mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-24 09:17:39 +00:00
c001f6a151
fast registry load minor fix on skill & registry stripe ros2 schema desc add create-device-skill new registry system backwards to yaml remove not exist resource new registry sys exp. support with add device add ai conventions correct raise create resource error ret info fix revert ret info fix fix prcxi check add create_resource schema re signal host ready event add websocket connection timeout and improve reconnection logic add open_timeout parameter to websocket connection add TimeoutError and InvalidStatus exception handling implement exponential backoff for reconnection attempts simplify reconnection logic flow add gzip change pose extra to any add isFlapY
1486 lines
37 KiB
YAML
1486 lines
37 KiB
YAML
solenoid_valve:
|
|
category:
|
|
- pump_and_valve
|
|
class:
|
|
action_value_mappings:
|
|
auto-close:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: close的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: close参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-is_closed:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: is_closed的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_closed参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-is_open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: is_open的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_open参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: ''
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: open参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-read_data:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: read_data的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: read_data参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-send_command:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
command: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: send_command的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: send_command参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
set_valve_position:
|
|
feedback: {}
|
|
goal:
|
|
position: position
|
|
string: string
|
|
goal_default:
|
|
string: ''
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result:
|
|
return_info: return_info
|
|
success: success
|
|
schema:
|
|
description: ''
|
|
properties:
|
|
feedback:
|
|
additionalProperties: true
|
|
title: StrSingleInput_Feedback
|
|
type: object
|
|
goal:
|
|
additionalProperties: false
|
|
properties:
|
|
string:
|
|
type: string
|
|
title: StrSingleInput_Goal
|
|
type: object
|
|
result:
|
|
additionalProperties: false
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
success:
|
|
type: boolean
|
|
title: StrSingleInput_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: StrSingleInput
|
|
type: object
|
|
type: StrSingleInput
|
|
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
|
|
status_types:
|
|
status: str
|
|
valve_position: str
|
|
type: python
|
|
config_info: []
|
|
description: 电磁阀控制设备，用于精确的流体路径控制和开关操作。该设备通过串口通信控制电磁阀的开关状态，支持远程操作和状态监测。具备快速响应、可靠密封、状态反馈等特性，广泛应用于流体输送、样品进样、路径切换等需要精确流体控制的实验室自动化应用。
|
|
handles: []
|
|
icon: ''
|
|
init_param_schema:
|
|
config:
|
|
properties:
|
|
io_device_port:
|
|
type: string
|
|
required:
|
|
- io_device_port
|
|
type: object
|
|
data:
|
|
properties:
|
|
status:
|
|
type: string
|
|
valve_position:
|
|
type: string
|
|
required:
|
|
- status
|
|
- valve_position
|
|
type: object
|
|
version: 1.0.0
|
|
solenoid_valve.mock:
|
|
category:
|
|
- pump_and_valve
|
|
class:
|
|
action_value_mappings:
|
|
auto-is_closed:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: is_closed的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_closed参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-is_open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: is_open的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: is_open参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_valve_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
position: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_valve_position的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
position:
|
|
type: string
|
|
required:
|
|
- position
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_valve_position参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
close:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result:
|
|
return_info: return_info
|
|
schema:
|
|
description: ''
|
|
properties:
|
|
feedback:
|
|
additionalProperties: true
|
|
title: EmptyIn_Feedback
|
|
type: object
|
|
goal:
|
|
additionalProperties: true
|
|
title: EmptyIn_Goal
|
|
type: object
|
|
result:
|
|
additionalProperties: false
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
title: EmptyIn_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: EmptyIn
|
|
type: object
|
|
type: EmptyIn
|
|
open:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result:
|
|
return_info: return_info
|
|
schema:
|
|
description: ''
|
|
properties:
|
|
feedback:
|
|
additionalProperties: true
|
|
title: EmptyIn_Feedback
|
|
type: object
|
|
goal:
|
|
additionalProperties: true
|
|
title: EmptyIn_Goal
|
|
type: object
|
|
result:
|
|
additionalProperties: false
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
title: EmptyIn_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: EmptyIn
|
|
type: object
|
|
type: EmptyIn
|
|
module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
|
|
status_types:
|
|
status: str
|
|
valve_position: str
|
|
type: python
|
|
config_info: []
|
|
description: 模拟电磁阀设备，用于系统测试和开发调试。该设备模拟真实电磁阀的开关操作和状态变化，提供与实际设备相同的控制接口和反馈机制。支持流体路径的虚拟控制，便于在没有实际硬件的情况下进行流体系统的集成测试和算法验证。适用于系统开发、流程调试和培训演示等场景。
|
|
handles:
|
|
- data_type: fluid
|
|
handler_key: in
|
|
io_type: target
|
|
label: in
|
|
side: NORTH
|
|
- data_type: fluid
|
|
handler_key: out
|
|
io_type: source
|
|
label: out
|
|
side: SOUTH
|
|
icon: ''
|
|
init_param_schema:
|
|
config:
|
|
properties:
|
|
port:
|
|
default: COM6
|
|
type: string
|
|
required: []
|
|
type: object
|
|
data:
|
|
properties:
|
|
status:
|
|
type: string
|
|
valve_position:
|
|
type: string
|
|
required:
|
|
- status
|
|
- valve_position
|
|
type: object
|
|
version: 1.0.0
|
|
syringe_pump_with_valve.runze.SY03B-T06:
|
|
category:
|
|
- pump_and_valve
|
|
class:
|
|
action_value_mappings:
|
|
auto-close:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: close的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: close参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: initialize的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-list:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: list的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: list参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-pull_plunger:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
volume: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: pull_plunger的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
volume:
|
|
type: number
|
|
required:
|
|
- volume
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: pull_plunger参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-push_plunger:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
volume: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: push_plunger的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
volume:
|
|
type: number
|
|
required:
|
|
- volume
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: push_plunger参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-query_aux_input_status_1:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: query_aux_input_status_1的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: query_aux_input_status_1参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-query_aux_input_status_2:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: query_aux_input_status_2的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: query_aux_input_status_2参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-query_backlash_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: query_backlash_position的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: query_backlash_position参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-query_command_buffer_status:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: query_command_buffer_status的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: query_command_buffer_status参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-query_software_version:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: query_software_version的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: query_software_version参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-send_command:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
full_command: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: send_command的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
full_command:
|
|
type: string
|
|
required:
|
|
- full_command
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: send_command参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_baudrate:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
baudrate: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_baudrate的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
baudrate:
|
|
type: string
|
|
required:
|
|
- baudrate
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_baudrate参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_max_velocity:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_max_velocity的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
velocity:
|
|
type: number
|
|
required:
|
|
- velocity
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_max_velocity参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
max_velocity: null
|
|
position: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_position的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
max_velocity:
|
|
type: number
|
|
position:
|
|
type: number
|
|
required:
|
|
- position
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_position参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_valve_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
position: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_valve_position的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
position:
|
|
anyOf:
|
|
- type: integer
|
|
- type: string
|
|
- type: number
|
|
required:
|
|
- position
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_valve_position参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_velocity_grade:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_velocity_grade的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
velocity:
|
|
anyOf:
|
|
- type: integer
|
|
- type: string
|
|
required:
|
|
- velocity
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_velocity_grade参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-stop_operation:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: stop_operation的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: stop_operation参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-wait_error:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: wait_error的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: wait_error参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
hardware_interface:
|
|
name: hardware_interface
|
|
read: send_command
|
|
write: send_command
|
|
module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
|
|
status_types:
|
|
max_velocity: float
|
|
mode: int
|
|
plunger_position: ''
|
|
position: float
|
|
status: str
|
|
valve_position: str
|
|
velocity_end: ''
|
|
velocity_grade: ''
|
|
velocity_init: ''
|
|
type: python
|
|
config_info: []
|
|
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
|
|
handles:
|
|
- data_key: fluid_port_1
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口1
|
|
handler_key: '1'
|
|
io_type: source
|
|
label: '1'
|
|
side: NORTH
|
|
- data_key: fluid_port_2
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口2
|
|
handler_key: '2'
|
|
io_type: source
|
|
label: '2'
|
|
side: EAST
|
|
- data_key: fluid_port_3
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口3
|
|
handler_key: '3'
|
|
io_type: source
|
|
label: '3'
|
|
side: SOUTH
|
|
- data_key: fluid_port_4
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口4
|
|
handler_key: '4'
|
|
io_type: source
|
|
label: '4'
|
|
side: SOUTH
|
|
- data_key: fluid_port_5
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口5
|
|
handler_key: '5'
|
|
io_type: source
|
|
label: '5'
|
|
side: EAST
|
|
- data_key: fluid_port_6
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口6
|
|
handler_key: '6'
|
|
io_type: source
|
|
label: '6'
|
|
side: NORTH
|
|
- data_key: fluid_port_6
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 六通阀门端口6-特殊输入
|
|
handler_key: '6'
|
|
io_type: target
|
|
label: 6-in
|
|
side: WEST
|
|
icon: ''
|
|
init_param_schema:
|
|
config:
|
|
properties:
|
|
address:
|
|
default: '1'
|
|
type: string
|
|
max_volume:
|
|
default: 25.0
|
|
type: number
|
|
mode:
|
|
type: object
|
|
port:
|
|
type: string
|
|
required:
|
|
- port
|
|
type: object
|
|
data:
|
|
properties:
|
|
max_velocity:
|
|
type: number
|
|
mode:
|
|
type: integer
|
|
plunger_position:
|
|
type: string
|
|
position:
|
|
type: number
|
|
status:
|
|
type: string
|
|
valve_position:
|
|
type: string
|
|
velocity_end:
|
|
type: string
|
|
velocity_grade:
|
|
type: string
|
|
velocity_init:
|
|
type: string
|
|
required:
|
|
- max_velocity
|
|
- mode
|
|
- plunger_position
|
|
- position
|
|
- status
|
|
- valve_position
|
|
- velocity_end
|
|
- velocity_grade
|
|
- velocity_init
|
|
type: object
|
|
version: 1.0.0
|
|
syringe_pump_with_valve.runze.SY03B-T08:
|
|
category:
|
|
- pump_and_valve
|
|
class:
|
|
action_value_mappings:
|
|
auto-close:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: close的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: close参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-initialize:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: initialize的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: initialize参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-list:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: list的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: list参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-pull_plunger:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
volume: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: pull_plunger的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
volume:
|
|
type: number
|
|
required:
|
|
- volume
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: pull_plunger参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-push_plunger:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
volume: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: push_plunger的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
volume:
|
|
type: number
|
|
required:
|
|
- volume
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: push_plunger参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-query_aux_input_status_1:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: query_aux_input_status_1的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: query_aux_input_status_1参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-query_aux_input_status_2:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: query_aux_input_status_2的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: query_aux_input_status_2参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-query_backlash_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: query_backlash_position的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: query_backlash_position参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-query_command_buffer_status:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: query_command_buffer_status的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: query_command_buffer_status参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-query_software_version:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: query_software_version的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: query_software_version参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-send_command:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
full_command: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: send_command的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
full_command:
|
|
type: string
|
|
required:
|
|
- full_command
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: send_command参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_baudrate:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
baudrate: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_baudrate的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
baudrate:
|
|
type: string
|
|
required:
|
|
- baudrate
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_baudrate参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_max_velocity:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_max_velocity的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
velocity:
|
|
type: number
|
|
required:
|
|
- velocity
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_max_velocity参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
max_velocity: null
|
|
position: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_position的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
max_velocity:
|
|
type: number
|
|
position:
|
|
type: number
|
|
required:
|
|
- position
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_position参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_valve_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
position: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_valve_position的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
position:
|
|
anyOf:
|
|
- type: integer
|
|
- type: string
|
|
- type: number
|
|
required:
|
|
- position
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_valve_position参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_velocity_grade:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
velocity: null
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: set_velocity_grade的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
velocity:
|
|
anyOf:
|
|
- type: integer
|
|
- type: string
|
|
required:
|
|
- velocity
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_velocity_grade参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-stop_operation:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: stop_operation的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: stop_operation参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-wait_error:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: {}
|
|
placeholder_keys: {}
|
|
result: {}
|
|
schema:
|
|
description: wait_error的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: wait_error参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
hardware_interface:
|
|
name: hardware_interface
|
|
read: send_command
|
|
write: send_command
|
|
module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
|
|
status_types:
|
|
max_velocity: float
|
|
mode: int
|
|
plunger_position: ''
|
|
position: float
|
|
status: str
|
|
valve_position: str
|
|
velocity_end: ''
|
|
velocity_grade: ''
|
|
velocity_init: ''
|
|
type: python
|
|
config_info: []
|
|
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
|
|
handles:
|
|
- data_key: fluid_port_1
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口1
|
|
handler_key: '1'
|
|
io_type: source
|
|
label: '1'
|
|
side: NORTH
|
|
- data_key: fluid_port_2
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口2
|
|
handler_key: '2'
|
|
io_type: source
|
|
label: '2'
|
|
side: EAST
|
|
- data_key: fluid_port_3
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口3
|
|
handler_key: '3'
|
|
io_type: source
|
|
label: '3'
|
|
side: EAST
|
|
- data_key: fluid_port_4
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口4
|
|
handler_key: '4'
|
|
io_type: source
|
|
label: '4'
|
|
side: SOUTH
|
|
- data_key: fluid_port_5
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口5
|
|
handler_key: '5'
|
|
io_type: source
|
|
label: '5'
|
|
side: SOUTH
|
|
- data_key: fluid_port_6
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口6
|
|
handler_key: '6'
|
|
io_type: source
|
|
label: '6'
|
|
side: WEST
|
|
- data_key: fluid_port_7
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口7
|
|
handler_key: '7'
|
|
io_type: source
|
|
label: '7'
|
|
side: WEST
|
|
- data_key: fluid_port_8
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口8-特殊输入
|
|
handler_key: '8'
|
|
io_type: target
|
|
label: '8'
|
|
side: WEST
|
|
- data_key: fluid_port_8
|
|
data_source: executor
|
|
data_type: fluid
|
|
description: 八通阀门端口8
|
|
handler_key: '8'
|
|
io_type: source
|
|
label: '8'
|
|
side: NORTH
|
|
icon: ''
|
|
init_param_schema:
|
|
config:
|
|
properties:
|
|
address:
|
|
default: '1'
|
|
type: string
|
|
max_volume:
|
|
default: 25.0
|
|
type: number
|
|
mode:
|
|
type: object
|
|
port:
|
|
type: string
|
|
required:
|
|
- port
|
|
type: object
|
|
data:
|
|
properties:
|
|
max_velocity:
|
|
type: number
|
|
mode:
|
|
type: integer
|
|
plunger_position:
|
|
type: string
|
|
position:
|
|
type: number
|
|
status:
|
|
type: string
|
|
valve_position:
|
|
type: string
|
|
velocity_end:
|
|
type: string
|
|
velocity_grade:
|
|
type: string
|
|
velocity_init:
|
|
type: string
|
|
required:
|
|
- max_velocity
|
|
- mode
|
|
- plunger_position
|
|
- position
|
|
- status
|
|
- valve_position
|
|
- velocity_end
|
|
- velocity_grade
|
|
- velocity_init
|
|
type: object
|
|
version: 1.0.0
|