErrorNumber74=615
+ErrorString74="Error during autocentering (plane 1)"
+ErrorNumber75=616
+ErrorString75="Error during autocentering (plane 1)"
+ErrorNumber76=617
+ErrorString76="Max. number of runs for autocentering exceeded (plane 1)"
+ErrorNumber77=618
+ErrorString77="Centering current exceeded (plane 1)"
+ErrorNumber78=621
+ErrorString78="Error during autocentering (plane 2)"
+ErrorNumber79=622
+ErrorString79="Error during autocentering (plane 2)"
+ErrorNumber80=623
+ErrorString80="Error during autocentering (plane 2)"
+ErrorNumber81=624
+ErrorString81="Error during autocentering (plane 2)"
+ErrorNumber82=625
+ErrorString82="Error during autocentering (plane 2)"
+ErrorNumber83=626
+ErrorString83="Error during autocentering (plane 2)"
+ErrorNumber84=627
+ErrorString84="Max. number of runs for autocentering exceeded (plane 2)"
+ErrorNumber85=628
+ErrorString85="Centering current exceeded (plane 2)"
+ErrorNumber86=631
+ErrorString86="Error during autocentering (plane 3)"
+ErrorNumber87=632
+ErrorString87="Error during autocentering (plane 3)"
+ErrorNumber88=633
+ErrorString88="Error during autocentering (plane 3)"
+ErrorNumber89=634
+ErrorString89="Error during autocentering (plane 3)"
+ErrorNumber90=635
+ErrorString90="Error during autocentering (plane 3)"
+ErrorNumber91=636
+ErrorString91="Error during autocentering (plane 3)"
+ErrorNumber92=637
+ErrorString92="Max. number of runs for autocentering exceeded (plane 3)"
+ErrorNumber93=638
+ErrorString93="Centering current exceeded (plane 3)"
+
+
+[VacuumErrors]
+ErrorNumber1=101
+ErrorString1="Data module error"
+ErrorNumber2=201
+ErrorString2="Underflow of actual vacuum value"
+ErrorNumber3=202
+ErrorString3="Overflow of actual vacuum value"
+ErrorNumber4=301
+ErrorString4="Timeout vacuum"
+ErrorNumber5=301
+ErrorString5="Timeout vacuum breakdown"
+ErrorNumber6=401
+ErrorString6="Bad vacuum during X-ray on"
+
+[AxisErrors]
+ErrorNumber0=1002
+ErrorString0="general EL_Critical"
+
+[ManiErrors]