{
    "register_node_list_from_csv_path": {
        "path": "M01.csv"
    },
    "create_flow": [
        {
            "name": "归位",
            "action": [
                {
                    "address_function_to_create": [
                        {
                            "func_name": "pos_tip",
                            "node_name": "M01_idlepos_coil_w",
                            "mode": "write",
                            "value": true
                        },
                        {
                            "func_name": "pos_tip_read",
                            "node_name": "M01_idlepos_coil_r",
                            "mode": "read",
                            "value": 1
                        },
                        {
                            "func_name": "manual_stop",
                            "node_name": "M01_manual_stop_coil_r",
                            "mode": "read",
                            "value": 1
                        }
                    ],
                    "create_init_function": {
                        "func_name": "idel_init",
                        "node_name": "M01_idlepos_velocity_rw",
                        "mode": "write",
                        "value": 20.0
                    },  
                    "create_start_function": {
                        "func_name": "idel_position",
                        "write_functions": ["pos_tip"],
                        "condition_functions": ["pos_tip_read", "manual_stop"],
                        "stop_condition_expression": "pos_tip_read[0] and manual_stop[0]"
                    },
                    "create_stop_function": {
                        "func_name": "idel_stop",
                        "node_name": "M01_idlepos_coil_w",
                        "mode": "write",
                        "value": false
                    },
                    "create_cleanup_function": null
                }
            ]
        },
        {
            "name": "测试待机位置",
            "action": [
                {
                    "address_function_to_create": [
                        {
                            "func_name": "pipetter_position",
                            "node_name": "M01_pipette0_coil_w",
                            "mode": "write",
                            "value": true
                        },
                        {
                            "func_name": "pipetter_position_read",
                            "node_name": "M01_pipette0_coil_r",
                            "mode": "read",
                            "value": 1
                        },
                        {
                            "func_name": "pipetter_stop_read",
                            "node_name": "M01_manual_stop_coil_r",
                            "mode": "read",
                            "value": 1
                        }
                    ],
                    "create_init_function": null,
                    "create_start_function": {
                        "func_name": "pipetter_start",
                        "write_functions": ["pipetter_position"],
                        "condition_functions": ["pipetter_position_read", "pipetter_stop_read"],
                        "stop_condition_expression": "pipetter_position_read[0] and pipetter_stop_read[0]"
                    },
                    "create_stop_function": {
                        "func_name": "pipetter_stop",
                        "node_name": "M01_pipette0_coil_w",
                        "mode": "write",
                        "value": false
                    },
                    "create_cleanup_function": null
                }
            ]
        },
        {
            "name": "归位并测试待机位置",
            "action": [
                "归位",
                "测试待机位置"
            ]
        }
    ],
    "execute_flow": [
        "归位并测试待机位置"
    ]
}