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Uni-Lab-OS/unilabos/registry/devices/laiyu_liquid_test.yaml
Xuwznln 32c195d875 Update registry for all param desc
2026-04-27 20:47:52 +08:00

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xyz_stepper_controller:
category:
- laiyu_liquid_test
class:
action_value_mappings:
auto-degrees_to_steps:
feedback: {}
goal: {}
goal_default:
degrees: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
degrees:
description: 角度值
type: number
required:
- degrees
type: object
result:
type: integer
required:
- goal
title: degrees_to_steps参数
type: object
type: UniLabJsonCommand
auto-emergency_stop:
feedback: {}
goal: {}
goal_default:
axis: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
axis:
description: 电机轴
type: object
required:
- axis
type: object
result:
type: boolean
required:
- goal
title: emergency_stop参数
type: object
type: UniLabJsonCommand
auto-enable_all_axes:
feedback: {}
goal: {}
goal_default:
enable: true
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
enable:
default: true
description: True为使能，False为失能
type: boolean
required: []
type: object
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: enable_all_axes参数
type: object
type: UniLabJsonCommand
auto-enable_motor:
feedback: {}
goal: {}
goal_default:
axis: null
enable: true
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
axis:
description: 电机轴
type: object
enable:
default: true
description: True为使能，False为失能
type: boolean
required:
- axis
type: object
result:
type: boolean
required:
- goal
title: enable_motor参数
type: object
type: UniLabJsonCommand
auto-home_all_axes:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: home_all_axes参数
type: object
type: UniLabJsonCommand
auto-home_axis:
feedback: {}
goal: {}
goal_default:
axis: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
axis:
description: 电机轴
type: object
required:
- axis
type: object
result:
type: boolean
required:
- goal
title: home_axis参数
type: object
type: UniLabJsonCommand
auto-move_to_position:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
axis: null
position: null
precision: 100
speed: 5000
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
description: 加速度(rpm/s)
type: integer
axis:
description: 电机轴
type: object
position:
description: 目标位置(步数)
type: integer
precision:
default: 100
description: 到位精度
type: integer
speed:
default: 5000
description: 运行速度(rpm)
type: integer
required:
- axis
- position
type: object
result:
type: boolean
required:
- goal
title: move_to_position参数
type: object
type: UniLabJsonCommand
auto-move_to_position_degrees:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
axis: null
degrees: null
precision: 100
speed: 5000
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
description: 加速度
type: integer
axis:
description: 电机轴
type: object
degrees:
description: 目标角度（度）
type: number
precision:
default: 100
description: 精度
type: integer
speed:
default: 5000
description: 移动速度
type: integer
required:
- axis
- degrees
type: object
result:
type: boolean
required:
- goal
title: move_to_position_degrees参数
type: object
type: UniLabJsonCommand
auto-move_to_position_revolutions:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
axis: null
precision: 100
revolutions: null
speed: 5000
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
description: 加速度
type: integer
axis:
description: 电机轴
type: object
precision:
default: 100
description: 精度
type: integer
revolutions:
description: 目标圈数
type: number
speed:
default: 5000
description: 移动速度
type: integer
required:
- axis
- revolutions
type: object
result:
type: boolean
required:
- goal
title: move_to_position_revolutions参数
type: object
type: UniLabJsonCommand
auto-move_xyz:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
speed: 5000
x: null
y: null
z: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
description: 加速度
type: integer
speed:
default: 5000
description: 运行速度
type: integer
x:
description: X轴目标位置
type: integer
y:
description: Y轴目标位置
type: integer
z:
description: Z轴目标位置
type: integer
required: []
type: object
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: move_xyz参数
type: object
type: UniLabJsonCommand
auto-move_xyz_degrees:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
speed: 5000
x_deg: null
y_deg: null
z_deg: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
description: 加速度
type: integer
speed:
default: 5000
description: 移动速度
type: integer
x_deg:
description: X轴目标角度（度）
type: number
y_deg:
description: Y轴目标角度（度）
type: number
z_deg:
description: Z轴目标角度（度）
type: number
required: []
type: object
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: move_xyz_degrees参数
type: object
type: UniLabJsonCommand
auto-move_xyz_revolutions:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
speed: 5000
x_rev: null
y_rev: null
z_rev: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
description: 加速度
type: integer
speed:
default: 5000
description: 移动速度
type: integer
x_rev:
description: X轴目标圈数
type: number
y_rev:
description: Y轴目标圈数
type: number
z_rev:
description: Z轴目标圈数
type: number
required: []
type: object
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: move_xyz_revolutions参数
type: object
type: UniLabJsonCommand
auto-revolutions_to_steps:
feedback: {}
goal: {}
goal_default:
revolutions: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
revolutions:
description: 圈数
type: number
required:
- revolutions
type: object
result:
type: integer
required:
- goal
title: revolutions_to_steps参数
type: object
type: UniLabJsonCommand
auto-set_speed_mode:
feedback: {}
goal: {}
goal_default:
acceleration: 1000
axis: null
speed: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
acceleration:
default: 1000
description: 加速度(rpm/s)
type: integer
axis:
description: 电机轴
type: object
speed:
description: 运行速度(rpm)，正值正转，负值反转
type: integer
required:
- axis
- speed
type: object
result:
type: boolean
required:
- goal
title: set_speed_mode参数
type: object
type: UniLabJsonCommand
auto-steps_to_degrees:
feedback: {}
goal: {}
goal_default:
steps: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
steps:
description: 步数
type: integer
required:
- steps
type: object
result:
type: number
required:
- goal
title: steps_to_degrees参数
type: object
type: UniLabJsonCommand
auto-steps_to_revolutions:
feedback: {}
goal: {}
goal_default:
steps: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
steps:
description: 步数
type: integer
required:
- steps
type: object
result:
type: number
required:
- goal
title: steps_to_revolutions参数
type: object
type: UniLabJsonCommand
auto-stop_all_axes:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: stop_all_axes参数
type: object
type: UniLabJsonCommand
auto-wait_for_completion:
feedback: {}
goal: {}
goal_default:
axis: null
timeout: 30.0
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
axis:
description: 电机轴
type: object
timeout:
default: 30.0
description: 超时时间(秒)
type: number
required:
- axis
type: object
result:
type: boolean
required:
- goal
title: wait_for_completion参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
status_types:
all_positions: Dict[MotorAxis, MotorPosition]
type: python
config_info: []
description: 新XYZ控制器
handles: []
icon: ''
init_param_schema:
config:
properties:
baudrate:
default: 115200
description: 波特率
type: integer
port:
description: 串口端口名
type: string
timeout:
default: 1.0
description: 通信超时时间
type: number
required:
- port
type: object
data:
properties:
all_positions:
additionalProperties:
type: object
type: object
required:
- all_positions
type: object
version: 1.0.0
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