<?xml version="1.0" encoding="UTF-8"?>
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<HXDeviceDefinition Model="X1" PlateNum="20" ArmNum="3" ArmIds="2,1,6" GlobalSpeed="100">
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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>192.168.0.11</IPAdress>
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<Axes AxisNum = "9">
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<Axis Caption="AxisX" AxisID="0" DaLiang="166.667" AxisType="4" InvertStep="0" MoveAcc="1500" MoveDec="1500" OriginDO = "AxisXHomeMove" OriginDI="AxisXHomeOK" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="500" PsLimit="620" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" />
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<Axis Caption="AxisY1" AxisID="2" DaLiang="200" AxisType="4" InvertStep="0" MoveAcc="1000" MoveDec="1000" OriginDO = "AxisY1HomeMove" OriginDI="AxisY1HomeOK" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="300" PsLimit="380" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" />
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<Axis Caption="AxisZ1" AxisID="4" DaLiang="500" AxisType="4" InvertStep="0" MoveAcc="500" MoveDec="500" OriginDO = "AxisZ1HomeMove" OriginDI="AxisZ1HomeOK" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="130" PsLimit="183" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" />
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<Axis Caption="AxisS1" AxisID="10" DaLiang="50" AxisType="1" InvertStep="0" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="11_-1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="50" MaxVel="100" PsLimit="110" RsLimit="-35" SafePos="0" Sramp = "50" IsRotateAxis="0" />
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<Axis Caption="AxisY2" AxisID="1" DaLiang="200" AxisType="4" InvertStep="0" MoveAcc="1000" MoveDec="1000" OriginDO = "AxisY2HomeMove" OriginDI="AxisY2HomeOK" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="300" PsLimit="325" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" />
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<Axis Caption="AxisZ2" AxisID="3" DaLiang="250" AxisType="4" InvertStep="2" MoveAcc="500" MoveDec="500" OriginDO = "AxisZ2HomeMove" OriginDI="AxisZ2HomeOK" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="150" PsLimit="178" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" />
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<Axis Caption="AxisS2" AxisID="9" DaLiang="28.8" AxisType="1" InvertStep="2" MoveAcc="500" MoveDec="500" OriginDO = "Null" OriginDI="13_-1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="5" MaxVel="200" PsLimit="260" RsLimit="-180" SafePos="0" Sramp = "50" IsRotateAxis="0" />
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<Axis Caption="AxisGrabUD" AxisID="6" DaLiang="127.389" AxisType="4" InvertStep="2" MoveAcc="1000" MoveDec="1000" OriginDO = "AxisGrabUDMove" OriginDI="AxisGrabUDHomeOK" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="300" PsLimit="98" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" />
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<Axis Caption="AxisGrabFB" AxisID="5" DaLiang="250" AxisType="4" InvertStep="2" MoveAcc="1500" MoveDec="1500" OriginDO = "AxisGrabFBMove" OriginDI="AxisGrabFBHomeOK" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="500" PsLimit="350" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" />
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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="AxisY1HomeOK" SignalIndex="1" />
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<DI StationName="ST10" SignalName="AxisY2HomeOK" SignalIndex="2" />
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<DI StationName="ST10" SignalName="AxisZ1HomeOK" SignalIndex="3" />
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<DI StationName="ST10" SignalName="AxisZ2HomeOK" SignalIndex="4" />
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<DI StationName="ST10" SignalName="AxisGrabFBHomeOK" SignalIndex="5" />
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<DI StationName="ST10" SignalName="AxisGrabUDHomeOK" SignalIndex="6" />
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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="TipCheck" SignalIndex="12" IsInvertSign="1" />
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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="AxisY1HomeMove" SignalIndex="1" />
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<DO StationName="ST10" SignalName="AxisY2HomeMove" SignalIndex="2" />
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<DO StationName="ST10" SignalName="AxisZ1HomeMove" SignalIndex="3" />
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<DO StationName="ST10" SignalName="AxisZ2HomeMove" SignalIndex="4" />
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<DO StationName="ST10" SignalName="AxisGrabFBMove" SignalIndex="5" />
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<DO StationName="ST10" SignalName="AxisGrabUDMove" SignalIndex="6" />
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<DO StationName="ST10" SignalName="GreenLight" SignalIndex="7" />
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<DO StationName="ST10" SignalName="YellowLight" SignalIndex="8" />
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<DO StationName="ST10" SignalName="RedLight" SignalIndex="9" />
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<DO StationName="ST10" SignalName="Buzzer" SignalIndex="10" />
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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 = "2">
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<Tip MotionCaption="AxisS1" TipID="0" InitialPos = "0" DropDitiPos = "-32" 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" />
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<Tip MotionCaption="AxisS2" TipID="1" InitialPos = "0" DropDitiPos = "-150" LiqDecType="0" AspirateAcc="100" AspirateMax="10" AspirateStart="1" AspirateStop="1" DispenseAcc="100" DispenseMax="10" DispenseStart="1" DispenseStop="1" TipCheckSign="Null" IsCheckTip="0" CalRatio = "0" CalOffset = "0" />
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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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<SerialPort>COM4,9600,N,8,1</SerialPort>
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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="79.5" 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="75" ReferencePanelWidth="85" />
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</Grippers>
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</Configure>
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</Item>
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</Items>
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</HXDeviceDefinition>
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