diff --git a/unilabos/registry/devices/balance.yaml b/unilabos/registry/devices/balance.yaml
index 12d87264..0967ef42 100644
--- a/unilabos/registry/devices/balance.yaml
+++ b/unilabos/registry/devices/balance.yaml
@@ -1,256 +1 @@
-balance.mettler_toledo_xpr:
-  category:
-  - balance
-  class:
-    action_value_mappings:
-      disconnect:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: Disconnect from balance
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              properties:
-                success:
-                  description: Whether disconnect was successful
-                  type: boolean
-              required:
-              - success
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-      get_weight:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result:
-          unit: unit
-          weight: weight
-        schema:
-          description: Get current weight reading
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              properties:
-                unit:
-                  description: Weight unit (e.g., g, kg)
-                  type: string
-                weight:
-                  description: Weight value
-                  type: number
-              required:
-              - weight
-              - unit
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-      read_with_tare:
-        feedback: {}
-        goal:
-          immediate_tare: immediate_tare
-        goal_default:
-          immediate_tare: true
-        handles: {}
-        result:
-          unit: unit
-          weight: weight
-        schema:
-          description: Perform tare then read weight (standard read operation)
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                immediate_tare:
-                  default: true
-                  description: Whether to use immediate tare
-                  type: boolean
-              required: []
-              type: object
-            result:
-              properties:
-                unit:
-                  description: Weight unit (e.g., g, kg)
-                  type: string
-                weight:
-                  description: Weight value after tare
-                  type: number
-              required:
-              - weight
-              - unit
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-      send_cmd:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: {}
-        result:
-          return_info: return_info
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-      tare:
-        feedback: {}
-        goal:
-          immediate: immediate
-        goal_default:
-          immediate: false
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: Tare operation for balance
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                immediate:
-                  default: false
-                  description: Whether to perform immediate tare
-                  type: boolean
-              required: []
-              type: object
-            result:
-              properties:
-                success:
-                  description: Whether tare operation was successful
-                  type: boolean
-              required:
-              - success
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-      zero:
-        feedback: {}
-        goal:
-          immediate: immediate
-        goal_default:
-          immediate: false
-        handles: {}
-        result:
-          success: success
-        schema:
-          description: Zero operation for balance
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                immediate:
-                  default: false
-                  description: Whether to perform immediate zero
-                  type: boolean
-              required: []
-              type: object
-            result:
-              properties:
-                success:
-                  description: Whether zero operation was successful
-                  type: boolean
-              required:
-              - success
-              type: object
-          required:
-          - goal
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.balance.mettler_toledo_xpr.mettler_toledo_xpr:MettlerToledoXPR
-    status_types:
-      error_message: str
-      is_stable: bool
-      status: str
-      unit: str
-      weight: float
-    type: python
-  config_info: []
-  description: Mettler Toledo XPR/XSR Balance Driver
-  handles: []
-  icon: ''
-  init_param_schema:
-    description: MettlerToledoXPR __init__ parameters
-    properties:
-      feedback: {}
-      goal:
-        description: Initialization parameters for Mettler Toledo XPR balance
-        properties:
-          ip:
-            default: 192.168.1.10
-            description: Balance IP address
-            type: string
-          password:
-            default: '123456'
-            description: Balance password
-            type: string
-          port:
-            default: 81
-            description: Balance port number
-            type: integer
-          timeout:
-            default: 10
-            description: Connection timeout in seconds
-            type: integer
-        required: []
-        type: object
-      result: {}
-    required:
-    - goal
-    title: __init__ command parameters
-    type: object
-  version: 1.0.0
+{}
diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
index 4452b5c4..50d24152 100644
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -8375,6 +8375,9 @@ liquid_handler.prcxi:
           type: object
         host:
           type: string
+        is_9320:
+          default: false
+          type: string
         matrix_id:
           default: ''
           type: string
diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml
index bdcf830f..3bc4dfa4 100644
--- a/unilabos/registry/devices/work_station.yaml
+++ b/unilabos/registry/devices/work_station.yaml
@@ -6112,7 +6112,7 @@ workstation:
           title: initialize_device参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
+    module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode
     status_types: {}
     type: ros2
   config_info: []
@@ -6122,19 +6122,35 @@ workstation:
   init_param_schema:
     config:
       properties:
+        action_value_mappings:
+          type: object
         children:
           type: object
         device_id:
           type: string
-        protocol_type:
+        driver_instance:
           type: string
+        hardware_interface:
+          type: object
+        print_publish:
+          default: true
+          type: string
+        protocol_type:
+          items:
+            type: string
+          type: array
         resource_tracker:
+          type: string
+        status_types:
           type: object
       required:
-      - device_id
-      - children
       - protocol_type
-      - resource_tracker
+      - children
+      - driver_instance
+      - device_id
+      - status_types
+      - action_value_mappings
+      - hardware_interface
       type: object
     data:
       properties: {}
@@ -6145,146 +6161,21 @@ workstation.example:
   category:
   - work_station
   class:
-    action_value_mappings:
-      auto-create_resource:
-        feedback: {}
-        goal: {}
-        goal_default:
-          bind_location: null
-          bind_parent_id: null
-          liquid_input_slot: null
-          liquid_type: null
-          liquid_volume: null
-          resource_tracker: null
-          resources: null
-          slot_on_deck: null
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                bind_location:
-                  type: object
-                bind_parent_id:
-                  type: string
-                liquid_input_slot:
-                  items:
-                    type: integer
-                  type: array
-                liquid_type:
-                  items:
-                    type: string
-                  type: array
-                liquid_volume:
-                  items:
-                    type: integer
-                  type: array
-                resource_tracker:
-                  type: object
-                resources:
-                  items:
-                    type: object
-                  type: array
-                slot_on_deck:
-                  type: integer
-              required:
-              - resource_tracker
-              - resources
-              - bind_parent_id
-              - bind_location
-              - liquid_input_slot
-              - liquid_type
-              - liquid_volume
-              - slot_on_deck
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_resource参数
-          type: object
-        type: UniLabJsonCommand
-      auto-transfer_bottle:
-        feedback: {}
-        goal: {}
-        goal_default:
-          base_plate: null
-          tip_rack: null
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                base_plate:
-                  type: object
-                tip_rack:
-                  type: object
-              required:
-              - tip_rack
-              - base_plate
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_bottle参数
-          type: object
-        type: UniLabJsonCommand
-      auto-trigger_resource_update:
-        feedback: {}
-        goal: {}
-        goal_default:
-          from_plate: null
-          to_base_plate: null
-        handles: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                from_plate:
-                  type: object
-                to_base_plate:
-                  type: object
-              required:
-              - from_plate
-              - to_base_plate
-              type: object
-            result: {}
-          required:
-          - goal
-          title: trigger_resource_update参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.workstation:WorkStationExample
+    action_value_mappings: {}
+    module: unilabos.devices.workstation.workstation_base:WorkstationExample
     status_types: {}
     type: ros2
   config_info: []
-  description: ''
+  description: Example Workstation
   handles: []
   icon: ''
   init_param_schema:
     config:
       properties:
-        children:
-          type: object
-        device_id:
-          type: string
-        protocol_type:
-          type: string
-        resource_tracker:
+        station_resource:
           type: object
       required:
-      - device_id
-      - children
-      - protocol_type
-      - resource_tracker
+      - station_resource
       type: object
     data:
       properties: {}
diff --git a/unilabos/registry/devices/zhida_gcms.yaml b/unilabos/registry/devices/zhida_gcms.yaml
index 921a0622..66f53822 100644
--- a/unilabos/registry/devices/zhida_gcms.yaml
+++ b/unilabos/registry/devices/zhida_gcms.yaml
@@ -52,7 +52,7 @@ zhida_gcms:
             result: {}
           required:
           - goal
-          title: close 参数
+          title: close参数
           type: object
         type: UniLabJsonCommand
       auto-connect:
@@ -72,7 +72,31 @@ zhida_gcms:
             result: {}
           required:
           - goal
-          title: connect 参数
+          title: connect参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
           type: object
         type: UniLabJsonCommand
       get_methods:
@@ -284,32 +308,40 @@ zhida_gcms:
           type: object
         type: StrSingleInput
     module: unilabos.devices.zhida_gcms.zhida:ZhidaClient
-    status_types: {}
+    status_types:
+      methods: dict
+      status: str
+      version: dict
     type: python
   config_info: []
   description: 智达气相色谱-质谱联用（GC-MS）分析设备，通过 TCP 通信实现远程控制与状态监控，支持方法管理与任务启动等功能。
   handles: []
   icon: ''
   init_param_schema:
-    feedback:
-      properties: {}
-      required: []
-      type: object
-    goal:
+    config:
       properties:
         host:
           default: 192.168.3.184
           type: string
         port:
           default: 5792
-          type: integer
+          type: string
         timeout:
           default: 10.0
-          type: number
+          type: string
       required: []
       type: object
-    result:
-      properties: {}
-      required: []
+    data:
+      properties:
+        methods:
+          type: object
+        status:
+          type: string
+        version:
+          type: object
+      required:
+      - status
+      - methods
+      - version
       type: object
   version: 1.0.0
diff --git a/unilabos/resources/plr_additional_res_reg.py b/unilabos/resources/plr_additional_res_reg.py
index 52ad3536..2b482d22 100644
--- a/unilabos/resources/plr_additional_res_reg.py
+++ b/unilabos/resources/plr_additional_res_reg.py
@@ -6,4 +6,4 @@ def register():
     # noinspection PyUnresolvedReferences
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
     # noinspection PyUnresolvedReferences
-    from unilabos.ros.nodes.presets.workstation import WorkStationContainer
+    from unilabos.devices.workstation.workstation_base import WorkStationContainer
diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py
index e8b1717b..6213cd0b 100644
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -51,7 +51,7 @@ from unilabos_msgs.msg import Resource  # type: ignore
 
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
 from unilabos.ros.x.rclpyx import get_event_loop
-from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
+from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info, get_result_info_str
diff --git a/unilabos/ros/nodes/presets/workstation.py b/unilabos/ros/nodes/presets/workstation.py
index 4e2dbef8..92d47cc9 100644
--- a/unilabos/ros/nodes/presets/workstation.py
+++ b/unilabos/ros/nodes/presets/workstation.py
@@ -29,6 +29,8 @@ from unilabos.utils.type_check import serialize_result_info
 if TYPE_CHECKING:
     from unilabos.devices.workstation.workstation_base import WorkstationBase
 
+class ROS2WorkstationNodeTempError(Exception):
+    pass
 
 class ROS2WorkstationNode(BaseROS2DeviceNode):
     """
@@ -259,11 +261,14 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                             time.sleep(action["action_kwargs"]["time"])
                             step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
                         else:
-                            result = await self.execute_single_action(**action)
-                            step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
-                            ret_info = json.loads(getattr(result, "return_info", "{}"))
-                            if not ret_info.get("suc", False):
-                                raise RuntimeError(f"Step {i + 1} failed.")
+                            try:
+                                result = await self.execute_single_action(**action)
+                                step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
+                                ret_info = json.loads(getattr(result, "return_info", "{}"))
+                                if not ret_info.get("suc", False):
+                                    raise RuntimeError(f"Step {i + 1} failed.")
+                            except ROS2WorkstationNodeTempError as ex:
+                                step_results.append({"step": i + 1, "action": action["action_name"], "result": ex.args[0]})
                     elif isinstance(action, list):
                         # 如果是并行动作，同时执行
                         actions = action
@@ -340,6 +345,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
     async def execute_single_action(self, device_id, action_name, action_kwargs):
         """执行单个动作"""
         # 构建动作ID
+        if action_name == "log_message":
+            self.lab_logger().info(f"[Protocol Log] {action_kwargs}")
+            raise ROS2WorkstationNodeTempError(f"[Protocol Log] {action_kwargs}")
         if device_id in ["", None, "self"]:
             action_id = f"/devices/{self.device_id}/{action_name}"
         else: