<?xml version="1.0" encoding="UTF-8"?>
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<HXDeviceDefinition Model="Choice" PlateNum="38" ArmNum="2" ArmIds="4,7" GlobalSpeed="80">
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<Items>
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<Item Name="ZMotion1" Type="DriverManager.HXCard.ZMotion_ECI, HXCard.ZMotion_ECI">
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<Caption>
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</Caption>
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<Configure>
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<BoardID>0</BoardID>
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<IPAdress>192.168.0.13</IPAdress>
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<Axes AxisNum = "12">
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<Axis Caption="AxisX" AxisID="0" DaLiang="166.667" AxisType="4" InvertStep="0" MoveAcc="1000" MoveDec="1000" OriginDO = "AxisXHomeMove" OriginDI="AxisXHomeOK" AlarmDI="24_-1" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="600" ForceSpeed="600" StartSpeed="200" EndSpeed="200" PsLimit="770" RsLimit="-6" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="XServoOn" />
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<Axis Caption="AxisY1" AxisID="1" DaLiang="250" AxisType="4" InvertStep="2" MoveAcc="1000" MoveDec="1000" OriginDO = "Null" OriginDI="15_-1" AlarmDI="25_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="10" MaxVel="600" ForceSpeed="600" StartSpeed="200" EndSpeed="200" PsLimit="576" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Y1ServoOn" />
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<Axis Caption="AxisGrabFB" AxisID="2" DaLiang="250" AxisType="4" InvertStep="0" MoveAcc="1000" MoveDec="1000" OriginDO = "AxisGrabFBHomeMove" OriginDI="AxisGrabFBHomeOK" AlarmDI="26_-1" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="600" PsLimit="460" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="GrabFBServoOn" />
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<Axis Caption="AxisGrabUD" AxisID="3" DaLiang="106.103" AxisType="4" InvertStep="2" MoveAcc="1000" MoveDec="1000" OriginDO = "AxisGrabUDHomeMove" OriginDI="AxisGrabUDHomeOK" AlarmDI="27_-1" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="300" PsLimit="65" RsLimit="-12" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="GrabUDServoOn" />
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<Axis Caption="AxisChoiceChannelZ1" AxisID="4" DaLiang="1666.667" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="7_-1" AlarmDI="28_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="10" MaxVel="100" ForceSpeed="100" StartSpeed="30" EndSpeed="30" PsLimit="103" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="ChoiceChannelZ1ServoOn" />
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<Axis Caption="AxisChoiceChannelZ2" AxisID="5" DaLiang="1666.667" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="8_-1" AlarmDI="29_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="10" MaxVel="100" ForceSpeed="100" StartSpeed="30" EndSpeed="30" PsLimit="103" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="ChoiceChannelZ2ServoOn" />
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<Axis Caption="AxisChoiceChannelZ3" AxisID="6" DaLiang="1666.667" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="9_-1" AlarmDI="30_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="10" MaxVel="100" ForceSpeed="100" StartSpeed="30" EndSpeed="30" PsLimit="103" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="ChoiceChannelZ3ServoOn" />
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<Axis Caption="AxisChoiceChannelZ4" AxisID="7" DaLiang="1666.667" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="10_-1" AlarmDI="31_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="10" MaxVel="100" ForceSpeed="100" StartSpeed="30" EndSpeed="30" PsLimit="103" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="ChoiceChannelZ4ServoOn" />
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<Axis Caption="AxisChoiceChannelZ5" AxisID="8" DaLiang="1666.667" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="11_-1" AlarmDI="32_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="10" MaxVel="100" ForceSpeed="100" StartSpeed="30" EndSpeed="30" PsLimit="103" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="ChoiceChannelZ5ServoOn" />
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<Axis Caption="AxisChoiceChannelZ6" AxisID="9" DaLiang="1666.667" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="12_-1" AlarmDI="33_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="10" MaxVel="100" ForceSpeed="100" StartSpeed="30" EndSpeed="30" PsLimit="103" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="ChoiceChannelZ6ServoOn" />
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<Axis Caption="AxisChoiceChannelZ7" AxisID="10" DaLiang="1666.667" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="13_-1" AlarmDI="34_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="10" MaxVel="100" ForceSpeed="100" StartSpeed="30" EndSpeed="30" PsLimit="103" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="ChoiceChannelZ7ServoOn" />
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<Axis Caption="AxisChoiceChannelZ8" AxisID="11" DaLiang="1666.667" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="14_-1" AlarmDI="35_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="10" MaxVel="100" ForceSpeed="100" StartSpeed="30" EndSpeed="30" PsLimit="103" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="ChoiceChannelZ8ServoOn" />
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</Axes>
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<DIs>
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<DI StationName="ST10" SignalName="AxisXHomeOK" SignalIndex="0" />
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<DI StationName="ST10" SignalName="AxisGrabFBHomeOK" SignalIndex="1" />
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<DI StationName="ST10" SignalName="AxisGrabUDHomeOK" SignalIndex="2" />
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<DI StationName="ST10" SignalName="StartButton" SignalIndex="3" />
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<DI StationName="ST10" SignalName="ResetButton" SignalIndex="4" />
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<DI StationName="ST10" SignalName="StopButton" SignalIndex="5" />
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<DI StationName="ST10" SignalName="EMGStopButton" SignalIndex="6" />
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</DIs>
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<DOs>
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<DO StationName="ST10" SignalName="AxisXHomeMove" SignalIndex="0" />
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<DO StationName="ST10" SignalName="AxisGrabFBHomeMove" SignalIndex="1" />
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<DO StationName="ST10" SignalName="AxisGrabUDHomeMove" SignalIndex="2" />
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<DO StationName="ST10" SignalName="GreenLight" SignalIndex="3" />
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<DO StationName="ST10" SignalName="BlueLight" SignalIndex="4" />
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<DO StationName="ST10" SignalName="RedLight" SignalIndex="5" />
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<DO StationName="ST10" SignalName="Buzzer" SignalIndex="6" />
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<DO StationName="ST10" SignalName="XServoOn" SignalIndex="12" IsInvertSign="1" />
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<DO StationName="ST10" SignalName="Y1ServoOn" SignalIndex="13" IsInvertSign="0" />
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<DO StationName="ST10" SignalName="GrabFBServoOn" SignalIndex="14" IsInvertSign="1" />
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<DO StationName="ST10" SignalName="GrabUDServoOn" SignalIndex="15" IsInvertSign="1" />
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<DO StationName="ST10" SignalName="ChoiceChannelZ1ServoOn" SignalIndex="16" IsInvertSign="1" />
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<DO StationName="ST10" SignalName="ChoiceChannelZ2ServoOn" SignalIndex="17" IsInvertSign="1" />
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<DO StationName="ST10" SignalName="ChoiceChannelZ3ServoOn" SignalIndex="18" IsInvertSign="1" />
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<DO StationName="ST10" SignalName="ChoiceChannelZ4ServoOn" SignalIndex="19" IsInvertSign="1" />
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<DO StationName="ST10" SignalName="ChoiceChannelZ5ServoOn" SignalIndex="20" IsInvertSign="1" />
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<DO StationName="ST10" SignalName="ChoiceChannelZ6ServoOn" SignalIndex="21" IsInvertSign="1" />
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<DO StationName="ST10" SignalName="ChoiceChannelZ7ServoOn" SignalIndex="22" IsInvertSign="1" />
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<DO StationName="ST10" SignalName="ChoiceChannelZ8ServoOn" SignalIndex="23" IsInvertSign="1" />
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</DOs>
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<Triggers />
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</Configure>
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</Item>
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<Item Name="MotionTip1" Type="DriverManager.HXTip_SOCON_ST1000, HXTip_SOCON_ST1000">
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<Caption>
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</Caption>
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<Configure>
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<MotionName>ZMotion1</MotionName>
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<ConnectType>1</ConnectType>
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<IPAdress>192.168.0.8</IPAdress>
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<Tips TipNum = "8">
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<Tip Caption="AxisS1" TipID="1" InitialPos = "0" DropDitiPos = "0" LiqDecType="0" AspirateAcc="30000" AspirateMax="3000" AspirateStart="200" AspirateStop="200" DispenseAcc="500000" DispenseMax="3000" DispenseStart="3000" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
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<Tip Caption="AxisS2" TipID="2" InitialPos = "0" DropDitiPos = "0" LiqDecType="0" AspirateAcc="30000" AspirateMax="3000" AspirateStart="200" AspirateStop="200" DispenseAcc="500000" DispenseMax="3000" DispenseStart="3000" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="-0.7" ChannelPosOffsetY="-0.2" ChannelPosOffsetZ="0.3" />
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<Tip Caption="AxisS3" TipID="3" InitialPos = "0" DropDitiPos = "0" LiqDecType="0" AspirateAcc="30000" AspirateMax="3000" AspirateStart="200" AspirateStop="200" DispenseAcc="500000" DispenseMax="3000" DispenseStart="3000" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="1" ChannelPosOffsetY="-0.2" ChannelPosOffsetZ="0.8" />
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<Tip Caption="AxisS4" TipID="4" InitialPos = "0" DropDitiPos = "0" LiqDecType="0" AspirateAcc="30000" AspirateMax="3000" AspirateStart="200" AspirateStop="200" DispenseAcc="500000" DispenseMax="3000" DispenseStart="3000" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0.7" ChannelPosOffsetY="0" ChannelPosOffsetZ="0.4" />
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<Tip Caption="AxisS5" TipID="5" InitialPos = "0" DropDitiPos = "0" LiqDecType="0" AspirateAcc="30000" AspirateMax="3000" AspirateStart="200" AspirateStop="200" DispenseAcc="500000" DispenseMax="3000" DispenseStart="3000" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0.3" ChannelPosOffsetY="-0.3" ChannelPosOffsetZ="0.3" />
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<Tip Caption="AxisS6" TipID="6" InitialPos = "0" DropDitiPos = "0" LiqDecType="0" AspirateAcc="30000" AspirateMax="3000" AspirateStart="200" AspirateStop="200" DispenseAcc="500000" DispenseMax="3000" DispenseStart="3000" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0.3" ChannelPosOffsetY="-0.4" ChannelPosOffsetZ="0.6" />
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<Tip Caption="AxisS7" TipID="7" InitialPos = "0" DropDitiPos = "0" LiqDecType="0" AspirateAcc="30000" AspirateMax="3000" AspirateStart="200" AspirateStop="200" DispenseAcc="500000" DispenseMax="3000" DispenseStart="3000" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0.6" ChannelPosOffsetY="-0.5" ChannelPosOffsetZ="0.6" />
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<Tip Caption="AxisS8" TipID="8" InitialPos = "0" DropDitiPos = "0" LiqDecType="0" AspirateAcc="30000" AspirateMax="3000" AspirateStart="200" AspirateStop="200" DispenseAcc="500000" DispenseMax="3000" DispenseStart="3000" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="-1" ChannelPosOffsetZ="0.4" />
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</Tips>
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</Configure>
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</Item>
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<Item Name="MotorDriverBus1" Type="DriverManager.MotorDriverBus_HC, MotorDriverBus_HC">
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<Caption>
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</Caption>
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<Configure>
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<BusID>0</BusID>
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<IPAdress>192.168.0.14</IPAdress>
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<Axes AxisNum = "2">
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<Axis Caption="AxisGrab" AxisID="2" DaLiang="115014" AxisType="4" InvertStep="0" MoveAcc="100" MoveDec="100" OriginDO="Null" OriginDI="Null" PELDI="Null" MELDI="Null" HomeMode="36" HomeSpeed="10" MaxVel="20" PsLimit="70" RsLimit="-0.5" SafePos="15" Sramp="0" IsRotateAxis="0" />
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<Axis Caption="AxisGrabRotate" AxisID="1" DaLiang="45219.15" AxisType="4" InvertStep="0" MoveAcc="100" MoveDec="100" OriginDO="Null" OriginDI="Null" PELDI="Null" MELDI="Null" HomeMode="36" HomeSpeed="30" MaxVel="60" PsLimit="360" RsLimit="-0.5" SafePos="55" Sramp="0" IsRotateAxis="1" />
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</Axes>
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</Configure>
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</Item>
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<Item Name="HCGripper1" Type="DriverManager.HXGripper_HC, HXGripper_HC">
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<Caption>
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</Caption>
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<Configure>
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<MotionName>MotorDriverBus1</MotionName>
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<Grippers GripperNum = "1">
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<Gripper Caption="Gripper1" GripperID="1" MotionCaption="AxisGrab,AxisGrabRotate" BaseWidth="71" ReferencePanelWidth="85" YieldStartAxisxPos="700" YieldAxisYMovetoPos="230" YieldAxisGrabRotatetoPos="10" YieldTipStartGrabRotatePos="200" YieldTipCenterTipYPos="200" IsRotateInHoming="1"/>
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</Grippers>
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</Configure>
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</Item>
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<Item Name="AmsamotionDAQDriverBus1" Type="DriverManager.AmsamotionDAQDriverBus, DAQDriverBus_Amsamotion">
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<Caption>
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</Caption>
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<Configure>
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<BusID>1</BusID>
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<IPAdress>192.168.0.16</IPAdress>
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<AIs>
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<AI StationName="AI01" SignalName="DistaneMeasure1" SignalIndex="0x00"/>
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<AI StationName="AI02" SignalName="AI02" SignalIndex="0x01"/>
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<AI StationName="AI03" SignalName="AI03" SignalIndex="0x02"/>
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<AI StationName="AI04" SignalName="AI04" SignalIndex="0x03"/>
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</AIs>
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</Configure>
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</Item>
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<Item Name="AmsamotionDAQDistaneMeasure1" Type="DriverManager.AmsamotionDAQDistaneMeasure, DistaneMeasure_Amsamotion">
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<Caption>
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</Caption>
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<Configure>
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<DriverName>AmsamotionDAQDriverBus1</DriverName>
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<DistanceMeasures DistanceMeasureNum = "1">
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<DistaneMeasure Caption="DistaneMeasure1" MeasureID="1"/>
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</DistanceMeasures>
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</Configure>
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</Item>
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</Items>
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</HXDeviceDefinition>
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