aind_manipulator_calibration_rig

Download Schema

CalibrationRig

type	object
properties
aind_behavior_services_pkg_version	aind_behavior_services package version
	type	string
	pattern	^(0|[1-9]\d*)\.(0|[1-9]\d*)\.(0|[1-9]\d*)(?:-((?:0|[1-9]\d*|\d*[a-zA-Z-][0-9a-zA-Z-]*)(?:\.(?:0|[1-9]\d*|\d*[a-zA-Z-][0-9a-zA-Z-]*))*))?(?:\+([0-9a-zA-Z-]+(?:\.[0-9a-zA-Z-]+)*))?$
	default	0.8.7
version	Version
	type	string
	default	0.1.0
	const	0.1.0
computer_name	Computer Name
	Computer name
	type	string
rig_name	Rig Name
	Rig name
	type	string
manipulator	Manipulator device
	default	null
	AindManipulatorDevice

AindManipulatorCalibration

Aind manipulator calibration class
type	object
properties
device_name	Device name
	Must match a device name in rig/instrument
	type	string
	default	AindManipulator
input	Input of the calibration
	AindManipulatorCalibrationInput
output	Output of the calibration.
	AindManipulatorCalibrationOutput
date	Date
	default	null
	oneOf	type	string
		format	date-time
		type	null
description	Description
	type	string
	default	Calibration of the load cells system
	const	Calibration of the load cells system
notes	Notes
	default	null
	oneOf	type	string
		type	null

AindManipulatorCalibrationInput

type	object
properties
full_step_to_mm	Full step to mm. Used to convert steps to SI Units
	default	x	0.01
		y1	0.01
		y2	0.01
		z	0.01
	ManipulatorPosition
axis_configuration	Axes configuration. Only the axes that are configured will be enabled.
	type	array
	default	axis	2
		step_acceleration_interval	100
		step_interval	100
		microstep_resolution	0
		maximum_step_interval	2000
		motor_operation_mode	0
		max_limit	25.0
		min_limit	-0.01
		axis	3
		step_acceleration_interval	100
		step_interval	100
		microstep_resolution	0
		maximum_step_interval	2000
		motor_operation_mode	0
		max_limit	25.0
		min_limit	-0.01
		axis	1
		step_acceleration_interval	100
		step_interval	100
		microstep_resolution	0
		maximum_step_interval	2000
		motor_operation_mode	0
		max_limit	25.0
		min_limit	-0.01
		axis	4
		step_acceleration_interval	100
		step_interval	100
		microstep_resolution	0
		maximum_step_interval	2000
		motor_operation_mode	0
		max_limit	25.0
		min_limit	-0.01
	items	AxisConfiguration
homing_order	Homing order
	type	array
	default	2
		3
		1
		4
	items	Axis
initial_position	default	x	0.0
		y1	0.0
		y2	0.0
		z	0.0
	ManipulatorPosition

AindManipulatorCalibrationOutput

type	object
properties

AindManipulatorDevice

type	object
properties
device_type	Device Type
	type	string
	default	stepperdriver
	const	stepperdriver
additional_settings	Additional settings
	default	null
	oneOf	BaseModel
		type	null
calibration	Calibration of the manipulator
	default	null
	oneOf	AindManipulatorCalibration
		type	null
who_am_i	Who Am I
	type	integer
	default	1130
	const	1130
serial_number	Serial Number
	Device serial number
	default	null
	oneOf	type	string
		type	null
port_name	Port Name
	Device port name
	type	string

Axis

Motor axis available
type	integer
enum	0, 1, 2, 3, 4

AxisConfiguration

Axis configuration
type	object
properties
axis	Axis to be configured
	Axis
step_acceleration_interval	Acceleration
	Acceleration of the step interval in microseconds
	type	integer
	maximum	2000
	minimum	2
	default	100
step_interval	Step interval
	Step interval in microseconds.
	type	integer
	maximum	20000
	minimum	100
	default	100
microstep_resolution	Microstep resolution
	default	0
	MicrostepResolution
maximum_step_interval	Configures the time between step motor pulses (us) used when starting or stopping a movement
	type	integer
	maximum	20000
	minimum	100
	default	2000
motor_operation_mode	Motor operation mode
	default	0
	MotorOperationMode
max_limit	Maximum limit in SI units. A value of 0 disables this limit.
	type	number
	default	25
min_limit	Minimum limit in SI units. A value of 0 disables this limit.
	type	number
	default	-0.01

BaseModel

type	object
properties

ManipulatorPosition

type	object
properties
x	X coordinate
	type	number
y1	Y1 coordinate
	type	number
y2	Y2 coordinate
	type	number
z	Z coordinate
	type	number

MicrostepResolution

type	integer
enum	0, 1, 2, 3

MotorOperationMode

type	integer
enum	0, 1