<?xml version="1.0" encoding="UTF-8"?>
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<HXDeviceDefinition Model="NucleicAcid_1" PlateNum="21" PlateRows="3" PlateColumns="7" RowSpacing="111" ColumnSpacing="140" HeightSpacing="57" IsReverseX="0" ArmNum="2" ArmIds="18,19" ReplacePlateNo="" TipsTouchPlatePos="221.8" GlobalSpeed="100" TeachLabwareName="P789板位200ul其它20ul吸头">
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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>192.168.0.51</IPAdress>
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<Axes AxisNum = "4">
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<Axis Caption="AxisX" AxisID="0" DaLiang="138.889" AxisType="4" InvertStep="0" MoveAcc="400" MoveDec="400" OriginDI="0_1" AlarmDI="40_-1" PELDI="Null" MELDI="Null" HomeMode="39" DatumOffset="30" HomeSpeed="20" MaxVel="360" PsLimit="790" RsLimit="-10" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="XServoOn" AlarmClearDO="XAlarmClear" PosDeviationLimit="1"/>
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<Axis Caption="AxisY1" AxisID="1" DaLiang="137.514" AxisType="4" InvertStep="2" MoveAcc="400" MoveDec="400" OriginDI="1_1" AlarmDI="41_-1" PELDI="Null" MELDI="Null" HomeMode="39" DatumOffset="30" HomeSpeed="20" MaxVel="360" PsLimit="330.9" RsLimit="-28" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Y1ServoOn" AlarmClearDO="Y1AlarmClear" PosDeviationLimit="1"/>
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<Axis Caption="AxisZ1" AxisID="2" DaLiang="100" AxisType="4" InvertStep="0" MoveAcc="300" MoveDec="300" OriginDI="2_1" AlarmDI="42_-1" PELDI="Null" MELDI="Null" HomeMode="14" DatumOffset="0" HomeSpeed="20" MaxVel="120" PsLimit="200" RsLimit="-8.1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Z1ServoOn" AlarmClearDO="Z1AlarmClear" PosDeviationLimit="1"/>
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<Axis Caption="AxisGrabUD" AxisID="4" DaLiang="157.48" AxisType="1" InvertStep="2" MoveAcc="500" MoveDec="500" OriginDO = "Null" OriginDI="3_1" AlarmDI="44_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="20" HomeOffset="0" MaxVel="50" PsLimit="100" RsLimit="-8" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="GrabUDServoOn" AlarmClearDO="GrabUDAlarmClear"/>
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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" />
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<DI StationName="ST10" SignalName="FrontDoor" SignalIndex="11" />
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<DI StationName="ST10" SignalName="AlarmAxisX" SignalIndex="40" />
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<DI StationName="ST10" SignalName="AlarmAxisY1" SignalIndex="41" />
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<DI StationName="ST10" SignalName="AlarmAxisZ1" SignalIndex="42" />
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<DI StationName="ST10" SignalName="AlarmAxisGrabUD" SignalIndex="44" />
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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="Buzzer" SignalIndex="10" />
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<DO StationName="ST10" SignalName="XServoOn" SignalIndex="16" />
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<DO StationName="ST10" SignalName="XAlarmClear" SignalIndex="17" />
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<DO StationName="ST10" SignalName="Y1ServoOn" SignalIndex="18" />
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<DO StationName="ST10" SignalName="Y1AlarmClear" SignalIndex="19" />
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<DO StationName="ST10" SignalName="Z1ServoOn" SignalIndex="20" />
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<DO StationName="ST10" SignalName="Z1AlarmClear" SignalIndex="21" />
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<DO StationName="ST10" SignalName="GrabUDServoOn" SignalIndex="24" IsInvertSign="1"/>
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<DO StationName="ST10" SignalName="GrabUDAlarmClear" SignalIndex="25" />
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</DOs>
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<NoFlyZones>
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<NoFlyZone ArmID="1" ActionTypes="2,4" Caption="移液枪避让温控模块与PCR放板放盖板架" XYZAxisNemes="AxisX,AxisY1,AxisZ1" SpacePoints="505,100,0;700,350,0" DetourPathPoints="500,80,0;710,80,0" IsAllowEntry="1" Enable="1"/>
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<NoFlyZone ArmID="1" ActionTypes="0" Caption="移液枪避让温控模块" XYZAxisNemes="AxisX,AxisY1,AxisZ1" SpacePoints="505,165,0;700,350,0" DetourPathPoints="500,155,0;710,155,0" IsAllowEntry="1" Enable="1"/>
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<NoFlyZone ArmID="2" ActionTypes="0" Caption="夹爪避让温控模块" XYZAxisNemes="AxisX,AxisY1,AxisGrabUD" SpacePoints="560,160,0;790,350,0" DetourPathPoints="570,150,0;780,150,0" IsAllowEntry="1" Enable="1"/>
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</NoFlyZones>
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<Triggers />
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</Configure>
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</Item>
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<Item Name="SOCONTip1" 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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<SerialPort>COM19,115200,N,8,1</SerialPort>
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<IPAdress>192.168.0.54</IPAdress>
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<Port>4001</Port>
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<Tips TipNum = "1">
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<Tip Caption="AxisS1" TipID="1" InitialPos = "1" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" LiqDecMode="0" AspirateAcc="3000" AspirateMax="5000" AspirateStart="2000" AspirateStop="2000" DispenseAcc="200000" DispenseMax="5000" DispenseStart="2000" DispenseStop="2000" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" AspirateCheckMode="7" EmptyThreshhold="5" BlockThreshhold="50" FoamThreshhold="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="5" LiqDetSpeed="20" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
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</Tips>
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<Axes AxisNum = "1">
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<Axis Caption="AxisS1" AxisID="1" Description="1ml移液枪" 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="1080" 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>0</BusID>
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<IPAdress>192.168.0.52</IPAdress>
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<Axes AxisNum = "1">
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<Axis Caption="AxisGrab" AxisID="1" DaLiang="38.4615" AxisType="4" InvertStep="0" MoveAcc="100" MoveDec="100" OriginDO="Null" OriginDI="Null" PELDI="Null" MELDI="Null" HomeMode="1" HomeSpeed="10" MaxVel="100" PsLimit="26.1" RsLimit="-0.1" SafePos="23" Sramp="0" IsRotateAxis="0" Force="50" />
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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" BaseWidth="66.9" ReferencePanelWidth="85" Force="50" YieldStartAxisxPos="700" YieldAxisYMovetoPos="230" YieldAxisGrabRotatetoPos="10" YieldTipStartGrabRotatePos="200" YieldTipCenterTipYPos="200" IsRotateInHoming="0" RotateEnable="0" IsCheckObjectInHand="0"/>
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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>192.168.0.53</IPAdress>
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<AIs>
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<AI StationName="AI01" SignalName="DistaneMeasure1" SignalIndex="0x00" MinValue="4" MaxValue="8154"/>
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<AI StationName="AI02" SignalName="AI02" SignalIndex="0x01" MinValue="0" MaxValue="0"/>
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<AI StationName="AI03" SignalName="AI03" SignalIndex="0x02" MinValue="0" MaxValue="0"/>
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<AI StationName="AI04" SignalName="AI04" SignalIndex="0x03" MinValue="0" MaxValue="0"/>
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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" MinValue="15" MaxValue="500" RowsOfMeasurePoint="2" ColumnsOfMeasurePoint="6" MarginLROfMeasureRegion="20" MarginTBOfMeasureRegion="20" MaxDistanceInPlate="96" MaxDistanceInVision="93.5" HeightTolerance="3" ChannelPosOffsetX="72" ChannelPosOffsetY="3" ChannelPosOffsetZ="-103.7" DelayTimeToMeasureAfterMove="500"/>
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</DistanceMeasures>
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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="4" Height="60.4" />
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<Item ID="5" Height="60.4" />
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<Item ID="7" Height="4" />
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<Item ID="8" Height="4" />
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<Item ID="9" Height="4" />
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<Item ID="10" Height="60.4" />
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<Item ID="11" Height="60.4" />
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<Item ID="16" Height="76" />
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<Item ID="17" Height="60.4" />
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</PlateHeightCalibration>
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</HXDeviceDefinition>
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