<?xml version="1.0" encoding="UTF-8"?>
|
<HXDeviceDefinition Model="T200" PlateNum="19" PlateRows="3" PlateColumns="6" RowSpacing="111" ColumnSpacing="140" IsReverseX="0" ArmNum="2" ArmIds="12,13" ReplacePlateNo="16-19" TipsTouchPlatePos="201" GlobalSpeed="80" TeachLabwareName="涂布头2毫米">
|
<Items>
|
<Item Name="ZMotion1" Type="DriverManager.HXCard.ZMotion_ECI, HXCard.ZMotion_ECI">
|
<Caption>
|
</Caption>
|
<Configure>
|
<BoardID>0</BoardID>
|
<IPAdress>192.168.0.51</IPAdress>
|
<Axes AxisNum = "5">
|
<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="20" HomeSpeed="20" MaxVel="360" PsLimit="795.2" RsLimit="-21" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="XServoOn" AlarmClearDO="XAlarmClear" PosDeviationLimit="1"/>
|
<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="20" HomeSpeed="20" MaxVel="360" PsLimit="330.9" RsLimit="-28" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Y1ServoOn" AlarmClearDO="Y1AlarmClear" PosDeviationLimit="1"/>
|
<Axis Caption="AxisZ1" AxisID="2" DaLiang="100" AxisType="4" InvertStep="0" MoveAcc="500" MoveDec="500" OriginDI="2_1" AlarmDI="42_-1" PELDI="Null" MELDI="Null" HomeMode="39" DatumOffset="10" HomeSpeed="20" MaxVel="230" PsLimit="166.6" RsLimit="-30" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Z1ServoOn" AlarmClearDO="Z1AlarmClear" PosDeviationLimit="1"/>
|
<Axis Caption="AxisS1" AxisID="3" DaLiang="10" AxisType="1" InvertStep="2" MoveAcc="1000" MoveDec="1000" OriginDO = "Null" OriginDI="5_1" AlarmDI="43_1" PELDI="Null" MELDI="Null" HomeMode="39" DatumOffset="200" HomeSpeed="100" MaxVel="400" PsLimit="600" RsLimit="-180" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="S1ServoOn" AlarmClearDO="S1AlarmClear"/>
|
<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="-3" MaxVel="50" PsLimit="74" RsLimit="-3.5" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="GrabUDServoOn" AlarmClearDO="GrabUDAlarmClear"/>
|
</Axes>
|
<DIs>
|
<DI StationName="ST10" SignalName="TipCheck" SignalIndex="6" IsInvertSign="1" />
|
<DI StationName="ST10" SignalName="StartButton" SignalIndex="7" />
|
<DI StationName="ST10" SignalName="ResetButton" SignalIndex="8" />
|
<DI StationName="ST10" SignalName="StopButton" SignalIndex="9" />
|
<DI StationName="ST10" SignalName="EMGStopButton" SignalIndex="10" />
|
<DI StationName="ST10" SignalName="FrontDoor" SignalIndex="11" />
|
<DI StationName="ST10" SignalName="AlarmAxisX" SignalIndex="40" />
|
<DI StationName="ST10" SignalName="AlarmAxisY1" SignalIndex="41" />
|
<DI StationName="ST10" SignalName="AlarmAxisZ1" SignalIndex="42" />
|
<DI StationName="ST10" SignalName="AlarmAxisS1" SignalIndex="43" />
|
<DI StationName="ST10" SignalName="AlarmAxisGrabUD" SignalIndex="44" />
|
</DIs>
|
<DOs>
|
<DO StationName="ST10" SignalName="Floodlight" SignalIndex="1"/>
|
<DO StationName="ST10" SignalName="SterilizingLamp" SignalIndex="2"/>
|
<DO StationName="ST10" SignalName="FFU" SignalIndex="3"/>
|
<DO StationName="ST10" SignalName="GreenLight" SignalIndex="11" />
|
<DO StationName="ST10" SignalName="BlueLight" SignalIndex="13" />
|
<DO StationName="ST10" SignalName="RedLight" SignalIndex="12" />
|
<DO StationName="ST10" SignalName="Buzzer" SignalIndex="10" />
|
<DO StationName="ST10" SignalName="XServoOn" SignalIndex="16" />
|
<DO StationName="ST10" SignalName="XAlarmClear" SignalIndex="17" />
|
<DO StationName="ST10" SignalName="Y1ServoOn" SignalIndex="18" />
|
<DO StationName="ST10" SignalName="Y1AlarmClear" SignalIndex="19" />
|
<DO StationName="ST10" SignalName="Z1ServoOn" SignalIndex="20" />
|
<DO StationName="ST10" SignalName="Z1AlarmClear" SignalIndex="21" />
|
<DO StationName="ST10" SignalName="S1ServoOn" SignalIndex="22" IsInvertSign="1"/>
|
<DO StationName="ST10" SignalName="S1AlarmClear" SignalIndex="23" />
|
<DO StationName="ST10" SignalName="GrabUDServoOn" SignalIndex="24" IsInvertSign="1"/>
|
<DO StationName="ST10" SignalName="GrabUDAlarmClear" SignalIndex="25" />
|
</DOs>
|
<Triggers />
|
</Configure>
|
</Item>
|
<Item Name="MotionTip1" Type="DriverManager.HXTip_Motion, HXTip_Motion">
|
<Caption>
|
</Caption>
|
<Configure>
|
<MotionName>ZMotion1</MotionName>
|
<Tips TipNum = "1">
|
<Tip MotionCaption="AxisS1" TipID="0" InitialPos="0" DropDitiPos="-175" LiqDecType="0" AspirateAcc="100" AspirateMax="10" AspirateStart="1" AspirateStop="1" DispenseAcc="100" DispenseMax="10" DispenseStart="1" DispenseStop="1" TipCheckSign="TipCheck" IsCheckTip="1" CalRatio = "0" CalOffset = "0" />
|
</Tips>
|
</Configure>
|
</Item>
|
<Item Name="DHDriverBus1" Type="DriverManager.DHDriverBus, DriverBus_DH">
|
<Caption>
|
</Caption>
|
<Configure>
|
<BusID>0</BusID>
|
<IPAdress>192.168.0.52</IPAdress>
|
<Axes AxisNum = "1">
|
<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" />
|
</Axes>
|
</Configure>
|
</Item>
|
<Item Name="DHGripper1" Type="DriverManager.DHGripper, HXGripper_DH">
|
<Caption>
|
</Caption>
|
<Configure>
|
<MotionName>DHDriverBus1</MotionName>
|
<Grippers GripperNum = "1">
|
<Gripper Caption="Gripper1" GripperID="1" MotionCaption="AxisGrab" BaseWidth="64.5" ReferencePanelWidth="85" Force="50" YieldStartAxisxPos="700" YieldAxisYMovetoPos="230" YieldAxisGrabRotatetoPos="10" YieldTipStartGrabRotatePos="200" YieldTipCenterTipYPos="200" IsRotateInHoming="0" RotateEnable="0" IsCheckObjectInHand="1"/>
|
</Grippers>
|
</Configure>
|
</Item>
|
<Item Name="AmsamotionDAQDriverBus1" Type="DriverManager.AmsamotionDAQDriverBus, DAQDriverBus_Amsamotion">
|
<Caption>
|
</Caption>
|
<Configure>
|
<BusID>1</BusID>
|
<IPAdress>192.168.0.53</IPAdress>
|
<AIs>
|
<AI StationName="AI01" SignalName="DistaneMeasure1" SignalIndex="0x00" MinValue="4" MaxValue="8154"/>
|
<AI StationName="AI02" SignalName="AI02" SignalIndex="0x01" MinValue="0" MaxValue="0"/>
|
<AI StationName="AI03" SignalName="AI03" SignalIndex="0x02" MinValue="0" MaxValue="0"/>
|
<AI StationName="AI04" SignalName="AI04" SignalIndex="0x03" MinValue="0" MaxValue="0"/>
|
</AIs>
|
</Configure>
|
</Item>
|
<Item Name="AmsamotionDAQDistaneMeasure1" Type="DriverManager.AmsamotionDAQDistaneMeasure, DistaneMeasure_Amsamotion">
|
<Caption>
|
</Caption>
|
<Configure>
|
<DriverName>AmsamotionDAQDriverBus1</DriverName>
|
<DistanceMeasures DistanceMeasureNum = "1">
|
<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="-135" DelayTimeToMeasureAfterMove="500"/>
|
</DistanceMeasures>
|
</Configure>
|
</Item>
|
</Items>
|
<PlateHeightCalibration>
|
<Item ID="1" Height="0.0" />
|
</PlateHeightCalibration>
|
</HXDeviceDefinition>
|
