添加项目文件。

BenchMovementModule/BenchMovementModule.cs

@@ -0,0 +1,19 @@
+using System.Reflection;
+using BenchMovementModule.Views;
+
+namespace BenchMovementModule
+{
+    public class BenchMovementModule : IModule
+    {
+        public void OnInitialized(IContainerProvider containerProvider)
+        {
+            IRegionManager regionManager = containerProvider.Resolve<IRegionManager>();
+            regionManager.RegisterViewWithRegion("ShellViewManager", typeof(BenchMovementView));
+        }
+
+        public void RegisterTypes(IContainerRegistry containerRegistry)
+        {
+            containerRegistry.RegisterForNavigation<BenchMovementView>("BenchMovementView");
+        }
+    }
+}

BenchMovementModule/BenchMovementModule.csproj

@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net8.0-windows</TargetFramework>
+    <Nullable>enable</Nullable>
+    <UseWPF>true</UseWPF>
+    <ImplicitUsings>enable</ImplicitUsings>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\UIShare\UIShare.csproj" />
+  </ItemGroup>
+
+</Project>

BenchMovementModule/HardwareDrive/GantryControlBase.cs

@@ -0,0 +1,164 @@
+using DeviceCommand.Base;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BenchMovementModule.HardwareDrive
+{
+    public abstract class GantryControlBase
+    {
+        protected readonly IModbusDevice _device;
+        protected readonly byte _slaveAddress;
+
+        // 默认 PLC Modbus 映射地址
+        protected const ushort ADDR_HM_X_ENABLE = 0xC100; // HM0: X轴使能
+        protected const ushort ADDR_HM_Y_ENABLE = 0xC101; // HM1: Y轴使能
+        protected const ushort ADDR_HM_Z_ENABLE = 0xC102; // HM2: Z轴使能
+
+        protected const ushort ADDR_M_X_START = 30;       // M30: X轴指定位置启动
+        protected const ushort ADDR_M_Y_START = 31;       // M31: Y轴指定位置启动
+        protected const ushort ADDR_M_Z_START = 35;       // M35: Z轴指定位置启动
+
+        protected const ushort ADDR_M_ALL_STOP = 40;     // M40: 全停
+        protected const ushort ADDR_M_X_STOP = 41;       // M41: X轴停止
+        protected const ushort ADDR_M_Y_STOP = 42;       // M42: Y轴停止
+        protected const ushort ADDR_M_Z_STOP = 43;       // M43: Z轴停止
+
+        protected const ushort ADDR_M_HOME = 100;        // M100: 回原点触发
+
+        protected const ushort ADDR_HD_X_SPEED = 0xA166;  // HD230: X轴速度 (32位)
+        protected const ushort ADDR_HD_Y_SPEED = 0xA17A;  // HD250: Y轴速度 (32位)
+        protected const ushort ADDR_HD_Z_SPEED = 0xA170;  // HD240: Z轴速度 (32位)
+
+        protected const ushort ADDR_HD_X_TARGET = 0xA10C; // HD140: X轴指定位置 (32位)
+        protected const ushort ADDR_HD_Y_TARGET = 0xA120; // HD160: Y轴指定位置 (32位)
+        protected const ushort ADDR_HD_Z_TARGET = 0xA116; // HD150: Z轴指定位置 (32位)
+
+        public bool IsConnected => _device?.IsConnected ?? false;
+
+        protected GantryControlBase(IModbusDevice device, byte slaveAddress = 1)
+        {
+            _device = device ?? throw new ArgumentNullException(nameof(device));
+            _slaveAddress = slaveAddress;
+        }
+
+        public async Task<bool> ConnectAsync(CancellationToken ct = default)
+        {
+            return await _device.ConnectAsync(ct);
+        }
+
+        public void Close()
+        {
+            _device.Close();
+        }
+
+        /// <summary>
+        /// 轴使能控制
+        /// </summary>
+        public async Task SetAxisEnableAsync(int axis, bool enable, CancellationToken ct = default)
+        {
+            ushort address = axis switch
+            {
+                1 => ADDR_HM_X_ENABLE, // X
+                2 => ADDR_HM_Y_ENABLE, // Y
+                3 => ADDR_HM_Z_ENABLE, // Z
+                _ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)")
+            };
+
+            await _device.WriteSingleCoilAsync(_slaveAddress, address, enable, ct);
+        }
+
+        /// <summary>
+        /// 左右移动（X轴）
+        /// </summary>
+        /// <param name="position">目标绝对位置（脉冲数/单位值）</param>
+        /// <param name="speed">运行速度</param>
+        public async Task MoveLeftRightAsync(int position, int speed, CancellationToken ct = default)
+        {
+            // 1. 写入速度与目标位置（32位数据，写入连续的2个保持寄存器）
+            await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_X_SPEED, Int32ToUshorts(speed), ct);
+            await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_X_TARGET, Int32ToUshorts(position), ct);
+
+            // 2. 边缘触发启动信号 M30
+            await TriggerCoilAsync(ADDR_M_X_START, ct);
+        }
+
+        /// <summary>
+        /// 上下移动（Z轴）
+        /// </summary>
+        /// <param name="position">目标绝对位置</param>
+        /// <param name="speed">运行速度</param>
+        public async Task MoveUpDownAsync(int position, int speed, CancellationToken ct = default)
+        {
+            // 1. 写入速度与目标位置（32位数据）
+            await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Z_SPEED, Int32ToUshorts(speed), ct);
+            await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Z_TARGET, Int32ToUshorts(position), ct);
+
+            // 2. 边缘触发启动信号 M35
+            await TriggerCoilAsync(ADDR_M_Z_START, ct);
+        }
+
+        /// <summary>
+        /// 前后移动（Y轴 - 预留拓展）
+        /// </summary>
+        public async Task MoveFrontBackAsync(int position, int speed, CancellationToken ct = default)
+        {
+            await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Y_SPEED, Int32ToUshorts(speed), ct);
+            await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Y_TARGET, Int32ToUshorts(position), ct);
+            await TriggerCoilAsync(ADDR_M_Y_START, ct);
+        }
+
+        /// <summary>
+        /// 全局回零
+        /// </summary>
+        public async Task HomeAsync(CancellationToken ct = default)
+        {
+            await TriggerCoilAsync(ADDR_M_HOME, ct);
+        }
+
+        /// <summary>
+        /// 轴停止
+        /// </summary>
+        /// <param name="axis">1:X轴, 2:Y轴, 3:Z轴, 0:全停</param>
+        public async Task StopAsync(int axis = 0, CancellationToken ct = default)
+        {
+            ushort address = axis switch
+            {
+                0 => ADDR_M_ALL_STOP,
+                1 => ADDR_M_X_STOP,
+                2 => ADDR_M_Y_STOP,
+                3 => ADDR_M_Z_STOP,
+                _ => ADDR_M_ALL_STOP
+            };
+
+            await TriggerCoilAsync(address, ct);
+        }
+
+        #region 内部工具方法
+
+        /// <summary>
+        /// 触发一个点动信号（置 1 后，延时 100ms 自动置 0）
+        /// </summary>
+        protected async Task TriggerCoilAsync(ushort address, CancellationToken ct = default)
+        {
+            await _device.WriteSingleCoilAsync(_slaveAddress, address, true, ct);
+            await Task.Delay(100, ct); // 给予 PLC 扫描周期足够的响应时间
+            await _device.WriteSingleCoilAsync(_slaveAddress, address, false, ct);
+        }
+
+        /// <summary>
+        /// 将 32 位整型数据转换为 Modbus 的 2 个 16 位无符号整数（高低字转换）
+        /// </summary>
+        protected ushort[] Int32ToUshorts(int value)
+        {
+            // 本处采用低字在前（CDAB），如果PLC高字在前（ABCD），可将返回数组顺序颠倒
+            ushort lowWord = (ushort)(value & 0xFFFF);
+            ushort highWord = (ushort)((value >> 16) & 0xFFFF);
+            return new ushort[] { lowWord, highWord };
+        }
+
+        #endregion
+    }
+}

BenchMovementModule/HardwareDrive/GantryControlRtu.cs

@@ -0,0 +1,28 @@
+using DeviceCommand.Base;
+using System;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BenchMovementModule.HardwareDrive
+{
+    public class GantryControlRtu : GantryControlBase
+    {
+        // 暴露出底层的 ModbusRtu 实例以便修改串口配置
+        public ModbusRtu RtuDevice => (ModbusRtu)_device;
+
+        public GantryControlRtu(string portName, int baudRate = 9600, byte slaveAddress = 1)
+            : base(new ModbusRtu(), slaveAddress)
+        {
+            RtuDevice.ConfigureDevice(portName, baudRate);
+        }
+
+        public GantryControlRtu(string portName, int baudRate, int dataBits, StopBits stopBits, Parity parity, byte slaveAddress = 1)
+            : base(new ModbusRtu(), slaveAddress)
+        {
+            RtuDevice.ConfigureDevice(portName, baudRate, dataBits, stopBits, parity);
+        }
+    }
+}

BenchMovementModule/HardwareDrive/GantryControlTcp.cs

@@ -0,0 +1,27 @@
+using DeviceCommand.Base;
+using Model.Models;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BenchMovementModule.HardwareDrive
+{
+    public class GantryControlTcp : GantryControlBase
+    {
+        // 暴露出底层的 ModbusTcp 实例以便修改网络配置
+        public ModbusTcp TcpDevice => (ModbusTcp)_device;
+
+        public GantryControlTcp(TcpConfig config, byte slaveAddress = 1)
+            : base(new ModbusTcp(config), slaveAddress)
+        {
+        }
+
+        public GantryControlTcp(string ipAddress, int port = 502, byte slaveAddress = 1)
+            : base(new ModbusTcp(), slaveAddress)
+        {
+            TcpDevice.ConfigureDevice(ipAddress, port);
+        }
+    }
+}

BenchMovementModule/ViewModels/BenchMovementViewModel.cs

@@ -0,0 +1,522 @@
+using System;
+using System.Linq;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Input;
+using System.Windows.Threading;
+using DeviceCommand.Devices;
+using Logger;
+using Prism.Ioc;
+using UIShare.GlobalVariable;
+using UIShare.ViewModelBase;
+
+namespace BenchMovementModule.ViewModels
+{
+    public class BenchMovementViewModel : NavigateViewModelBase, IRegionMemberLifetime, IDisposable
+    {
+        #region 属性
+
+        public bool KeepAlive => true;
+
+        // ===== GantryControlTcp 实例（从 DeviceManager 获取）=====
+        private GantryControlTcp? _gantry;
+        private DeviceManager? _deviceManager;
+        private readonly GlobalInfo _globalInfo;
+
+        // ===== 连接状态 =====
+        private bool _isConnected;
+        public bool IsConnected
+        {
+            get => _isConnected;
+            set => SetProperty(ref _isConnected, value);
+        }
+
+        private string _connectionStatus = "未连接";
+        public string ConnectionStatus
+        {
+            get => _connectionStatus;
+            set => SetProperty(ref _connectionStatus, value);
+        }
+
+        // ===== 6轴绝对位置显示（相对原点的实时位置，只读）=====
+        private int _absPos1;
+        public int AbsPos1 { get => _absPos1; set => SetProperty(ref _absPos1, value); }
+
+        private int _absPos2;
+        public int AbsPos2 { get => _absPos2; set => SetProperty(ref _absPos2, value); }
+
+        private int _absPos3;
+        public int AbsPos3 { get => _absPos3; set => SetProperty(ref _absPos3, value); }
+
+        private int _absPos4;
+        public int AbsPos4 { get => _absPos4; set => SetProperty(ref _absPos4, value); }
+
+        private int _absPos5;
+        public int AbsPos5 { get => _absPos5; set => SetProperty(ref _absPos5, value); }
+
+        private int _absPos6;
+        public int AbsPos6 { get => _absPos6; set => SetProperty(ref _absPos6, value); }
+
+        // ===== 寸动目标位置 =====
+        private int _targetX;
+        public int TargetX { get => _targetX; set => SetProperty(ref _targetX, value); }
+
+        private int _targetY;
+        public int TargetY { get => _targetY; set => SetProperty(ref _targetY, value); }
+
+        private int _targetZ;
+        public int TargetZ { get => _targetZ; set => SetProperty(ref _targetZ, value); }
+
+        // ===== 扫描参数 =====
+        private int _scanStepX = 1000;
+        public int ScanStepX { get => _scanStepX; set => SetProperty(ref _scanStepX, value); }
+
+        private int _scanStartX;
+        public int ScanStartX { get => _scanStartX; set => SetProperty(ref _scanStartX, value); }
+
+        private int _scanEndX = 50000;
+        public int ScanEndX { get => _scanEndX; set => SetProperty(ref _scanEndX, value); }
+
+        private int _scanStepY = 1000;
+        public int ScanStepY { get => _scanStepY; set => SetProperty(ref _scanStepY, value); }
+
+        private int _scanStartY;
+        public int ScanStartY { get => _scanStartY; set => SetProperty(ref _scanStartY, value); }
+
+        private int _scanEndY = 50000;
+        public int ScanEndY { get => _scanEndY; set => SetProperty(ref _scanEndY, value); }
+
+        private int _scanStepZ = 100;
+        public int ScanStepZ { get => _scanStepZ; set => SetProperty(ref _scanStepZ, value); }
+
+        private int _scanStartZ;
+        public int ScanStartZ { get => _scanStartZ; set => SetProperty(ref _scanStartZ, value); }
+
+        private int _scanEndZ = 20000;
+        public int ScanEndZ { get => _scanEndZ; set => SetProperty(ref _scanEndZ, value); }
+
+        // ===== 速度设定（脉冲）=====
+        private int _speedX = 5000;
+        public int SpeedX { get => _speedX; set => SetProperty(ref _speedX, value); }
+
+        private int _speedY = 5000;
+        public int SpeedY { get => _speedY; set => SetProperty(ref _speedY, value); }
+
+        private int _speedZ = 2000;
+        public int SpeedZ { get => _speedZ; set => SetProperty(ref _speedZ, value); }
+
+        private int _homeSpeed = 3000;
+        public int HomeSpeed { get => _homeSpeed; set => SetProperty(ref _homeSpeed, value); }
+
+        // ===== 零点设定 =====
+        private int _homeX;
+        public int HomeX { get => _homeX; set => SetProperty(ref _homeX, value); }
+
+        private int _homeY;
+        public int HomeY { get => _homeY; set => SetProperty(ref _homeY, value); }
+
+        private int _homeZ;
+        public int HomeZ { get => _homeZ; set => SetProperty(ref _homeZ, value); }
+
+        #endregion
+
+        #region 命令
+        public ICommand ConnectCommand { get; }
+        public ICommand DisconnectCommand { get; }
+        public ICommand MoveXCommand { get; }
+        public ICommand MoveYCommand { get; }
+        public ICommand MoveZCommand { get; }
+        public ICommand MoveAllCommand { get; }
+        public ICommand GoHomeCommand { get; }
+        public ICommand EmergencyStopCommand { get; }
+        public ICommand StopXCommand { get; }
+        public ICommand StopYCommand { get; }
+        public ICommand StopZCommand { get; }
+        public ICommand SetSpeedCommand { get; }
+        public ICommand SetHomeCommand { get; }
+        public ICommand ReadStatusCommand { get; }
+        #endregion
+
+        #region 私有字段
+        private readonly DispatcherTimer _pollTimer;
+        private bool _isInitiated = false;
+        #endregion
+
+        public BenchMovementViewModel(IContainerProvider containerProvider) : base(containerProvider)
+        {
+            _globalInfo = containerProvider.Resolve<GlobalInfo>();
+            ConnectCommand = new DelegateCommand(OnConnect);
+            DisconnectCommand = new DelegateCommand(OnDisconnect);
+            MoveXCommand = new DelegateCommand(OnMoveX);
+            MoveYCommand = new DelegateCommand(OnMoveY);
+            MoveZCommand = new DelegateCommand(OnMoveZ);
+            MoveAllCommand = new DelegateCommand(OnMoveAll);
+            GoHomeCommand = new DelegateCommand(OnGoHome);
+            EmergencyStopCommand = new DelegateCommand(OnEmergencyStop);
+            StopXCommand = new DelegateCommand(OnStopX);
+            StopYCommand = new DelegateCommand(OnStopY);
+            StopZCommand = new DelegateCommand(OnStopZ);
+            SetSpeedCommand = new DelegateCommand(OnSetSpeed);
+            SetHomeCommand = new DelegateCommand(OnSetHome);
+            ReadStatusCommand = new DelegateCommand(OnReadStatus);
+
+            // 位置轮询定时器（500ms）
+            _pollTimer = new DispatcherTimer(DispatcherPriority.Background)
+            {
+                Interval = TimeSpan.FromMilliseconds(500)
+            };
+            _pollTimer.Tick += OnPollTick;
+        }
+
+        #region 命令处理
+
+        private async void OnConnect()
+        {
+            if (_gantry == null) return;
+            try
+            {
+                ConnectionStatus = "连接中...";
+                bool ok = await _gantry.ConnectAsync();
+                if (ok)
+                {
+                    IsConnected = true;
+                    ConnectionStatus = "已连接";
+                    _pollTimer.Start();
+                    await ReadDeviceParametersAsync();
+                    LoggerHelper.Info("[BenchMovement] 台架连接成功");
+                }
+                else
+                {
+                    ConnectionStatus = "连接失败";
+                }
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] 连接失败: {ex.Message}");
+                ConnectionStatus = $"连接失败: {ex.Message}";
+            }
+            UpdateConnectionStatus();
+        }
+
+        private void OnDisconnect()
+        {
+            if (_gantry == null) return;
+            try
+            {
+                _pollTimer.Stop();
+                _gantry.Close();
+                IsConnected = false;
+                ConnectionStatus = "未连接";
+                LoggerHelper.Info("[BenchMovement] 台架已断开");
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] 断开失败: {ex.Message}");
+            }
+            UpdateConnectionStatus();
+        }
+
+        private async void OnMoveX()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.SetAxisTargetPositionAsync(1, TargetX);
+                await _gantry.StartSingleAxisAsync(1);
+                LoggerHelper.Info($"[BenchMovement] X轴移动到 {TargetX}");
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] X轴移动失败: {ex.Message}");
+                ShowErrorMessageBox($"X轴移动失败: {ex.Message}", () => { });
+            }
+        }
+
+        private async void OnMoveY()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.SetAxisTargetPositionAsync(2, TargetY);
+                await _gantry.StartSingleAxisAsync(2);
+                LoggerHelper.Info($"[BenchMovement] Y轴移动到 {TargetY}");
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] Y轴移动失败: {ex.Message}");
+                ShowErrorMessageBox($"Y轴移动失败: {ex.Message}", () => { });
+            }
+        }
+
+        private async void OnMoveZ()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.SetAxisTargetPositionAsync(3, TargetZ);
+                await _gantry.StartSingleAxisAsync(3);
+                LoggerHelper.Info($"[BenchMovement] Z轴移动到 {TargetZ}");
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] Z轴移动失败: {ex.Message}");
+                ShowErrorMessageBox($"Z轴移动失败: {ex.Message}", () => { });
+            }
+        }
+
+        private async void OnMoveAll()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.SetAxisTargetPositionAsync(1, TargetX);
+                await _gantry.SetAxisTargetPositionAsync(2, TargetY);
+                await _gantry.SetAxisTargetPositionAsync(3, TargetZ);
+                await _gantry.StartAllAxesAsync();
+                LoggerHelper.Info($"[BenchMovement] 三轴同时移动: X={TargetX}, Y={TargetY}, Z={TargetZ}");
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] 三轴移动失败: {ex.Message}");
+                ShowErrorMessageBox($"三轴移动失败: {ex.Message}", () => { });
+            }
+        }
+
+        private async void OnGoHome()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.HomeAsync();
+                LoggerHelper.Info("[BenchMovement] 回原点已触发");
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] 回原点失败: {ex.Message}");
+                ShowErrorMessageBox($"回原点失败: {ex.Message}", () => { });
+            }
+        }
+
+        private async void OnEmergencyStop()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.SetEStopStateAsync(true);
+                LoggerHelper.Info("[BenchMovement] 急停已触发");
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] 急停失败: {ex.Message}");
+            }
+        }
+
+        private async void OnStopX()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.SetStopStateAsync(1, true);
+                await Task.Delay(100);
+                await _gantry.SetStopStateAsync(1, false);
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] X轴停止失败: {ex.Message}");
+            }
+        }
+
+        private async void OnStopY()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.SetStopStateAsync(2, true);
+                await Task.Delay(100);
+                await _gantry.SetStopStateAsync(2, false);
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] Y轴停止失败: {ex.Message}");
+            }
+        }
+
+        private async void OnStopZ()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.SetStopStateAsync(3, true);
+                await Task.Delay(100);
+                await _gantry.SetStopStateAsync(3, false);
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] Z轴停止失败: {ex.Message}");
+            }
+        }
+
+        private async void OnSetSpeed()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.SetAxisSpeedAsync(1, SpeedX);
+                await _gantry.SetAxisSpeedAsync(2, SpeedY);
+                await _gantry.SetAxisSpeedAsync(3, SpeedZ);
+                await _gantry.SetHomePositionSpeedAsync(HomeSpeed);
+                LoggerHelper.Info($"[BenchMovement] 速度设定完成: X={SpeedX}, Y={SpeedY}, Z={SpeedZ}, 回零={HomeSpeed}");
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] 速度设定失败: {ex.Message}");
+                ShowErrorMessageBox($"速度设定失败: {ex.Message}", () => { });
+            }
+        }
+
+        private async void OnSetHome()
+        {
+            if (!EnsureConnected()) return;
+            try
+            {
+                await _gantry!.SetHomePositionAsync(HomeX, HomeY, HomeZ);
+                LoggerHelper.Info($"[BenchMovement] 零点设定完成: X={HomeX}, Y={HomeY}, Z={HomeZ}");
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] 零点设定失败: {ex.Message}");
+                ShowErrorMessageBox($"零点设定失败: {ex.Message}", () => { });
+            }
+        }
+
+        private async void OnReadStatus()
+        {
+            await ReadDeviceParametersAsync();
+        }
+
+        #endregion
+
+        #region 辅助方法
+
+        private bool EnsureConnected()
+        {
+            if (_gantry == null || !_gantry.IsConnected)
+            {
+                ShowErrorMessageBox("设备未连接，请先连接台架", () => { });
+                return false;
+            }
+            return true;
+        }
+
+        private void UpdateConnectionStatus()
+        {
+            IsConnected = _gantry?.IsConnected ?? false;
+            ConnectionStatus = IsConnected ? "已连接" : "未连接";
+        }
+
+        private async Task ReadDeviceParametersAsync()
+        {
+            if (_gantry == null || !_gantry.IsConnected) return;
+            try
+            {
+                var (x, y, z) = await _gantry.GetHomePositionAsync();
+                HomeX = x; HomeY = y; HomeZ = z;
+
+                SpeedX = await _gantry.GetAxisSpeedAsync(1);
+                SpeedY = await _gantry.GetAxisSpeedAsync(2);
+                SpeedZ = await _gantry.GetAxisSpeedAsync(3);
+                HomeSpeed = await _gantry.GetHomePositionSpeedAsync();
+
+                // 读取 6 轴绝对位置
+                var positions = await _gantry.GetAllAbsolutePositionsAsync();
+                AbsPos1 = positions.Axis1; AbsPos2 = positions.Axis2; AbsPos3 = positions.Axis3;
+                AbsPos4 = positions.Axis4; AbsPos5 = positions.Axis5; AbsPos6 = positions.Axis6;
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] 读取设备参数失败: {ex.Message}");
+            }
+        }
+
+        private async void OnPollTick(object? sender, EventArgs e)
+        {
+            if (_gantry == null || !_gantry.IsConnected) return;
+            try
+            {
+                // 批量读取 6 轴绝对位置（一次性通信，高效）
+                var pos = await _gantry.GetAllAbsolutePositionsAsync();
+                AbsPos1 = pos.Axis1; AbsPos2 = pos.Axis2; AbsPos3 = pos.Axis3;
+                AbsPos4 = pos.Axis4; AbsPos5 = pos.Axis5; AbsPos6 = pos.Axis6;
+            }
+            catch { /* 忽略轮询错误 */ }
+        }
+
+        #endregion
+
+        #region 生命周期
+
+        public override void OnNavigatedTo(NavigationContext navigationContext)
+        {
+            base.OnNavigatedTo(navigationContext);
+            if (!_isInitiated)
+            {
+                _isInitiated = true;
+                InitGantryFromDeviceManager();
+            }
+        }
+
+        /// <summary>
+        /// 从 DeviceManager.DeviceMap 中查找 GantryControlTcp 实例，
+        /// 优先使用当前打开的作用域，找不到则取任意已注册作用域。
+        /// </summary>
+        private void InitGantryFromDeviceManager()
+        {
+            try
+            {
+                // 优先使用当前打开的作用域
+                IScopedProvider? scope = null;
+                if (!string.IsNullOrEmpty(_globalInfo.CurrentOpeningScope)
+                    && _globalInfo.ScopeDic.TryGetValue(_globalInfo.CurrentOpeningScope, out scope))
+                {
+                    // 找到了
+                }
+                else
+                {
+                    // 退而求其次，取任意可用作用域
+                    scope = _globalInfo.ScopeDic.Values.FirstOrDefault();
+                }
+
+                if (scope == null)
+                {
+                    LoggerHelper.Warn("[BenchMovement] 无可用的作用域，无法解析 DeviceManager。");
+                    return;
+                }
+
+                _deviceManager = scope.Resolve<DeviceManager>();
+                _gantry = _deviceManager.DeviceMap.Values.OfType<GantryControlTcp>().FirstOrDefault();
+
+                if (_gantry != null)
+                {
+                    LoggerHelper.Info($"[BenchMovement] 已从 DeviceManager 获取 GantryControlTcp 实例。");
+                    UpdateConnectionStatus();
+                }
+                else
+                {
+                    LoggerHelper.Warn("[BenchMovement] DeviceManager 中未找到 GantryControlTcp 设备，请检查设备配置。");
+                }
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] 初始化 GantryControlTcp 失败: {ex.Message}");
+            }
+        }
+
+        public void Dispose()
+        {
+            _pollTimer.Stop();
+            // GantryControlTcp 由 DeviceManager 统一管理生命周期，此处仅停止轮询
+        }
+
+        #endregion
+    }
+}

BenchMovementModule/Views/BenchMovementView.xaml

@@ -0,0 +1,394 @@
+<UserControl x:Class="BenchMovementModule.Views.BenchMovementView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+             mc:Ignorable="d"
+             xmlns:prism="http://prismlibrary.com/"
+             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
+             prism:ViewModelLocator.AutoWireViewModel="True"
+             d:DesignHeight="1080" d:DesignWidth="1920">
+
+    <UserControl.Resources>
+        <Style TargetType="TextBlock" x:Key="HeaderStyle">
+            <Setter Property="Foreground" Value="#333333"/>
+            <Setter Property="FontSize" Value="18"/>
+            <Setter Property="FontWeight" Value="Bold"/>
+            <Setter Property="Margin" Value="2,2,2,5"/>
+        </Style>
+
+        <Style TargetType="TextBlock" x:Key="LabelStyle">
+            <Setter Property="Foreground" Value="#555555"/>
+            <Setter Property="FontSize" Value="14"/>
+            <Setter Property="VerticalAlignment" Value="Center"/>
+            <Setter Property="Margin" Value="5"/>
+        </Style>
+
+        <Style TargetType="TextBlock" x:Key="ValueStyle">
+            <Setter Property="Foreground" Value="#0056B3"/>
+            <Setter Property="FontSize" Value="26"/>
+            <Setter Property="FontWeight" Value="Bold"/>
+            <Setter Property="HorizontalAlignment" Value="Center"/>
+            <Setter Property="VerticalAlignment" Value="Center"/>
+        </Style>
+
+        <Style TargetType="TextBox">
+            <Setter Property="Background" Value="White"/>
+            <Setter Property="Foreground" Value="#333333"/>
+            <Setter Property="BorderBrush" Value="#CCCCCC"/>
+            <Setter Property="BorderThickness" Value="1"/>
+            <Setter Property="FontSize" Value="14"/>
+            <Setter Property="Padding" Value="4,2"/>
+            <Setter Property="Height" Value="28"/>
+            <Setter Property="VerticalContentAlignment" Value="Center"/>
+        </Style>
+
+        <Style TargetType="Button">
+            <Setter Property="Background" Value="#F5F5F5"/>
+            <Setter Property="Foreground" Value="#333333"/>
+            <Setter Property="BorderBrush" Value="#B8B8B8"/>
+            <Setter Property="BorderThickness" Value="1"/>
+            <Setter Property="Padding" Value="12,5"/>
+            <Setter Property="FontSize" Value="14"/>
+            <Setter Property="Height" Value="34"/>
+            <Setter Property="Margin" Value="0,0,0,8"/>
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border x:Name="btnBorder"
+                                Background="{TemplateBinding Background}"
+                                BorderBrush="{TemplateBinding BorderBrush}"
+                                BorderThickness="{TemplateBinding BorderThickness}"
+                                CornerRadius="3">
+                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#EAEAEA"/>
+                                <Setter TargetName="btnBorder" Property="BorderBrush" Value="#4A90E2"/>
+                            </Trigger>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#DCDCDC"/>
+                                <Setter TargetName="btnBorder" Property="BorderBrush" Value="#2A6099"/>
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+
+        <Style TargetType="Button" x:Key="StopButtonStyle" BasedOn="{StaticResource {x:Type Button}}">
+            <Setter Property="Background" Value="#FFF0F0"/>
+            <Setter Property="Foreground" Value="#C00000"/>
+            <Setter Property="BorderBrush" Value="#E0A0A0"/>
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border x:Name="btnBorder" Background="{TemplateBinding Background}" BorderBrush="{TemplateBinding BorderBrush}" BorderThickness="1" CornerRadius="3">
+                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#FFE0E0"/>
+                            </Trigger>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#F0C0C0"/>
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+
+        <Style TargetType="Button" x:Key="EmergencyButtonStyle" BasedOn="{StaticResource {x:Type Button}}">
+            <Setter Property="Background" Value="#D9534F"/>
+            <Setter Property="Foreground" Value="White"/>
+            <Setter Property="BorderBrush" Value="#D43F3A"/>
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border x:Name="btnBorder" Background="{TemplateBinding Background}" BorderBrush="{TemplateBinding BorderBrush}" BorderThickness="1" CornerRadius="4">
+                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#C9302C"/>
+                            </Trigger>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#AC2925"/>
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+
+        <Style TargetType="Button" x:Key="ConnectButtonStyle" BasedOn="{StaticResource {x:Type Button}}">
+            <Setter Property="Background" Value="#5CB85C"/>
+            <Setter Property="Foreground" Value="White"/>
+            <Setter Property="BorderBrush" Value="#4CAE4C"/>
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="Button">
+                        <Border x:Name="btnBorder" Background="{TemplateBinding Background}" BorderBrush="{TemplateBinding BorderBrush}" BorderThickness="1" CornerRadius="3">
+                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center"/>
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#449D44"/>
+                            </Trigger>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter TargetName="btnBorder" Property="Background" Value="#3D8B3D"/>
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+
+        <Style TargetType="GroupBox">
+            <Setter Property="BorderBrush" Value="#D0D0D0"/>
+            <Setter Property="BorderThickness" Value="1"/>
+            <Setter Property="Margin" Value="6"/>
+            <Setter Property="Padding" Value="10"/>
+        </Style>
+    </UserControl.Resources>
+
+    <Grid Background="#F0F2F5">
+        <TabControl Background="Transparent" BorderThickness="0">
+            <TabControl.Resources>
+                <Style TargetType="TabItem">
+                    <Setter Property="Background" Value="#E0E4E8"/>
+                    <Setter Property="Foreground" Value="#333333"/>
+                    <Setter Property="FontSize" Value="15"/>
+                    <Setter Property="FontWeight" Value="SemiBold"/>
+                    <Setter Property="Padding" Value="25,6"/>
+                    <Setter Property="Margin" Value="2,0,2,0"/>
+                </Style>
+            </TabControl.Resources>
+
+            <!-- ======================= 1. 控制面板 ======================= -->
+            <TabItem Header="控制">
+                <Grid Margin="10">
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="Auto"/>
+                        <RowDefinition Height="*"/>
+                    </Grid.RowDefinitions>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="4*"/>
+                        <ColumnDefinition Width="1*"/>
+                    </Grid.ColumnDefinitions>
+
+                    <!-- 顶部：连接状态条 -->
+                    <Border Grid.Row="0" Grid.Column="0" Grid.ColumnSpan="2" Background="White" BorderBrush="#D0D0D0" BorderThickness="1" CornerRadius="3" Padding="15,8" Margin="0,0,0,10">
+                        <StackPanel Orientation="Horizontal">
+                            <Ellipse Width="14" Height="14" Margin="0,0,8,0">
+                                <Ellipse.Style>
+                                    <Style TargetType="Ellipse">
+                                        <Setter Property="Fill" Value="#999999"/>
+                                        <Style.Triggers>
+                                            <DataTrigger Binding="{Binding IsConnected}" Value="True">
+                                                <Setter Property="Fill" Value="#5CB85C"/>
+                                            </DataTrigger>
+                                        </Style.Triggers>
+                                    </Style>
+                                </Ellipse.Style>
+                            </Ellipse>
+                            <TextBlock Text="{Binding ConnectionStatus}" FontSize="16" FontWeight="Bold" VerticalAlignment="Center" Margin="0,0,20,0"/>
+                            <Button Content="连接" Width="80" Margin="0" Style="{StaticResource ConnectButtonStyle}" Command="{Binding ConnectCommand}"/>
+                            <Button Content="断开" Width="80" Margin="8,0,0,0" Style="{StaticResource StopButtonStyle}" Command="{Binding DisconnectCommand}"/>
+                            <Button Content="刷新状态" Width="90" Margin="8,0,0,0" Command="{Binding ReadStatusCommand}"/>
+                        </StackPanel>
+                    </Border>
+
+                    <!-- 左中：位置显示 & 寸动目标 -->
+                    <Grid Grid.Row="1" Grid.Column="0">
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="1*"/>
+                            <ColumnDefinition Width="1.5*"/>
+                        </Grid.ColumnDefinitions>
+
+                        <!-- 6轴绝对位置 -->
+                        <GroupBox Grid.Column="0">
+                            <GroupBox.Header>
+                                <TextBlock Text="绝对位置（只读）" Style="{StaticResource HeaderStyle}"/>
+                            </GroupBox.Header>
+                            <Grid>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                </Grid.RowDefinitions>
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition Width="Auto"/>
+                                    <ColumnDefinition Width="*"/>
+                                </Grid.ColumnDefinitions>
+                                <TextBlock Grid.Row="0" Grid.Column="0" Text="轴1" Style="{StaticResource LabelStyle}"/>
+                                <TextBlock Grid.Row="0" Grid.Column="1" Text="{Binding AbsPos1}" Style="{StaticResource ValueStyle}"/>
+
+                                <TextBlock Grid.Row="1" Grid.Column="0" Text="轴2" Style="{StaticResource LabelStyle}"/>
+                                <TextBlock Grid.Row="1" Grid.Column="1" Text="{Binding AbsPos2}" Style="{StaticResource ValueStyle}"/>
+
+                                <TextBlock Grid.Row="2" Grid.Column="0" Text="轴3" Style="{StaticResource LabelStyle}"/>
+                                <TextBlock Grid.Row="2" Grid.Column="1" Text="{Binding AbsPos3}" Style="{StaticResource ValueStyle}"/>
+
+                                <TextBlock Grid.Row="3" Grid.Column="0" Text="轴4" Style="{StaticResource LabelStyle}"/>
+                                <TextBlock Grid.Row="3" Grid.Column="1" Text="{Binding AbsPos4}" Style="{StaticResource ValueStyle}"/>
+
+                                <TextBlock Grid.Row="4" Grid.Column="0" Text="轴5" Style="{StaticResource LabelStyle}"/>
+                                <TextBlock Grid.Row="4" Grid.Column="1" Text="{Binding AbsPos5}" Style="{StaticResource ValueStyle}"/>
+
+                                <TextBlock Grid.Row="5" Grid.Column="0" Text="轴6" Style="{StaticResource LabelStyle}"/>
+                                <TextBlock Grid.Row="5" Grid.Column="1" Text="{Binding AbsPos6}" Style="{StaticResource ValueStyle}"/>
+                            </Grid>
+                        </GroupBox>
+
+                        <!-- 寸动目标位置 -->
+                        <GroupBox Grid.Column="1">
+                            <GroupBox.Header>
+                                <TextBlock Text="寸动目标" Style="{StaticResource HeaderStyle}"/>
+                            </GroupBox.Header>
+                            <Grid>
+                                <Grid.RowDefinitions>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                </Grid.RowDefinitions>
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition Width="Auto"/>
+                                    <ColumnDefinition Width="*"/>
+                                    <ColumnDefinition Width="Auto"/>
+                                    <ColumnDefinition Width="Auto"/>
+                                </Grid.ColumnDefinitions>
+                                <TextBlock Grid.Row="0" Grid.Column="0" Text="X目标" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="0" Grid.Column="1" Text="{Binding TargetX}" Margin="5"/>
+                                <Button Grid.Row="0" Grid.Column="2" Content="移动" Width="60" Margin="5,0,5,0" Command="{Binding MoveXCommand}"/>
+                                <Button Grid.Row="0" Grid.Column="3" Content="停止" Width="60" Margin="0,0,5,0" Style="{StaticResource StopButtonStyle}" Command="{Binding StopXCommand}"/>
+
+                                <TextBlock Grid.Row="1" Grid.Column="0" Text="Y目标" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="1" Grid.Column="1" Text="{Binding TargetY}" Margin="5"/>
+                                <Button Grid.Row="1" Grid.Column="2" Content="移动" Width="60" Margin="5,0,5,0" Command="{Binding MoveYCommand}"/>
+                                <Button Grid.Row="1" Grid.Column="3" Content="停止" Width="60" Margin="0,0,5,0" Style="{StaticResource StopButtonStyle}" Command="{Binding StopYCommand}"/>
+
+                                <TextBlock Grid.Row="2" Grid.Column="0" Text="Z目标" Style="{StaticResource LabelStyle}"/>
+                                <TextBox Grid.Row="2" Grid.Column="1" Text="{Binding TargetZ}" Margin="5"/>
+                                <Button Grid.Row="2" Grid.Column="2" Content="移动" Width="60" Margin="5,0,5,0" Command="{Binding MoveZCommand}"/>
+                                <Button Grid.Row="2" Grid.Column="3" Content="停止" Width="60" Margin="0,0,5,0" Style="{StaticResource StopButtonStyle}" Command="{Binding StopZCommand}"/>
+                            </Grid>
+                        </GroupBox>
+                    </Grid>
+
+                    <!-- 右侧：控制面板 -->
+                    <Grid Grid.Row="1" Grid.Column="1" Margin="6,6,0,6">
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="*"/>
+                            <RowDefinition Height="Auto"/>
+                        </Grid.RowDefinitions>
+
+                        <StackPanel Grid.Row="0">
+                            <Button Content="↩ 回原点" Command="{Binding GoHomeCommand}"/>
+                            <Button Content="⬆ 三轴同动" Command="{Binding MoveAllCommand}"/>
+                        </StackPanel>
+
+                        <StackPanel Grid.Row="1" VerticalAlignment="Center">
+                            <TextBlock Text="单轴控制" Style="{StaticResource LabelStyle}" HorizontalAlignment="Center" Margin="0,10,0,10"/>
+                            <Button Content="↕ X 移动" Command="{Binding MoveXCommand}"/>
+                            <Button Content="↔ Y 移动" Command="{Binding MoveYCommand}"/>
+                            <Button Content="↕ Z 移动" Command="{Binding MoveZCommand}"/>
+                        </StackPanel>
+
+                        <Button Grid.Row="2" Content="❌ 急 停" Style="{StaticResource EmergencyButtonStyle}" FontWeight="Bold" FontSize="18" Height="55" Margin="0" Command="{Binding EmergencyStopCommand}"/>
+                    </Grid>
+                </Grid>
+            </TabItem>
+
+            <!-- ======================= 2. 设置 ======================= -->
+            <TabItem Header="设置">
+                <ScrollViewer VerticalScrollBarVisibility="Auto">
+                    <StackPanel Margin="10">
+
+                        <!-- 移动速度设定（脉冲） -->
+                        <GroupBox>
+                            <GroupBox.Header>
+                                <TextBlock Text="移动速度设定" Style="{StaticResource HeaderStyle}"/>
+                            </GroupBox.Header>
+                            <StackPanel Margin="5">
+                                <Grid Margin="0,0,0,6">
+                                    <Grid.ColumnDefinitions>
+                                        <ColumnDefinition Width="160"/>
+                                        <ColumnDefinition Width="*"/>
+                                    </Grid.ColumnDefinitions>
+                                    <TextBlock Text="X速度(脉冲)" Style="{StaticResource LabelStyle}"/>
+                                    <TextBox Grid.Column="1" Text="{Binding SpeedX}"/>
+                                </Grid>
+                                <Grid Margin="0,0,0,6">
+                                    <Grid.ColumnDefinitions>
+                                        <ColumnDefinition Width="160"/>
+                                        <ColumnDefinition Width="*"/>
+                                    </Grid.ColumnDefinitions>
+                                    <TextBlock Text="Y速度(脉冲)" Style="{StaticResource LabelStyle}"/>
+                                    <TextBox Grid.Column="1" Text="{Binding SpeedY}"/>
+                                </Grid>
+                                <Grid Margin="0,0,0,6">
+                                    <Grid.ColumnDefinitions>
+                                        <ColumnDefinition Width="160"/>
+                                        <ColumnDefinition Width="*"/>
+                                    </Grid.ColumnDefinitions>
+                                    <TextBlock Text="Z速度(脉冲)" Style="{StaticResource LabelStyle}"/>
+                                    <TextBox Grid.Column="1" Text="{Binding SpeedZ}"/>
+                                </Grid>
+                                <Grid Margin="0,0,0,10">
+                                    <Grid.ColumnDefinitions>
+                                        <ColumnDefinition Width="160"/>
+                                        <ColumnDefinition Width="*"/>
+                                    </Grid.ColumnDefinitions>
+                                    <TextBlock Text="回零速度(脉冲)" Style="{StaticResource LabelStyle}"/>
+                                    <TextBox Grid.Column="1" Text="{Binding HomeSpeed}"/>
+                                </Grid>
+                                <Button Content="速度设定" Width="110" HorizontalAlignment="Left" Margin="0" Command="{Binding SetSpeedCommand}"/>
+                            </StackPanel>
+                        </GroupBox>
+
+                        <!-- 零点设定 -->
+                        <GroupBox>
+                            <GroupBox.Header>
+                                <TextBlock Text="零点设定" Style="{StaticResource HeaderStyle}"/>
+                            </GroupBox.Header>
+                            <StackPanel Margin="5">
+                                <Grid Margin="0,0,0,6">
+                                    <Grid.ColumnDefinitions>
+                                        <ColumnDefinition Width="120"/>
+                                        <ColumnDefinition Width="*"/>
+                                    </Grid.ColumnDefinitions>
+                                    <TextBlock Text="X零点" Style="{StaticResource LabelStyle}"/>
+                                    <TextBox Grid.Column="1" Text="{Binding HomeX}"/>
+                                </Grid>
+                                <Grid Margin="0,0,0,6">
+                                    <Grid.ColumnDefinitions>
+                                        <ColumnDefinition Width="120"/>
+                                        <ColumnDefinition Width="*"/>
+                                    </Grid.ColumnDefinitions>
+                                    <TextBlock Text="Y零点" Style="{StaticResource LabelStyle}"/>
+                                    <TextBox Grid.Column="1" Text="{Binding HomeY}"/>
+                                </Grid>
+                                <Grid Margin="0,0,0,10">
+                                    <Grid.ColumnDefinitions>
+                                        <ColumnDefinition Width="120"/>
+                                        <ColumnDefinition Width="*"/>
+                                    </Grid.ColumnDefinitions>
+                                    <TextBlock Text="Z零点" Style="{StaticResource LabelStyle}"/>
+                                    <TextBox Grid.Column="1" Text="{Binding HomeZ}"/>
+                                </Grid>
+                                <Button Content="零点设定" Width="110" HorizontalAlignment="Left" Margin="0" Command="{Binding SetHomeCommand}"/>
+                            </StackPanel>
+                        </GroupBox>
+                    </StackPanel>
+                </ScrollViewer>
+            </TabItem>
+        </TabControl>
+    </Grid>
+</UserControl>

BenchMovementModule/Views/BenchMovementView.xaml.cs

@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace BenchMovementModule.Views
+{
+    /// <summary>
+    /// BenchMovementView.xaml 的交互逻辑
+    /// </summary>
+    public partial class BenchMovementView : UserControl
+    {
+        public BenchMovementView()
+        {
+            InitializeComponent();
+        }
+    }
+}