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Files

Xuwznln 9aeffebde1 0.10.7 Update (#101 )

* Cleanup registry to be easy-understanding (#76)

* delete deprecated mock devices

* rename categories

* combine chromatographic devices

* rename rviz simulation nodes

* organic virtual devices

* parse vessel_id

* run registry completion before merge

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>

* fix: workstation handlers and vessel_id parsing

* fix: working dir error when input config path
feat: report publish topic when error

* modify default discovery_interval to 15s

* feat: add trace log level

* feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79)

* fix: drop_tips not using auto resource select

* fix: discard_tips error

* fix: discard_tips

* fix: prcxi_res

* add: prcxi res
fix: startup slow

* feat: workstation example

* fix pumps and liquid_handler handle

* feat: 优化protocol node节点运行日志

* fix all protocol_compilers and remove deprecated devices

* feat: 新增use_remote_resource参数

* fix and remove redundant info

* bugfixes on organic protocols

* fix filter protocol

* fix protocol node

* 临时兼容错误的driver写法

* fix: prcxi import error

* use call_async in all service to avoid deadlock

* fix: figure_resource

* Update recipe.yaml

* add workstation template and battery example

* feat: add sk & ak

* update workstation base

* Create workstation_architecture.md

* refactor: workstation_base 重构为仅含业务逻辑，通信和子设备管理交给 ProtocolNode

* refactor: ProtocolNode→WorkstationNode

* Add:msgs.action (#83)

* update: Workstation dev 将版本号从 0.10.3 更新为 0.10.4 (#84)

* Add:msgs.action

* update: 将版本号从 0.10.3 更新为 0.10.4

* simplify resource system

* uncompleted refactor

* example for use WorkstationBase

* feat: websocket

* feat: websocket test

* feat: workstation example

* feat: action status

* fix: station自己的方法注册错误

* fix: 还原protocol node处理方法

* fix: build

* fix: missing job_id key

* ws test version 1

* ws test version 2

* ws protocol

* 增加物料关系上传日志

* 增加物料关系上传日志

* 修正物料关系上传

* 修复工站的tracker实例追踪失效问题

* 增加handle检测，增加material edge关系上传

* 修复event loop错误

* 修复edge上报错误

* 修复async错误

* 更新schema的title字段

* 主机节点信息等支持自动刷新

* 注册表编辑器

* 修复status密集发送时，消息出错

* 增加addr参数

* fix: addr param

* fix: addr param

* 取消labid 和 强制config输入

* Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup

- Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes.
- Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume.
- Both actions include response fields for return information and success status.

* Add LiquidHandlerSetGroup and LiquidHandlerTransferGroup actions to CMakeLists

* Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml

* result_info改为字典类型

* 新增uat的地址替换

* runze multiple pump support

(cherry picked from commit 49354fcf39)

* remove runze multiple software obtainer

(cherry picked from commit 8bcc92a394)

* support multiple backbone

(cherry picked from commit 4771ff2347)

* Update runze pump format

* Correct runze multiple backbone

* Update runze_multiple_backbone

* Correct runze pump multiple receive method.

* Correct runze pump multiple receive method.

* 对于PRCXI9320的transfer_group，一对多和多对多

* 移除MQTT，更新launch文档，提供注册表示例文件，更新到0.10.5

* fix import error

* fix dupe upload registry

* refactor ws client

* add server timeout

* Fix: run-column with correct vessel id (#86)

* fix run_column

* Update run_column_protocol.py

(cherry picked from commit e5aa4d940a)

* resource_update use resource_add

* 新增版位推荐功能

* 重新规定了版位推荐的入参

* update registry with nested obj

* fix protocol node log_message, added create_resource return value

* fix protocol node log_message, added create_resource return value

* try fix add protocol

* fix resource_add

* 修复移液站错误的aspirate注册表

* Feature/xprbalance-zhida (#80)

* feat(devices): add Zhida GC/MS pretreatment automation workstation

* feat(devices): add mettler_toledo xpr balance

* balance

* 重新补全zhida注册表

* PRCXI9320 json

* PRCXI9320 json

* PRCXI9320 json

* fix resource download

* remove class for resource

* bump version to 0.10.6

* 更新所有注册表

* 修复protocolnode的兼容性

* 修复protocolnode的兼容性

* Update install md

* Add Defaultlayout

* 更新物料接口

* fix dict to tree/nested-dict converter

* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* frontend_docs

* create/update resources with POST/PUT for big amount/ small amount data

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

* Workstation templates: Resources and its CRUD, and workstation tasks (#95)

* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

---------

Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>

* 更新物料接口

* Workstation dev yb2 (#100)

* Refactor and extend reaction station action messages

* Refactor dispensing station tasks to enhance parameter clarity and add batch processing capabilities

- Updated `create_90_10_vial_feeding_task` to include detailed parameters for 90%/10% vial feeding, improving clarity and usability.
- Introduced `create_batch_90_10_vial_feeding_task` for batch processing of 90%/10% vial feeding tasks with JSON formatted input.
- Added `create_batch_diamine_solution_task` for batch preparation of diamine solution, also utilizing JSON formatted input.
- Refined `create_diamine_solution_task` to include additional parameters for better task configuration.
- Enhanced schema descriptions and default values for improved user guidance.

* 修复to_plr_resources

* add update remove

* 支持选择器注册表自动生成
支持转运物料

* 修复资源添加

* 修复transfer_resource_to_another生成

* 更新transfer_resource_to_another参数，支持spot入参

* 新增test_resource动作

* fix host_node error

* fix host_node test_resource error

* fix host_node test_resource error

* 过滤本地动作

* 移动内部action以兼容host node

* 修复同步任务报错不显示的bug

* feat: 允许返回非本节点物料，后面可以通过decoration进行区分，就不进行warning了

* update todo

* modify bioyond/plr converter, bioyond resource registry, and tests

* pass the tests

* update todo

* add conda-pack-build.yml

* add auto install script for conda-pack-build.yml

(cherry picked from commit 172599adcf)

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* Add version in __init__.py
Update conda-pack-build.yml
Add create_zip_archive.py

* Update conda-pack-build.yml

* Update conda-pack-build.yml (with mamba)

* Update conda-pack-build.yml

* Fix FileNotFoundError

* Try fix 'charmap' codec can't encode characters in position 16-23: character maps to <undefined>

* Fix unilabos msgs search error

* Fix environment_check.py

* Update recipe.yaml

* Update registry. Update uuid loop figure method. Update install docs.

* Fix nested conda pack

* Fix one-key installation path error

* Bump version to 0.10.7

* Workshop bj (#99)

* Add LaiYu Liquid device integration and tests

Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included.

* feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档

refactor: 重新组织LaiYu_Liquid模块目录结构
docs: 添加SOPA移液器和步进电机控制指令文档
fix: 修正设备配置中的最大体积默认值
test: 新增工作台配置测试用例
chore: 删除过时的测试脚本和配置文件

* add

* 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用

- 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py
- 更新所有相关文件中的导入引用
- 保持代码功能不变，仅改善命名一致性
- 测试确认所有导入正常工作

* 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出

- 添加 LaiYuLiquidBackend 到导入列表
- 添加 LaiYuLiquidBackend 到 __all__ 导出列表
- 确保所有主要类都可以正确导入

* 修复大小写文件夹名字

* 电池装配工站二次开发教程（带目录）上传至dev (#94)

* 电池装配工站二次开发教程

* Update intro.md

* 物料教程

* 更新物料教程，json格式注释

* Update prcxi driver & fix transfer_liquid mix_times (#90)

* Update prcxi driver & fix transfer_liquid mix_times

* fix: correct mix_times type

* Update liquid_handler registry

* test: prcxi.py

* Update registry from pr

* fix ony-key script not exist

* clean files

---------

Co-authored-by: Junhan Chang <changjh@dp.tech>
Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>
Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: LccLink <1951855008@qq.com>
Co-authored-by: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com>
Co-authored-by: shiyubo0410 <shiyubo@dp.tech>

2025-10-12 23:34:26 +08:00

5.0 KiB

Raw Blame History

步进电机B系列控制指令详解

基本通信参数

通信方式: RS485
协议: Modbus
波特率: 115200 (默认)
数据位: 8位
停止位: 1位
校验位: 无
默认站号: 1 (可设置1-254)

支持的功能码

03H: 读取寄存器
06H: 写入单个寄存器
10H: 写入多个寄存器

寄存器地址表

状态监控寄存器 (只读)

地址	功能码	内容	说明
00H	03H	电机状态	0000H-待机/到位, 0001H-运行中, 0002H-碰撞停, 0003H-正光电停, 0004H-反光电停
01H	03H	实际步数高位	当前电机位置的高16位
02H	03H	实际步数低位	当前电机位置的低16位
03H	03H	实际速度	当前转速 (rpm)
05H	03H	电流	当前工作电流 (mA)

控制寄存器 (读写)

地址	功能码	内容	说明
04H	03H/06H/10H	急停指令	紧急停止控制
06H	03H/06H/10H	失能控制	1-使能, 0-失能
07H	03H/06H/10H	PWM输出	0-1000对应0%-100%占空比
0EH	03H/06H/10H	单圈绝对值归零	归零指令
0FH	03H/06H/10H	归零指令	定点模式归零速度设置

位置模式寄存器

地址	功能码	内容	说明
10H	03H/06H/10H	目标步数高位	目标位置高16位
11H	03H/06H/10H	目标步数低位	目标位置低16位
12H	03H/06H/10H	保留	-
13H	03H/06H/10H	速度	运行速度 (rpm)
14H	03H/06H/10H	加速度	0-60000 rpm/s
15H	03H/06H/10H	精度	到位精度设置

速度模式寄存器

地址	功能码	内容	说明
60H	03H/06H/10H	保留	-
61H	03H/06H/10H	速度	正值正转，负值反转
62H	03H/06H/10H	加速度	0-60000 rpm/s

设备参数寄存器

地址	功能码	内容	默认值	说明
E0H	03H/06H/10H	设备地址	0001H	Modbus从站地址
E1H	03H/06H/10H	堵转电流	0BB8H	堵转检测电流阈值
E2H	03H/06H/10H	保留	0258H	-
E3H	03H/06H/10H	每圈步数	0640H	细分设置
E4H	03H/06H/10H	限位开关使能	F000H	1-使能, 0-禁用
E5H	03H/06H/10H	堵转逻辑	0000H	00-断电, 01-对抗
E6H	03H/06H/10H	堵转时间	0000H	堵转检测时间(ms)
E7H	03H/06H/10H	默认速度	1388H	上电默认速度
E8H	03H/06H/10H	默认加速度	EA60H	上电默认加速度
E9H	03H/06H/10H	默认精度	0064H	上电默认精度
EAH	03H/06H/10H	波特率高位	0001H	通信波特率设置
EBH	03H/06H/10H	波特率低位	C200H	115200对应01C200H

版本信息寄存器 (只读)

地址	功能码	内容	说明
F0H	03H	版本号	固件版本信息
F1H-F4H	03H	型号	产品型号信息

常用控制指令示例

读取电机状态

发送: 01 03 00 00 00 01 84 0A
接收: 01 03 02 00 01 79 84
说明: 电机状态为0001H (正在运行)

读取当前位置

发送: 01 03 00 01 00 02 95 CB  
接收: 01 03 04 00 19 00 00 2B F4
说明: 当前位置为1638400步 (100圈)

停止电机

发送: 01 10 00 04 00 01 02 00 00 A7 D4
接收: 01 10 00 04 00 01 40 08
说明: 急停指令

位置模式运动

发送: 01 10 00 10 00 06 0C 00 19 00 00 00 00 13 88 00 00 00 00 9F FB
接收: 01 10 00 10 00 06 41 CE
说明: 以5000rpm速度运动到1638400步位置

速度模式 - 正转

发送: 01 10 00 60 00 04 08 00 00 13 88 00 FA 00 00 F4 77
接收: 01 10 00 60 00 04 C1 D4
说明: 以5000rpm速度正转

速度模式 - 反转

发送: 01 10 00 60 00 04 08 00 00 EC 78 00 FA 00 00 A0 6D
接收: 01 10 00 60 00 04 C1 D4
说明: 以5000rpm速度反转 (EC78H = -5000)

设置设备地址

发送: 00 06 00 E0 00 02 C9 F1
接收: 00 06 00 E0 00 02 C9 F1
说明: 将设备地址设置为2

错误码

状态码	含义
0001H	功能码错误
0002H	地址错误
0003H	长度错误

CRC校验算法

public static byte[] ModBusCRC(byte[] data, int offset, int cnt) {
    int wCrc = 0x0000FFFF;
    byte[] CRC = new byte[2];
    for (int i = 0; i < cnt; i++) {
        wCrc ^= ((data[i + offset]) & 0xFF);
        for (int j = 0; j < 8; j++) {
            if ((wCrc & 0x00000001) == 1) {
                wCrc >>= 1;
                wCrc ^= 0x0000A001;
            } else {
                wCrc >>= 1;
            }
        }
    }
    CRC[1] = (byte) ((wCrc & 0x0000FF00) >> 8);
    CRC[0] = (byte) (wCrc & 0x000000FF);
    return CRC;
}

注意事项

所有16位数据采用大端序传输
步数计算: 实际步数 = 高位<<16 | 低位
负数使用补码表示
PWM输出K脚: 0%开漏, 100%接地, 其他输出1KHz PWM
光电开关需使用NPN开漏型
限位开关: LF正向, LB反向

5.0 KiB Raw Blame History

步进电机B系列控制指令详解

基本通信参数

支持的功能码

寄存器地址表

状态监控寄存器 (只读)

控制寄存器 (读写)

位置模式寄存器

速度模式寄存器

设备参数寄存器

版本信息寄存器 (只读)

常用控制指令示例

读取电机状态

读取当前位置

停止电机

位置模式运动

速度模式 - 正转

速度模式 - 反转

设置设备地址

错误码

CRC校验算法

注意事项

5.0 KiB

Raw Blame History