TUM-Aries-Lab / motor-module / 35225779437
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NGierden 
Refuse a tautological scale verdict, and survive a protection trip

Two problems the first AK80-6 bench session would have hit.

The scale check is only meaningful on the AK60-6 V3. Its status frame reports
electrical RPM, which is measured independently of what was commanded. The
AK80-6 and AK60-6 V1.1 reply with an MIT frame whose velocity is decoded using
the very conversion under test, so speed_erpm is derived from the command and
the fitted slope simply restates the conversion. Fed synthetic AK80-6 data the
script returned exactly 1203.2, the conversion constant, and declared the
conversion confirmed. That is a tautology, and a convincing one to anyone
reading the log later. Gate the verdict on EXTENDED_FORMAT_MOTOR_MODELS and say
plainly why there is no verdict; the ceiling analysis stays valid either way.

A protection trip also threw the run away. When the V3 stopped responding at
22 rad/s the RuntimeError escaped before anything was reported, losing the
summary for the most informative run of the day. The motor going quiet IS the
ceiling, so catch it, keep the steps already collected, and report the last
speed reached with a warning not to raise the spec limits past it. A failure to
enter MIT mode at startup now exits with a hint to power-cycle rather than a
traceback.

report() grew past the statement limit, so the results table moves into
print_step_table().

Checked against the real V3 data (unchanged verdict), the real trip run (now
reports 18.70 rad/s as the last good step) and synthetic AK80-6 data (refuses
a verdict).

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

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Source Files on build 35225779437