<?xml version="1.0" encoding="UTF-8"?>
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<HXDeviceDefinition Model="HXFX" ADPStructure="SingleChannel" PlateNum="19" PlateRows="2" PlateColumns="9" RowSpacing="291.3" ColumnSpacing="144.75" IsReverseX="0" IsReverseY="0" ArmNum="5" ArmIds="1,2,3,4,5" ReplacePlateNo="" TipsTouchPlatePos="201" GlobalSpeed="80" TeachLabwareName="">
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<Items>
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<Item Name="ZMotion1" Type="DriverManager.HXCard.ZMotion_ECI_BUS, HXCard.ZMotion_ECI_BUS">
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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>192.168.0.11</IPAdress>
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<HeartbeatEnable>1</HeartbeatEnable>
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<Axes AxisNum = "13">
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<Axis Caption="AxisX" Description="上方X轴" AxisID="8" DaLiang="83.333" AxisType="65" InvertStep="0" MoveAcc="1000" MoveDec="1000" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="30" MaxVel="300" PsLimit="795.2" RsLimit="-3" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisY1" Description="上方Y轴" AxisID="9" DaLiang="55.556" AxisType="65" InvertStep="0" MoveAcc="1000" MoveDec="1000" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="20" MaxVel="300" PsLimit="330.9" RsLimit="-3" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisZ1" Description="10ml移液泵Z轴" AxisID="11" DaLiang="1025.262" AxisType="65" InvertStep="0" MoveAcc="500" MoveDec="500" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="20" MaxVel="230" PsLimit="166.6" RsLimit="-3" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisZ2" Description="1ml移液枪Z轴" AxisID="12" DaLiang="1025.262" AxisType="65" InvertStep="0" MoveAcc="500" MoveDec="500" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="20" MaxVel="230" PsLimit="166.6" RsLimit="-3" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisX2" Description="下方X轴" AxisID="0" DaLiang="83.333" AxisType="65" InvertStep="0" MoveAcc="500" MoveDec="500" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="15" MaxVel="300" PsLimit="795.2" RsLimit="-5" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisY2" Description="下方Y轴" AxisID="1" DaLiang="55.556" AxisType="65" InvertStep="0" MoveAcc="500" MoveDec="500" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="25" MaxVel="300" PsLimit="330.9" RsLimit="-5" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisS1" Description="10ml移液泵" AxisID="7" DaLiang="20" AxisType="65" InvertStep="0" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="1000" MaxVel="10000" PsLimit="10000" RsLimit="0" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisPump1" Description="加液泵1" AxisID="3" DaLiang="20" AxisType="65" InvertStep="0" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="1000" MaxVel="10000" PsLimit="10000" RsLimit="0" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisPump2" Description="加液泵2" AxisID="4" DaLiang="20" AxisType="65" InvertStep="0" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="1000" MaxVel="10000" PsLimit="10000" RsLimit="0" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisPump3" Description="加液泵3" AxisID="5" DaLiang="20" AxisType="65" InvertStep="0" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="1000" MaxVel="10000" PsLimit="10000" RsLimit="0" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisPump4" Description="加液泵4" AxisID="6" DaLiang="20" AxisType="65" InvertStep="0" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="1000" MaxVel="10000" PsLimit="10000" RsLimit="0" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisGrabUD" Description="上夹爪Z轴" AxisID="10" DaLiang="1025.262" AxisType="65" InvertStep="0" MoveAcc="500" MoveDec="500" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="20" MaxVel="230" PsLimit="450" RsLimit="-5" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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<Axis Caption="AxisShaker" Description="振荡轴" AxisID="2" DaLiang="27.778" AxisType="65" InvertStep="0" MoveAcc="2000" MoveDec="2000" HomeAcc="300" HomeDec="300" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="19" DatumOffset="0" HomeSpeed="100" MaxVel="1800" PsLimit="65535" RsLimit="-65535" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" AlarmClearDO="Null" PosDeviationLimit="1" IsPosDeviationCheck="0"/>
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</Axes>
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<DIs>
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<DI StationName="ST10" SignalName="TipCheck" SignalIndex="6" IsInvertSign="1" />
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<DI StationName="ST10" SignalName="StartButton" SignalIndex="7" />
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<DI StationName="ST10" SignalName="ResetButton" SignalIndex="8" />
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<DI StationName="ST10" SignalName="StopButton" SignalIndex="9" />
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<DI StationName="ST10" SignalName="EMGStopButton" SignalIndex="10" IsInvertSign="1"/>
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<DI StationName="ST10" SignalName="FrontDoor" SignalIndex="11" />
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</DIs>
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<DOs>
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<DO StationName="ST10" SignalName="Floodlight" SignalIndex="1"/>
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<DO StationName="ST10" SignalName="SterilizingLamp" SignalIndex="2"/>
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<DO StationName="ST10" SignalName="FFU" SignalIndex="3"/>
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<DO StationName="ST10" SignalName="GreenLight" SignalIndex="11" />
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<DO StationName="ST10" SignalName="BlueLight" SignalIndex="13" />
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<DO StationName="ST10" SignalName="RedLight" SignalIndex="12" />
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<DO StationName="ST10" SignalName="AspirateValvePump1" SignalIndex="16" />
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<DO StationName="ST10" SignalName="DispenseValvePump1" SignalIndex="17" DelayTimeAfter="1000"/>
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<DO StationName="ST10" SignalName="AspirateValvePump2" SignalIndex="18" />
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<DO StationName="ST10" SignalName="DispenseValvePump2" SignalIndex="19" DelayTimeAfter="1000"/>
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<DO StationName="ST10" SignalName="AspirateValvePump3" SignalIndex="20" />
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<DO StationName="ST10" SignalName="DispenseValvePump3" SignalIndex="21" DelayTimeAfter="1000"/>
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<DO StationName="ST10" SignalName="AspirateValvePump4" SignalIndex="22" />
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<DO StationName="ST10" SignalName="DispenseValvePump4" SignalIndex="23" DelayTimeAfter="1000"/>
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<DO StationName="ST10" SignalName="AspirateValvePump5" SignalIndex="24" />
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<DO StationName="ST10" SignalName="DispenseValvePump5" SignalIndex="25" DelayTimeAfter="1000"/>
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<DO StationName="ST10" SignalName="AddLiquidUp" SignalIndex="26"/>
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<DO StationName="ST10" SignalName="AddLiquidDown" SignalIndex="27" DelayTimeAfter="6000"/>
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<DO StationName="ST10" SignalName="DropDitiUp" SignalIndex="28"/>
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<DO StationName="ST10" SignalName="DropDitiDown" SignalIndex="29" DelayTimeAfter="6000"/>
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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_Motion, HXTip_Motion">
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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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<Tips TipNum = "1" LoadTipSpeed="45" PullOutTipSpeed="100">
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<Tip MotionCaption="AxisS1" Description="10ml移液泵" TipID="0" InitialPos="0" DropDitiPos="0" DropDitiSign="DropDitiUp,DropDitiDown" LiqDecType="0" AspirateAcc="100" AspirateMax="10" AspirateStart="1" AspirateStop="1" DispenseAcc="100" DispenseMax="10" DispenseStart="1" DispenseStop="1" TipCheckSign="TipCheck" IsCheckTip="0" CalRatio = "0" CalOffset = "0" MaxVolume="10000" />
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</Tips>
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</Configure>
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</Item>
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<Item Name="HYDTips1" Type="DriverManager.HXTip_HYD_SMTP2, HXTip_HYD_SMTP2">
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<Caption>
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</Caption>
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<Configure>
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<MotionName>HYDTips1</MotionName>
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<ConnectType>1</ConnectType>
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<IPAdress>192.168.0.12</IPAdress>
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<Port>8803</Port>
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<Tips TipNum = "1" LoadTipSpeed="45" PullOutTipSpeed="100">
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<Tip Caption="AxisS2" Description="1ml移液枪" TipID="1" InitialPos = "1" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="3000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1000" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" />
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</Tips>
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<Axes AxisNum = "1">
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<Axis Caption="AxisS2" AxisID="1" Description="1ml移液枪轴" DaLiang="3.1348" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="50" HomeOffset="0" MaxVel="180" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="1000" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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</Axes>
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</Configure>
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</Item>
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<Item Name="DHDriverBus1" Type="DriverManager.DHDriverBus, DriverBus_DH">
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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>192.168.0.12</IPAdress>
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<Port>502</Port>
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<Axes AxisNum = "1">
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<Axis Caption="AxisGrab" AxisID="1" DaLiang="71.4286" AxisType="4" InvertStep="0" MoveAcc="100" MoveDec="100" OriginDO="Null" OriginDI="Null" PELDI="Null" MELDI="Null" HomeMode="2" HomeSpeed="10" MaxVel="100" PsLimit="14" RsLimit="-0.1" SafePos="20" Sramp="0" IsRotateAxis="0" Force="25" />
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<Axis Caption="AxisGrabRotate" AxisID="2" DaLiang="10" AxisType="4" InvertStep="0" MoveAcc="100" MoveDec="100" OriginDO="Null" OriginDI="Null" PELDI="Null" MELDI="Null" HomeMode="3" HomeSpeed="30" MaxVel="100" PsLimit="3600" RsLimit="-3600" SafePos="0" Sramp="0" IsRotateAxis="1" Force="80" />
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</Axes>
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</Configure>
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</Item>
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<Item Name="DHGripper1" Type="DriverManager.DHGripper, HXGripper_DH">
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<Caption>
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</Caption>
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<Configure>
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<MotionName>DHDriverBus1</MotionName>
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<Grippers GripperNum = "1">
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<Gripper Caption="Gripper1" GripperID="1" MotionCaption="AxisGrab,AxisGrabRotate" BaseWidth="25" ReferencePanelWidth="85" Force="50" YieldStartAxisxPos="1000" YieldStartAxisyPos="1000" InvalidRotateStartAxisyPos="350" YieldAxisYMovetoPos="260" YieldAxisGrabRotatetoPos="0" YieldTipStartGrabRotatePos="150" YieldTipCenterTipYPos="45" IsRotateInHoming="0" RotateEnable="1" IsCheckObjectInHand="1"/>
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</Grippers>
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</Configure>
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</Item>
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<Item Name="RMDriverBus1" Type="DriverManager.RMDriverBus, DriverBus_RM">
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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>192.168.0.12</IPAdress>
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<Port>503</Port>
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<Axes AxisNum = "1">
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<Axis Caption="AxisGrab" AxisID="0" DaLiang="1" AxisType="4" InvertStep="0" MoveAcc="100" MoveDec="100" OriginDO="Null" OriginDI="Null" PELDI="Null" MELDI="Null" HomeMode="1" HomeSpeed="10" MaxVel="30" PsLimit="34.3" RsLimit="-0.1" SafePos="23" Sramp="0" IsRotateAxis="0" Force="50" IsHomeAtOpen="1"/>
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</Axes>
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</Configure>
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</Item>
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<Item Name="RMGripper1" Type="DriverManager.RMGripper, HXGripper_RM">
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<Caption>
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</Caption>
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<Configure>
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<MotionName>RMDriverBus1</MotionName>
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<Grippers GripperNum = "1">
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<Gripper Caption="Gripper2" GripperID="1" MotionCaption="AxisGrab" BaseWidth="38.5" ReferencePanelWidth="85" Force="50" YieldStartAxisxPos="700" YieldAxisYMovetoPos="230" YieldAxisGrabRotatetoPos="10" YieldTipStartGrabRotatePos="200" YieldTipCenterTipYPos="200" IsRotateInHoming="0" RotateEnable="0" IsCheckObjectInHand="1" ForceThreshold="20"/>
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</Grippers>
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</Configure>
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</Item>
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</Items>
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<PlateHeightCalibration>
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<Item ID="1" Height="0.0" />
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</PlateHeightCalibration>
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</HXDeviceDefinition>
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