solid_dispenser.laiyu: category: - solid_dispenser class: action_value_mappings: add_powder_tube: feedback: {} goal: compound_mass: compound_mass powder_tube_number: powder_tube_number target_tube_position: target_tube_position goal_default: compound_mass: 0.0 powder_tube_number: 0 target_tube_position: '' handles: [] result: actual_mass_mg: actual_mass_mg schema: description: '' properties: feedback: properties: {} required: [] title: SolidDispenseAddPowderTube_Feedback type: object goal: properties: compound_mass: type: number powder_tube_number: maximum: 2147483647 minimum: -2147483648 type: integer target_tube_position: type: string required: - powder_tube_number - target_tube_position - compound_mass title: SolidDispenseAddPowderTube_Goal type: object result: properties: actual_mass_mg: type: number return_info: type: string success: type: boolean required: - return_info - actual_mass_mg - success title: SolidDispenseAddPowderTube_Result type: object required: - goal title: SolidDispenseAddPowderTube type: object type: SolidDispenseAddPowderTube auto-calculate_crc: feedback: {} goal: {} goal_default: data: null handles: [] result: {} schema: description: Modbus CRC-16校验码计算函数。计算Modbus RTU通信协议所需的CRC-16校验码，确保数据传输的完整性和可靠性。该函数实现标准的CRC-16算法，用于构造完整的Modbus指令帧。 properties: feedback: {} goal: properties: data: type: string required: - data type: object result: {} required: - goal title: calculate_crc参数 type: object type: UniLabJsonCommand auto-send_command: feedback: {} goal: {} goal_default: command: null handles: [] result: {} schema: description: Modbus指令发送函数。构造完整的Modbus RTU指令帧（包含CRC校验），发送给分装设备并等待响应。该函数处理底层通信协议，确保指令的正确传输和响应接收，支持最长3分钟的响应等待时间。 properties: feedback: {} goal: properties: command: type: string required: - command type: object result: {} required: - goal title: send_command参数 type: object type: UniLabJsonCommand discharge: feedback: {} goal: float_input: float_input goal_default: float_in: 0.0 handles: [] result: {} schema: description: '' properties: feedback: properties: {} required: [] title: FloatSingleInput_Feedback type: object goal: properties: float_in: type: number required: - float_in title: FloatSingleInput_Goal type: object result: properties: return_info: type: string success: type: boolean required: - return_info - success title: FloatSingleInput_Result type: object required: - goal title: FloatSingleInput type: object type: FloatSingleInput move_to_plate: feedback: {} goal: string: string goal_default: string: '' handles: [] result: {} schema: description: '' properties: feedback: properties: {} required: [] title: StrSingleInput_Feedback type: object goal: properties: string: type: string required: - string title: StrSingleInput_Goal type: object result: properties: return_info: type: string success: type: boolean required: - return_info - success title: StrSingleInput_Result type: object required: - goal title: StrSingleInput type: object type: StrSingleInput move_to_xyz: feedback: {} goal: x: x y: y z: z goal_default: x: 0.0 y: 0.0 z: 0.0 handles: [] result: {} schema: description: '' properties: feedback: properties: {} required: [] title: Point3DSeparateInput_Feedback type: object goal: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point3DSeparateInput_Goal type: object result: properties: return_info: type: string success: type: boolean required: - return_info - success title: Point3DSeparateInput_Result type: object required: - goal title: Point3DSeparateInput type: object type: Point3DSeparateInput pick_powder_tube: feedback: {} goal: int_input: int_input goal_default: int_input: 0 handles: [] result: {} schema: description: '' properties: feedback: properties: {} required: [] title: IntSingleInput_Feedback type: object goal: properties: int_input: maximum: 2147483647 minimum: -2147483648 type: integer required: - int_input title: IntSingleInput_Goal type: object result: properties: return_info: type: string success: type: boolean required: - return_info - success title: IntSingleInput_Result type: object required: - goal title: IntSingleInput type: object type: IntSingleInput put_powder_tube: feedback: {} goal: int_input: int_input goal_default: int_input: 0 handles: [] result: {} schema: description: '' properties: feedback: properties: {} required: [] title: IntSingleInput_Feedback type: object goal: properties: int_input: maximum: 2147483647 minimum: -2147483648 type: integer required: - int_input title: IntSingleInput_Goal type: object result: properties: return_info: type: string success: type: boolean required: - return_info - success title: IntSingleInput_Result type: object required: - goal title: IntSingleInput type: object type: IntSingleInput reset: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: '' properties: feedback: properties: {} required: [] title: EmptyIn_Feedback type: object goal: properties: {} required: [] title: EmptyIn_Goal type: object result: properties: return_info: type: string required: - return_info title: EmptyIn_Result type: object required: - goal title: EmptyIn type: object type: EmptyIn module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu status_types: status: str type: python config_info: [] description: 来渝固体粉末自动分装设备，用于实验室化学试剂的精确称量和分装。该设备通过Modbus RTU协议与控制系统通信，集成了精密天平、三轴运动平台、粉筒管理系统等组件。支持多种粉末试剂的自动拿取、精确称量、定点分装和归位操作。具备高精度称量、位置控制和批量处理能力，适用于化学合成、药物研发、材料制备等需要精确固体试剂配制的实验室应用场景。 handles: [] icon: '' init_param_schema: config: properties: baudrate: default: 115200 type: string port: type: string timeout: default: 0.5 type: string required: - port type: object data: properties: status: type: string required: - status type: object version: 1.0.0