<?xml version="1.0" encoding="UTF-8"?>
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<HXDeviceDefinition Model="X9" ADPStructure="MultiChannelVariableUnequalSpacingAndIntegratedZ" PlateNum="36" PlateRows="5" PlateColumns="7" RowSpacing="96" ColumnSpacing="135" HeightSpacing="78" HighPlates="1-35" IsReverseX="0" IsReverseY="0" ArmNum="2" ArmIds="22,23" TipsTouchPlatePos="230" GlobalSpeed="80" TeachLabwareName="10ml吸头">
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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>192.168.0.21</IPAdress>
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<TipNum>8</TipNum>
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<Axes AxisNum = "3">
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<Axis Caption="AxisX" AxisID="0" DaLiang="1000" AxisType="65" InvertStep="0" MoveAcc="800" MoveDec="800" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="21" HomeSpeed="30" DatumOffset="10" MaxVel="550" ForceSpeed="100" StartSpeed="100" EndSpeed="100" PsLimit="790" RsLimit="-10" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="XServoOn" AlarmClearDO="XAlarmClear" PosDeviationLimit="1"/>
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<Axis Caption="AxisGrabFB" AxisID="1" DaLiang="102.400" AxisType="65" InvertStep="0" MoveAcc="300" MoveDec="300" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="21" HomeSpeed="30" DatumOffset="15" MaxVel="130" PsLimit="320" RsLimit="-187" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="GrabFBServoOn" AlarmClearDO="GrabFBAlarmClear" PosDeviationLimit="1"/>
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<Axis Caption="AxisGrabUD" AxisID="2" DaLiang="212.765" AxisType="65" InvertStep="0" MoveAcc="900" MoveDec="900" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="21" HomeSpeed="30" HomeOffset="0" MaxVel="120" PsLimit="110" RsLimit="-15" SafePos="15" 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="6000"/>
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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="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="SOCONTip1" Type="DriverManager.HXTip_SOCON_SCM4, HXTip_SOCON_SCM4">
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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>192.168.0.128</IPAdress>
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<Tips TipNum = "8" LoadTipSpeed="80" PullOutTipSpeed="100" LoadTipIntervalTime="300" PullOutTipIntervalTime="300">
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<Tip Caption="AxisS1" TipID="31" InitialPos = "1" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" LiqDecMode="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="1000" AspirateStop="1000" DispenseAcc="200000" DispenseMax="5000" DispenseStart="1000" DispenseStop="1000" 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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<Tip Caption="AxisS2" TipID="32" InitialPos = "2" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" LiqDecMode="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="1000" AspirateStop="1000" DispenseAcc="200000" DispenseMax="5000" DispenseStart="1000" DispenseStop="1000" 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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<Tip Caption="AxisS3" TipID="33" InitialPos = "3" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" LiqDecMode="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="1000" AspirateStop="1000" DispenseAcc="200000" DispenseMax="5000" DispenseStart="1000" DispenseStop="1000" 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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<Tip Caption="AxisS4" TipID="34" InitialPos = "4" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" LiqDecMode="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="1000" AspirateStop="1000" DispenseAcc="200000" DispenseMax="5000" DispenseStart="1000" DispenseStop="1000" 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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<Tip Caption="AxisS5" TipID="35" InitialPos = "5" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" LiqDecMode="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="1000" AspirateStop="1000" DispenseAcc="200000" DispenseMax="5000" DispenseStart="1000" DispenseStop="1000" 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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<Tip Caption="AxisS6" TipID="36" InitialPos = "6" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" LiqDecMode="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="1000" AspirateStop="1000" DispenseAcc="200000" DispenseMax="5000" DispenseStart="1000" DispenseStop="1000" 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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<Tip Caption="AxisS7" TipID="37" InitialPos = "7" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" LiqDecMode="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="1000" AspirateStop="1000" DispenseAcc="200000" DispenseMax="5000" DispenseStart="1000" DispenseStop="1000" 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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<Tip Caption="AxisS8" TipID="38" InitialPos = "8" DropDitiPos = "0" DropDitiSpeed="500" LiqDecType="0" LiqDecMode="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="1000" AspirateStop="1000" DispenseAcc="200000" DispenseMax="5000" DispenseStart="1000" DispenseStop="1000" 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 = "8">
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<Axis Caption="AxisChoiceChannelY1" AxisID="11" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="50000" MoveDec="50000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="40" EndSpeed="40" PsLimit="455" RsLimit="-2" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelY2" AxisID="12" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="50000" MoveDec="50000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="40" EndSpeed="40" PsLimit="455" RsLimit="-2" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelY3" AxisID="13" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="50000" MoveDec="50000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="40" EndSpeed="40" PsLimit="455" RsLimit="-2" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelY4" AxisID="14" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="50000" MoveDec="50000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="40" EndSpeed="40" PsLimit="455" RsLimit="-2" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelY5" AxisID="15" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="50000" MoveDec="50000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="40" EndSpeed="40" PsLimit="455" RsLimit="-2" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelY6" AxisID="16" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="50000" MoveDec="50000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="40" EndSpeed="40" PsLimit="455" RsLimit="-2" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelY7" AxisID="17" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="50000" MoveDec="50000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="40" EndSpeed="40" PsLimit="455" RsLimit="-2" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelY8" AxisID="18" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="50000" MoveDec="50000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="40" EndSpeed="40" PsLimit="455" RsLimit="-2" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ1" AxisID="21" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="180" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ2" AxisID="22" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="180" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ3" AxisID="23" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="180" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ4" AxisID="24" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="180" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ5" AxisID="25" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="180" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ6" AxisID="26" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="180" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ7" AxisID="27" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="180" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
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<Axis Caption="AxisChoiceChannelZ8" AxisID="28" DaLiang="0" AxisType="4" InvertStep="2" MoveAcc="100000" MoveDec="100000" OriginDO = "Null" OriginDI="Null" AlarmDI="Null" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="70" HomeOffset="0" MaxVel="450" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="180" 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>192.168.0.22</IPAdress>
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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="150" PsLimit="35.1" 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="65" ReferencePanelWidth="85" Force="50" YieldStartAxisxPos="675" YieldStartAxisyPos="380" InvalidRotateStartAxisyPos="350" YieldAxisYMovetoPos="260" YieldAxisGrabRotatetoPos="0" YieldTipStartGrabRotatePos="150" YieldTipCenterTipYPos="50" 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="14" Height="21" />
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</PlateHeightCalibration>
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</HXDeviceDefinition>
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