{
  "version": "v0.27",
  "scope": "functional wiring and sequence design tasks, no executable PLC or qualified safety circuit",
  "states": [
    {
      "id": "S00",
      "title": "隔离／机械保持",
      "Z_torque": false,
      "Z_motion": false,
      "rotation": false,
      "brake_release": false,
      "PZ_contact_proxy": false,
      "action": "杆制动夹紧；正常电动动作禁止；准备测试需人工重新发出启动命令。",
      "guard": "已验收参数、门罩和锁紧；销/工装移除；采集/保护健康。"
    },
    {
      "id": "S01",
      "title": "Z驱动接管",
      "Z_torque": true,
      "Z_motion": false,
      "rotation": false,
      "brake_release": false,
      "PZ_contact_proxy": false,
      "action": "只准建立托载转矩；杆制动仍夹紧，普通位置移动禁止。Z电机保持制动按匹配驱动时序处理。",
      "guard": "驱动非STO且使能；可核验的承载交接条件成立后才请求释放。"
    },
    {
      "id": "S02",
      "title": "释放并抬轮",
      "Z_torque": true,
      "Z_motion": true,
      "rotation": false,
      "brake_release": true,
      "PZ_contact_proxy": true,
      "action": "发出释放请求；确认实际释放后才允许低速Z运动。",
      "guard": "杆制动与Z电机保持制动的释放条件均成立；P_Z监测和限位有效；实测离面及Z停稳后进入悬空旋转。"
    },
    {
      "id": "S03",
      "title": "悬空加速",
      "Z_torque": true,
      "Z_motion": false,
      "rotation": true,
      "brake_release": true,
      "PZ_contact_proxy": true,
      "action": "Z保持，旋转加速；保存悬空六轴基线与实际轮速。",
      "guard": "实际轮速稳定；数据有效新帧/时间戳健康；下一阶段接触限速和停止余量已验收。"
    },
    {
      "id": "S04",
      "title": "缓慢接触／加载",
      "Z_torque": true,
      "Z_motion": true,
      "rotation": true,
      "brake_release": true,
      "PZ_contact_proxy": true,
      "action": "低速接触，以主测力标定后的轮载反馈缓升到目标；不按原始Fz直接加载。",
      "guard": "轮载/轮速进入经验证窗口；Z软范围、独立监测和原始记录持续有效。"
    },
    {
      "id": "S05",
      "title": "短时测量",
      "Z_torque": true,
      "Z_motion": true,
      "rotation": true,
      "brake_release": true,
      "PZ_contact_proxy": true,
      "action": "轮载/轮速闭环；记录原始六轴、轮速、Z、温度与质量标记。",
      "guard": "5—10s或更短设定结束、正常终止或电脑断线且本地健康时，执行健康退出。"
    },
    {
      "id": "S06",
      "title": "健康卸载／停转",
      "Z_torque": true,
      "Z_motion": true,
      "rotation": true,
      "brake_release": true,
      "PZ_contact_proxy": true,
      "action": "先受控卸载抬轮；确认离面后旋转减速至零，Z停稳。",
      "guard": "实际离面、轮速与Z速度为零且保护健康；否则转故障处置。"
    },
    {
      "id": "S07",
      "title": "制动接管",
      "Z_torque": true,
      "Z_motion": false,
      "rotation": false,
      "brake_release": false,
      "PZ_contact_proxy": false,
      "action": "命令夹紧，Z继续托载；核验交接后才撤Z转矩。",
      "guard": "夹紧状态及承载交接试验有效；撤驱动后落移/保持符合验收条件。"
    },
    {
      "id": "SX",
      "title": "故障／失电",
      "Z_torque": false,
      "Z_motion": false,
      "rotation": false,
      "brake_release": false,
      "PZ_contact_proxy": false,
      "action": "独立回路撤两轴转矩许可、切制动释放电源；锁存故障，保留闭罩。",
      "guard": "人工核验与监测复位；无自动重启。实际落移、接触峰值与轮端停转时间另验收。"
    },
    {
      "id": "SM",
      "title": "隔离检修",
      "Z_torque": false,
      "Z_motion": false,
      "rotation": false,
      "brake_release": false,
      "PZ_contact_proxy": false,
      "action": "确认轮端停止、隔离电源并机械承托；装拆按专用顺序。",
      "guard": "卸销受限动作未实现时不得开放普通点动；拆卸顺序与搬出接管另验收。"
    }
  ],
  "normal_release_rule": "sequence_request AND independent_release_permission",
  "fault_output": "remove two-axis torque permission and rod-brake release power; latch; no automatic lift or immediate wheel stop guarantee",
  "PZ_proxy_rule": "only if brake released, pin/fixture absent, thrust fully sensed and error/inertia/guide/cable bounds established",
  "post_fault_guard_access": "until actual stopping/access method accepted, keep enclosure closed; ordinary encoder is not qualified safe zero-speed",
  "PC_disconnect": "local healthy: state-dependent controlled exit; local/protection unhealthy: fault state; reconnect never restarts",
  "force_control_source": "F_MAIN calibrated/mapped channels and airborne baseline; compensation evaluated for Z/spin/temperature",
  "timing_targets": {
    "main_new_six_axis_frames_s": 1000,
    "main_internal_channel_skew_ms": 0.1,
    "force_wheel_Z_alignment_ms": 1
  },
  "reference_sampling_is_real_rate": false,
  "precision_goal_user_selected": false,
  "hardware_enabled": false,
  "manufacturing_release": false
}