fixed axis 4 warning

apps/autocal/config/bas/ECAT_511.bas

@@ -0,0 +1,112 @@
+
+'*******************************************************ECAT总线初始化
+'''''''''
+
+global CONST BUS_TYPE = 0				 '总线类型。用于上位机区分当前模式
+global CONST MAX_AXISNUM = 32			 '最大轴数
+global CONST Bus_Slot	= 0				'槽位号0
+global CONST Bus_AxisStart	 = 0		'总线轴起始轴号
+
+global Bus_InitStatus			'总线初始化完成状态
+Bus_InitStatus = -1
+global  Bus_TotalAxisnum		'检查扫描的总轴数
+
+delay(3000)				'延时3S等待驱动器上电
+'**********************初始化ECAT总线 
+Ecat_Init()
+
+end
+
+global sub Ecat_Init()
+	for i=0 to MAX_AXISNUM - 1		'初始化还原轴类型					
+		AXIS_ENABLE(i) = 0
+		atype(i)=0	
+	next
+		
+	Bus_InitStatus = -1
+	Bus_TotalAxisnum = 0	
+	SLOT_STOP(Bus_Slot)
+	delay(200)
+	slot_scan(Bus_Slot)											'开始扫描
+	if return then 
+		
+		?"总线扫描成功","连接设备数："NODE_COUNT(Bus_Slot)
+		?
+		?"开始映射轴号"
+		for i=0 to NODE_COUNT(Bus_Slot)-1						'遍历总线下所有从站节点
+
+			if NODE_AXIS_COUNT(Bus_Slot,i) <>0 then			'判断当前节点是否有电机
+				for j=0 to NODE_AXIS_COUNT(Bus_Slot,i)-1
+					AXIS_ADDRESS(Bus_AxisStart+i)=Bus_TotalAxisnum+1			'映射轴号
+					ATYPE(Bus_AxisStart+i)=65									'设置控制模式 65-位置 66-速度 67-转矩 
+					DRIVE_PROFILE(Bus_AxisStart+i)= 4							'设置PROFILE功能
+					disable_group(Bus_AxisStart+i)								'每轴单独分组
+
+					DRIVE_IO(Bus_AxisStart+i) = 128 + (Bus_AxisStart+i)*16		'映射驱动器上的IO状态
+					REV_IN(Bus_AxisStart+i) = 128 + (Bus_AxisStart+i)*16 
+					FWD_IN(Bus_AxisStart+i) = 129 + (Bus_AxisStart+i)*16
+					DATUM_IN(Bus_AxisStart+i) = 130 + (Bus_AxisStart+i)*16
+					INVERT_IN(128 + (Bus_AxisStart+i)*16,ON)
+					INVERT_IN(129 + (Bus_AxisStart+i)*16,ON)
+					INVERT_IN(130 + (Bus_AxisStart+i)*16,ON)
+					
+					Bus_TotalAxisnum=Bus_TotalAxisnum+1							'总轴数+1
+				next
+			endif
+			
+		next
+		
+		
+		' Axis 4 is a Panasonic MINAS A6 servo, not a Leadshine CL3B stepper:
+		' its limit/datum inputs are active-high as the ZMC reads them, so they
+		' must NOT be inverted like the steppers above. Override the loop for
+		' that one axis only: Bus_TotalAxisnum-1 is the last axis the scan found,
+		' which on this machine is the servo and never a stepper.
+		INVERT_IN(128 + (Bus_AxisStart + Bus_TotalAxisnum - 1)*16,OFF)
+		INVERT_IN(129 + (Bus_AxisStart + Bus_TotalAxisnum - 1)*16,OFF)
+		INVERT_IN(130 + (Bus_AxisStart + Bus_TotalAxisnum - 1)*16,OFF)
+		?"轴号映射完成","连接总轴数："Bus_TotalAxisnum
+		wa 2000
+		
+		SLOT_START(Bus_Slot)						'启动总线
+		if return then 
+			?"总线开启成功"
+			
+			?"开始清除驱动器错误(根据驱动器数据字典设置)"
+			for i= Bus_AxisStart to Bus_AxisStart + Bus_TotalAxisnum - 1 
+				
+				DRIVE_CONTROLWORD(i)=128					'根据驱动器数据字典
+				wa 100
+				DRIVE_CONTROLWORD(i)=6
+				wa 100
+				DRIVE_CONTROLWORD(i)=15
+				wa 100
+			next
+			
+			?"驱动器错误清除完成"
+			wa 100
+
+			?"清除控制器错误"
+			datum(0)
+			DRIVE_CLEAR(0)
+			?"控制器错误清除完成"
+			wa 100
+						
+			?"轴使能准备"
+			for i= Bus_AxisStart to Bus_AxisStart + Bus_TotalAxisnum - 1
+				base(i)
+				AXIS_ENABLE=1
+			next
+			wdog=1											'使能总开关
+			Bus_InitStatus  = 1
+			?"轴使能完成"
+		else
+			?"总线开启失败"
+			Bus_InitStatus = 0
+		endif
+		
+	else
+		?"总线扫描失败"
+		Bus_InitStatus = 0
+	endif
+end sub

apps/autocal/config/locales/en_US.json

@@ -103,6 +103,8 @@
     "state_pending": "Not started",
     "state_running": "Initialising…",
     "state_ok": "Initialised",
+    "state_unverified": "Init not confirmed",
+    "unverified_hint": "The controller still holds the initialisation flag from its last run; this power-up has not re-scanned the bus. If the platform will not move, download the BAS file and re-initialise.",
     "state_failed": "Initialisation failed",
     "state_timeout": "Initialisation timed out",
     "nodes": "Nodes",

apps/autocal/config/locales/zh_CN.json

@@ -103,6 +103,8 @@
     "state_pending": "未完成",
     "state_running": "正在初始化…",
     "state_ok": "初始化成功",
+    "state_unverified": "未确认初始化",
+    "unverified_hint": "控制器保留了上次的总线初始化标志，本次开机尚未重新扫描；如无法运动，请先下载 BAS 文件并重新初始化。",
     "state_failed": "初始化失败",
     "state_timeout": "初始化超时",
     "nodes": "节点数量",

apps/autocal/src/orisys_autocal/motion/models.py

@@ -111,7 +111,16 @@ class AxisState:
 
 @dataclass(frozen=True)
 class BusStatus:
-    """Bus-level state, from the ``.bas`` program's globals."""
+    """Bus-level state, from the ``.bas`` program's globals.
+
+    ``verified_this_session`` exists because ``BUS_TYPE``, ``Bus_InitStatus``
+    and ``Bus_TotalAxisnum`` are ZBasic **globals**: they live in controller
+    memory and survive the program finishing, a reconnect, and (with the ROM
+    program reloading) a reboot. ``Bus_InitStatus == 1`` therefore means "a scan
+    completed at some point", not "this bus is live now". A controller that was
+    power-cycled but not re-initialised still reports 1, and reporting that as
+    初始化成功 is what made a bus which had never been set up look ready.
+    """
 
     bus_type: BusType = "unknown"
     init_status: int = INIT_RUNNING
@@ -121,6 +130,14 @@ class BusStatus:
     bas_loaded: bool = False
     init_started_at: float | None = None
     message: str = ""
+    #: False until this session has seen the state machine through a run it
+    #: started (a download or a re-init). An adopted latch starts False.
+    verified_this_session: bool = False
+
+    @property
+    def adopted_unverified(self) -> bool:
+        """The latch says initialised, but nothing here has confirmed it."""
+        return self.init_status == INIT_OK and not self.verified_this_session
 
     @property
     def initialized(self) -> bool:

apps/autocal/src/orisys_autocal/motion/service.py

@@ -401,7 +401,9 @@ class MotionService:
         self._spec = spec
         logger.info("Connected: %s via %s", spec.describe(), self._transport.source)
         # A controller may already have a BAS program running from a previous
-        # session; adopt it rather than claiming the bus is uninitialised.
+        # session; adopt it rather than claiming the bus is uninitialised. The
+        # adopted state is *not* marked verified: its globals are a latch, and
+        # nothing in this session has yet seen a scan happen.
         self._adopt_existing_bas(bas_path=bas_path)
         return MotionResult.success(f"已连接 {spec.describe()}" if self._is_zh else f"Connected {spec.describe()}")
 
@@ -469,12 +471,14 @@ class MotionService:
 
         self._bas_loaded = True
         self._init_started_at = time.monotonic()
+        # A download is a run this session owns, so its outcome can be trusted.
         self._bus = BusStatus(
             bus_type=self._bus.bus_type,
             init_status=INIT_RUNNING,
             bas_path=filename,
             bas_loaded=True,
             init_started_at=self._init_started_at,
+            verified_this_session=True,
         )
         # Read BUS_TYPE so the SDO/RTEX panels enable for the right family.
         try:
@@ -541,6 +545,7 @@ class MotionService:
             bas_path=self._bus.bas_path,
             bas_loaded=True,
             init_started_at=self._init_started_at,
+            verified_this_session=True,
         )
         # Re-read BUS_TYPE now: the program may be a different family than the
         # one the previous session left behind.
@@ -662,7 +667,13 @@ class MotionService:
                 )
                 return
 
+        verified = bus.verified_this_session
         if init_status != INIT_RUNNING:
+            # A run this session owned has just settled: that is the only
+            # evidence available that the state machine actually moved, rather
+            # than the globals having been left at their last values.
+            if self._init_started_at is not None:
+                verified = True
             self._init_started_at = None
             try:
                 node_count = self._transport.bus_node_count(0)
@@ -679,6 +690,7 @@ class MotionService:
             bas_loaded=True,
             init_started_at=self._init_started_at,
             message=message,
+            verified_this_session=verified,
         )
 
     def _read_axis(self, axis: int) -> AxisState:
@@ -967,4 +979,7 @@ def _replace_bus_type(bus: BusStatus, bus_type: BusType) -> BusStatus:
         bas_loaded=bus.bas_loaded,
         init_started_at=bus.init_started_at,
         message=bus.message,
+        # Carried, not reset: re-reading BUS_TYPE is incidental, and dropping
+        # this would make a just-verified init look unverified again.
+        verified_this_session=bus.verified_this_session,
     )

apps/autocal/src/orisys_autocal/ui/bus_panel.py

@@ -36,6 +36,7 @@ _STATE_KEYS = {
 _STATE_TONES = {
     "bus.state_running": "warn",
     "bus.state_ok": "ok",
+    "bus.state_unverified": "warn",
     "bus.state_failed": "error",
     "bus.state_timeout": "error",
 }
@@ -140,10 +141,19 @@ class BusPanel(QGroupBox):
         self.choose_button.setEnabled(True)
 
     def set_status(self, bus: BusStatus, *, now: float | None = None) -> None:
-        """Render the bus state, including the vendor's timeout case."""
+        """Render the bus state, including the vendor's timeout case.
+
+        An *adopted* ``Bus_InitStatus == 1`` is shown as unverified rather than
+        as success. The value is a ZBasic global that survives the program and a
+        reboot, so it proves a scan happened at some point, not that this bus is
+        live now — and calling that 初始化成功 is what made a machine which had
+        never been set up look ready to move.
+        """
         key = _STATE_KEYS.get(bus.init_status, "bus.state_pending")
         if bus.init_status == INIT_FAILED and bus.message and "超时" in bus.message:
             key = "bus.state_timeout"
+        elif bus.adopted_unverified:
+            key = "bus.state_unverified"
         self._state_text = t(key)
         self._state_tone = _STATE_TONES.get(key, "muted")
         self.state_value.setText(self._state_text)
@@ -156,7 +166,7 @@ class BusPanel(QGroupBox):
         self.type_value.setText(t(type_keys.get(bus.bus_type, "bus.type_unknown")))
         self.nodes_value.setText(str(bus.node_count))
         self.axes_value.setText(str(bus.total_axes))
-        self.message_label.setText(bus.message)
+        self.message_label.setText(bus.message or (t("bus.unverified_hint") if bus.adopted_unverified else ""))
 
     # ------------------------------------------------------------- translations
 

apps/autocal/src/orisys_autocal/ui/status_strip.py

@@ -224,6 +224,12 @@ class StatusStrip(QFrame):
         if not connected:
             self.chip_init.setText(t("bus.state_pending"))
             self.chip_init.set_tone("muted")
+        elif snapshot.bus.adopted_unverified:
+            # The controller's initialisation global is a latch that survives the
+            # program and a reboot; without a run this session, "initialised" is
+            # not something this process has seen. Say so rather than claim it.
+            self.chip_init.setText(t("bus.state_unverified"))
+            self.chip_init.set_tone("warn")
         elif snapshot.bus.initialized:
             self.chip_init.setText(t("bus.state_ok"))
             self.chip_init.set_tone("ok")

apps/autocal/src/orisys_autocal/ui/window.py

@@ -878,7 +878,9 @@ class AutoCalMainWindow(QMainWindow):
             t("status.poll_paused") if self.status_strip.paused else t("status.poll_ok"),
             t("status.poll_every", ms=self.poller.interval_ms),
         ]
-        if snapshot.bus.init_status == 1:
+        if snapshot.bus.adopted_unverified:
+            parts.append(t("bus.state_unverified"))
+        elif snapshot.bus.init_status == 1:
             parts.append(t("bus.state_ok"))
         if self._last_error:
             parts.append(f"{t('status.last_error')}: {self._last_error}")