<?xml version="1.0" encoding="UTF-8"?>
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<HXDeviceDefinition Model="X3" ADPStructure="MultiChannelVariableEqualSpacingAndIntegratedZ" PlateNum="25" PlateRows="5" PlateColumns="5" RowSpacing="96" ColumnSpacing="135" HeightSpacing="57" HighPlates="9-25" IsReverseX="0" IsReverseY="0" ArmNum="2" ArmIds="16,17" TipsTouchPlatePos="198.8" GlobalSpeed="80" TeachLabwareName="枪铁头触最矮板,95mm长1ml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>192.168.19.21</IPAdress>
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<TipNum>4</TipNum>
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<Axes AxisNum = "4">
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<Axis Caption="AxisX" AxisID="0" DaLiang="138.889" AxisType="4" InvertStep="0" MoveAcc="800" MoveDec="800" OriginDI="0_1" AlarmDI="24_-1" PELDI="Null" MELDI="Null" HomeMode="39" HomeSpeed="30" DatumOffset="10" MaxVel="500" ForceSpeed="100" StartSpeed="100" EndSpeed="100" PsLimit="770" RsLimit="-3" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="XServoOn" AlarmClearDO="XAlarmClear" PosDeviationLimit="1"/>
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<Axis Caption="AxisY1" AxisID="1" DaLiang="147.059" AxisType="4" InvertStep="0" MoveAcc="800" MoveDec="800" OriginDI="1_1" AlarmDI="25_-1" PELDI="Null" MELDI="Null" HomeMode="39" HomeSpeed="15" DatumOffset="10" MaxVel="500" ForceSpeed="100" StartSpeed="80" EndSpeed="80" PsLimit="428" RsLimit="-3" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Y1ServoOn" AlarmClearDO="Y1AlarmClear" PosDeviationLimit="1"/>
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<Axis Caption="AxisGrabFB" AxisID="2" DaLiang="250" AxisType="4" InvertStep="0" MoveAcc="800" MoveDec="800" OriginDI="2_1" AlarmDI="26_-1" PELDI="Null" MELDI="Null" HomeMode="39" HomeSpeed="30" DatumOffset="15" MaxVel="200" PsLimit="400" RsLimit="-8" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="GrabFBServoOn" AlarmClearDO="GrabFBAlarmClear" PosDeviationLimit="1"/>
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<Axis Caption="AxisGrabUD" AxisID="3" DaLiang="106.383" AxisType="4" InvertStep="0" MoveAcc="300" MoveDec="300" OriginDI="3_-1" AlarmDI="27_-1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="30" HomeOffset="0" MaxVel="100" PsLimit="91" RsLimit="-41" SafePos="10" Sramp = "50" IsRotateAxis="0" ServoOn="GrabUDServoOn" BrakeDO="GrabUDBreak" AlarmClearDO="GrabUDAlarmClear" PosDeviationLimit="1"/>
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</Axes>
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<DIs>
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<DI StationName="ST10" SignalName="StartButton" SignalIndex="8" />
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<DI StationName="ST10" SignalName="ResetButton" SignalIndex="7" />
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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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</DIs>
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<DOs>
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<DO StationName="ST10" SignalName="Floodlight" SignalIndex="0"/>
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<DO StationName="ST10" SignalName="SterilizingLamp" SignalIndex="1"/>
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<DO StationName="ST10" SignalName="FFU" SignalIndex="2"/>
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<DO StationName="ST10" SignalName="GrabUDBreak" SignalIndex="5" DelayTime="3000"/>
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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="GrabFBServoOn" SignalIndex="20" />
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<DO StationName="ST10" SignalName="GrabFBAlarmClear" SignalIndex="21" />
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<DO StationName="ST10" SignalName="GrabUDServoOn" SignalIndex="22" />
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<DO StationName="ST10" SignalName="GrabUDAlarmClear" SignalIndex="23" />
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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="KeytoTip1" Type="DriverManager.HXTip_Keyto, HXTip_Keyto">
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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>192.168.19.23</IPAdress>
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<Port>502</Port>
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<CommIntervalTime>50</CommIntervalTime>
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<RespondTimeout>60000</RespondTimeout>
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<Tips TipNum = "4" LoadTipSpeed="45" PullOutTipSpeed="100" LoadTipIntervalTime="50" PullOutTipIntervalTime="50">
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<Tip Caption="AxisS1" TipID="1" InitialPos = "1" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="30000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" AspirateCheckMode="7" EmptyThreshhold="9" BlockThreshhold="10" FoamThreshhold="50" CalRatio = "1" CalOffset = "0" MaxVolume="1040" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
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<Tip Caption="AxisS2" TipID="2" InitialPos = "2" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="30000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" AspirateCheckMode="7" EmptyThreshhold="9" BlockThreshhold="10" FoamThreshhold="50" CalRatio = "1" CalOffset = "0" MaxVolume="1040" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
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<Tip Caption="AxisS3" TipID="3" InitialPos = "3" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="30000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" AspirateCheckMode="7" EmptyThreshhold="9" BlockThreshhold="10" FoamThreshhold="50" CalRatio = "1" CalOffset = "0" MaxVolume="1040" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
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<Tip Caption="AxisS4" TipID="4" InitialPos = "4" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="30000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="1" AspirateCheckMode="7" EmptyThreshhold="9" BlockThreshhold="10" FoamThreshhold="50" CalRatio = "1" CalOffset = "0" MaxVolume="1040" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
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</Tips>
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<Axes AxisNum = "4">
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<Axis Caption="AxisSD" AxisID="0" DaLiang="1000" AxisType="4" InvertStep="0" MoveAcc="60" MoveDec="60" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="10" MaxVel="20" ForceSpeed="20" StartSpeed="10" EndSpeed="10" PsLimit="45" RsLimit="9" SafePos="9" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ1" AxisID="41" DaLiang="1000" 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="190" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ2" AxisID="42" DaLiang="1000" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="50" HomeOffset="0.11" MaxVel="180" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="190" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ3" AxisID="43" DaLiang="1000" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="50" HomeOffset="0.2" MaxVel="180" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="190" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ4" AxisID="44" DaLiang="1000" AxisType="4" InvertStep="2" MoveAcc="300" MoveDec="300" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="50" HomeOffset="0.09" MaxVel="180" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="190" 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>192.168.19.22</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="28.5714" AxisType="4" InvertStep="0" MoveAcc="100" MoveDec="100" OriginDO="Null" OriginDI="Null" PELDI="Null" MELDI="Null" HomeMode="2" HomeSpeed="10" MaxVel="100" PsLimit="35" 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="18" PsLimit="360" RsLimit="-360" SafePos="0" Sramp="0" IsRotateAxis="1" Force="30" />
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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="72" ReferencePanelWidth="85" Force="50" YieldStartAxisxPos="660" YieldStartAxisyPos="380" InvalidRotateStartAxisyPos="350" YieldAxisYMovetoPos="300" YieldAxisGrabRotatetoPos="0" YieldTipStartGrabRotatePos="-45" 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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</Items>
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<PlateHeightCalibration>
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<Item ID="0" Height="0.0" />
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</PlateHeightCalibration>
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</HXDeviceDefinition>
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