<?xml version="1.0" encoding="UTF-8"?>
|
<HXDeviceDefinition Model="Choice_SH" PlateNum="38" PlateRows="6" PlateColumns="6" RowSpacing="105" ColumnSpacing="146" HeightSpacing="80" HighPlates="7,13,14,19,20,21" IsReverseX="1" ArmNum="2" ArmIds="10,11" GlobalSpeed="80" TeachLabwareName="96头金属吸头盒装2毫米涂布">
|
<Items>
|
<Item Name="ZMotion1" Type="DriverManager.HXCard.ZMotion_ECI, HXCard.ZMotion_ECI">
|
<Caption>
|
</Caption>
|
<Configure>
|
<BoardID>0</BoardID>
|
<IPAdress>192.168.0.31</IPAdress>
|
<Axes AxisNum = "4">
|
<Axis Caption="AxisX" AxisID="0" DaLiang="166.667" AxisType="4" InvertStep="0" MoveAcc="1000" MoveDec="1000" OriginDO = "AxisXHomeMove" OriginDI="AxisXHomeOK" AlarmDI="24_-1" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="20" MaxVel="500" ForceSpeed="500" StartSpeed="200" EndSpeed="200" PsLimit="840.5" RsLimit="-5.5" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="XServoOn" PosDeviationLimit="0.1"/>
|
<Axis Caption="AxisY1" AxisID="1" DaLiang="250" AxisType="4" InvertStep="0" MoveAcc="1000" MoveDec="1000" OriginDO = "Null" OriginDI="15_-1" AlarmDI="25_1" PELDI="Null" MELDI="Null" HomeMode="14" HomeSpeed="20" MaxVel="500" ForceSpeed="500" StartSpeed="200" EndSpeed="200" PsLimit="428" RsLimit="-10" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Y1ServoOn" PosDeviationLimit="0.2"/>
|
<Axis Caption="AxisGrabFB" AxisID="2" DaLiang="250" AxisType="4" InvertStep="0" MoveAcc="1000" MoveDec="1000" OriginDO = "AxisGrabFBHomeMove" OriginDI="AxisGrabFBHomeOK" AlarmDI="26_-1" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="600" PsLimit="520" RsLimit="-10" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="GrabFBServoOn" PosDeviationLimit="0.1"/>
|
<Axis Caption="AxisGrabUD" AxisID="3" DaLiang="106.103" AxisType="4" InvertStep="2" MoveAcc="500" MoveDec="500" OriginDO = "AxisGrabUDHomeMove" OriginDI="AxisGrabUDHomeOK" AlarmDI="27_-1" PELDI="Null" MELDI="Null" HomeMode="-1" HomeSpeed="10" MaxVel="150" PsLimit="150" RsLimit="-3" SafePos="10" Sramp = "50" IsRotateAxis="0" ServoOn="GrabUDServoOn" PosDeviationLimit="0.2"/>
|
</Axes>
|
<DIs>
|
<DI StationName="ST10" SignalName="AxisXHomeOK" SignalIndex="0" />
|
<DI StationName="ST10" SignalName="AxisGrabFBHomeOK" SignalIndex="1" />
|
<DI StationName="ST10" SignalName="AxisGrabUDHomeOK" SignalIndex="2" />
|
<DI StationName="ST10" SignalName="StartButton" SignalIndex="3" />
|
<DI StationName="ST10" SignalName="ResetButton" SignalIndex="4" />
|
<DI StationName="ST10" SignalName="StopButton" SignalIndex="5" />
|
<DI StationName="ST10" SignalName="EMGStopButton" SignalIndex="6" />
|
<DI StationName="ST10" SignalName="FrontDoor" SignalIndex="7" />
|
</DIs>
|
<DOs>
|
<DO StationName="ST10" SignalName="AxisXHomeMove" SignalIndex="0" />
|
<DO StationName="ST10" SignalName="AxisGrabFBHomeMove" SignalIndex="1" />
|
<DO StationName="ST10" SignalName="AxisGrabUDHomeMove" SignalIndex="2" />
|
<DO StationName="ST10" SignalName="StartButtonLight" SignalIndex="3" />
|
<DO StationName="ST10" SignalName="ResetButtonLight" SignalIndex="4" />
|
<DO StationName="ST10" SignalName="StopButtonLight" SignalIndex="5" />
|
<DO StationName="ST10" SignalName="GreenLight" SignalIndex="7" />
|
<DO StationName="ST10" SignalName="BlueLight" SignalIndex="9" />
|
<DO StationName="ST10" SignalName="RedLight" SignalIndex="8" />
|
<DO StationName="ST10" SignalName="Buzzer" SignalIndex="6" />
|
<DO StationName="ST10" SignalName="XServoOn" SignalIndex="12" IsInvertSign="1" />
|
<DO StationName="ST10" SignalName="Y1ServoOn" SignalIndex="13" IsInvertSign="0" />
|
<DO StationName="ST10" SignalName="GrabFBServoOn" SignalIndex="14" IsInvertSign="1" />
|
<DO StationName="ST10" SignalName="GrabUDServoOn" SignalIndex="15" IsInvertSign="1" />
|
</DOs>
|
<Triggers />
|
</Configure>
|
</Item>
|
<Item Name="KeytoTip1" Type="DriverManager.HXTip_Keyto, HXTip_Keyto">
|
<Caption>
|
</Caption>
|
<Configure>
|
<MotionName>ZMotion1</MotionName>
|
<ConnectType>1</ConnectType>
|
<IPAdress>192.168.0.33</IPAdress>
|
<Tips TipNum = "8" LoadTipSpeed = "20">
|
<Tip Caption="AxisS1" TipID="1" InitialPos = "1" DropDitiPos = "0" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="3000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
|
<Tip Caption="AxisS2" TipID="2" InitialPos = "2" DropDitiPos = "0" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="3000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
|
<Tip Caption="AxisS3" TipID="3" InitialPos = "3" DropDitiPos = "0" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="3000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
|
<Tip Caption="AxisS4" TipID="4" InitialPos = "4" DropDitiPos = "0" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="3000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
|
<Tip Caption="AxisS5" TipID="5" InitialPos = "5" DropDitiPos = "0" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="3000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
|
<Tip Caption="AxisS6" TipID="6" InitialPos = "6" DropDitiPos = "0" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="3000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
|
<Tip Caption="AxisS7" TipID="7" InitialPos = "7" DropDitiPos = "0" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="3000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
|
<Tip Caption="AxisS8" TipID="8" InitialPos = "8" DropDitiPos = "0" LiqDecType="0" AspirateAcc="3000" AspirateMax="1000" AspirateStart="200" AspirateStop="200" DispenseAcc="3000" DispenseMax="1000" DispenseStart="200" DispenseStop="200" TipCheckSign="Null" IsCheckTip="1" IsCheckAspirate="0" CalRatio = "1" CalOffset = "0" MaxVolume="1080" LiqDetSens="3" LiqDetSpeed="500" LiqDetEnable="1" Enable="1" ChannelPosOffsetX="0" ChannelPosOffsetY="0" ChannelPosOffsetZ="0" />
|
</Tips>
|
<Axes AxisNum = "8">
|
<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" />
|
<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" />
|
<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" />
|
<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" />
|
<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" />
|
<Axis Caption="AxisChoiceChannelZ5" AxisID="45" 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="-0.22" MaxVel="180" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="190" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
|
<Axis Caption="AxisChoiceChannelZ6" AxisID="46" 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="0.13" MaxVel="180" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="190" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
|
<Axis Caption="AxisChoiceChannelZ7" AxisID="47" 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="0.18" MaxVel="180" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="190" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
|
<Axis Caption="AxisChoiceChannelZ8" AxisID="48" 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="0.04" MaxVel="180" ForceSpeed="180" StartSpeed="30" EndSpeed="30" PsLimit="190" RsLimit="-1" SafePos="0" Sramp = "50" IsRotateAxis="0" ServoOn="Null" />
|
</Axes>
|
</Configure>
|
</Item>
|
<Item Name="DHDriverBus1" Type="DriverManager.DHDriverBus, DriverBus_DH">
|
<Caption>
|
</Caption>
|
<Configure>
|
<BusID>0</BusID>
|
<IPAdress>192.168.0.32</IPAdress>
|
<Axes AxisNum = "1">
|
<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="35.1" RsLimit="-0.1" SafePos="23" Sramp="0" IsRotateAxis="0" Force="25" />
|
<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="20" PsLimit="360" RsLimit="-360" SafePos="0" Sramp="0" IsRotateAxis="1" Force="30" />
|
</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,AxisGrabRotate" BaseWidth="65" ReferencePanelWidth="85" Force="50" YieldStartAxisxPos="760" YieldStartAxisyPos="380" InvalidRotateStartAxisyPos="350" YieldAxisYMovetoPos="260" YieldAxisGrabRotatetoPos="90" YieldTipStartGrabRotatePos="150" YieldTipCenterTipYPos="310" IsRotateInHoming="0" RotateEnable="1" IsCheckObjectInHand="1"/>
|
</Grippers>
|
</Configure>
|
</Item>
|
<Item Name="AmsamotionDAQDriverBus1" Type="DriverManager.AmsamotionDAQDriverBus, DAQDriverBus_Amsamotion">
|
<Caption>
|
</Caption>
|
<Configure>
|
<BusID>1</BusID>
|
<IPAdress>192.168.0.34</IPAdress>
|
<AIs>
|
<AI StationName="AI01" SignalName="DistaneMeasure1" SignalIndex="0x00" MinValue="6" MaxValue="8154"/>
|
<AI StationName="AI02" SignalName="AI02" SignalIndex="0x01"/>
|
<AI StationName="AI03" SignalName="AI03" SignalIndex="0x02"/>
|
<AI StationName="AI04" SignalName="AI04" SignalIndex="0x03"/>
|
</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="10" MarginTBOfMeasureRegion="10" MaxDistanceInPlate="79" MaxDistanceInVision="44" HeightTolerance="3" ChannelPosOffsetX="-141" ChannelPosOffsetY="-12" ChannelPosOffsetZ="-50.6"/>
|
</DistanceMeasures>
|
</Configure>
|
</Item>
|
<Item Name="EbyteDAQDriverBus1" Type="DriverManager.EbyteDAQDriverBus, DAQDriverBus_Ebyte">
|
<Caption>
|
</Caption>
|
<Configure>
|
<BusID>1</BusID>
|
<IPAdress>192.168.0.35</IPAdress>
|
<DIs>
|
<DI StationName="DI01" SignalName="FloodlightButton" SignalIndex="0"/>
|
<DI StationName="DI02" SignalName="FFUAlarm" SignalIndex="1"/>
|
</DIs>
|
<DOs>
|
<DO StationName="DO01" SignalName="Floodlight" SignalIndex="0"/>
|
<DO StationName="DO02" SignalName="SterilizingLamp" SignalIndex="1"/>
|
<DO StationName="DO03" SignalName="SterilizingLamp2" SignalIndex="2"/>
|
<DO StationName="DO04" SignalName="FFU" SignalIndex="3"/>
|
</DOs>
|
<AIs>
|
<AI StationName="AI01" SignalName="Anemograph" SignalIndex="100" MinValue="4" MaxValue="20"/>
|
<AI StationName="AI02" SignalName="AI02" SignalIndex="101"/>
|
</AIs>
|
</Configure>
|
</Item>
|
<Item Name="EbyteSupport1" Type="DriverManager.Support, Support_Ebyte">
|
<Caption>
|
</Caption>
|
<Configure>
|
<DAQName>EbyteDAQDriverBus1</DAQName>
|
<Support SupportId="1" Caption="Support1" FFUName="AAFFFU1"/>
|
</Configure>
|
</Item>
|
<Item Name="AAFFFU1" Type="DriverManager.AAFFFU, FFU_AAF">
|
<Caption>
|
</Caption>
|
<Configure>
|
<ID>1</ID>
|
<IPAdress>192.168.0.36</IPAdress>
|
<SpeedMax>1440</SpeedMax>
|
</Configure>
|
</Item>
|
</Items>
|
</HXDeviceDefinition>
|
