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machine.xml
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machine.xml
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<openpnp-machine>
<machine class="org.openpnp.machine.reference.ReferenceMachine" speed="1.0" auto-tool-select="false" safe-Z-park="true">
<axes>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS17e9a353ce2a839a" name="X" type="X" driver-id="DRV17e9a38a73e47842" letter="X" backlash-compensation-method="None" backlash-speed-factor="0.25" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="true" soft-limit-high-enabled="true" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="2.0">
<home-coordinate value="0.0" units="Millimeters"/>
<acceptable-tolerance value="0.025" units="Millimeters"/>
<backlash-offset value="0.08" units="Millimeters"/>
<sneak-up-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="435.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="200.0" units="Millimeters"/>
<acceleration-per-second-2 value="1000.0" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>0.025</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS17e9a353ce3c9cb4" name="Y" type="Y" driver-id="DRV17e9a38a73e47842" letter="Y" backlash-compensation-method="DirectionalCompensation" backlash-speed-factor="0.25" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="true" soft-limit-high-enabled="true" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="2.0">
<home-coordinate value="0.0" units="Millimeters"/>
<acceptable-tolerance value="0.025" units="Millimeters"/>
<backlash-offset value="0.04" units="Millimeters"/>
<sneak-up-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="480.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="200.0" units="Millimeters"/>
<acceleration-per-second-2 value="1000.0" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>0.025</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS17e9a353ce45a14c" name="Z" type="Z" driver-id="DRV17e9a38a73e47842" letter="Z" backlash-compensation-method="None" backlash-speed-factor="0.25" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="true" soft-limit-high-enabled="true" safe-zone-low-enabled="true" safe-zone-high-enabled="true" version="2.0">
<home-coordinate value="0.0" units="Millimeters"/>
<acceptable-tolerance value="0.025" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<sneak-up-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="2.3999999999999986" units="Millimeters"/>
<soft-limit-high value="60.8" units="Millimeters"/>
<safe-zone-low value="31.5" units="Millimeters"/>
<safe-zone-high value="31.5" units="Millimeters"/>
<feedrate-per-second value="200.0" units="Millimeters"/>
<acceleration-per-second-2 value="200.0" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>0.00625</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceMappedAxis" id="AXS17ede8c94870dff7" name="ZL" type="Z" input-axis-id="AXS17e9a353ce45a14c">
<map-input-0 value="31.5" units="Millimeters"/>
<map-output-0 value="0.0" units="Millimeters"/>
<map-input-1 value="32.5" units="Millimeters"/>
<map-output-1 value="1.0" units="Millimeters"/>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceMappedAxis" id="AXS17ed40bfc4e788e0" name="ZR" type="Z" input-axis-id="AXS17e9a353ce45a14c">
<map-input-0 value="31.5" units="Millimeters"/>
<map-output-0 value="0.0" units="Millimeters"/>
<map-input-1 value="30.5" units="Millimeters"/>
<map-output-1 value="1.0" units="Millimeters"/>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS17e9a353ce46bfe6" name="A" type="Rotation" driver-id="DRV17e9a38a73e47842" letter="A" backlash-compensation-method="None" backlash-speed-factor="0.25" limit-rotation="true" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="true" soft-limit-high-enabled="true" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="2.0">
<home-coordinate value="0.0" units="Millimeters"/>
<acceptable-tolerance value="0.025" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<sneak-up-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="360.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="150.0" units="Millimeters"/>
<acceleration-per-second-2 value="1000.0" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>0.014063</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS17e9a358f1f0ccea" name="B" type="Rotation" driver-id="DRV17e9a38a73e47842" letter="B" backlash-compensation-method="None" backlash-speed-factor="0.25" limit-rotation="true" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="true" soft-limit-high-enabled="true" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="2.0">
<home-coordinate value="0.0" units="Millimeters"/>
<acceptable-tolerance value="0.025" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<sneak-up-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="360.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="150.0" units="Millimeters"/>
<acceleration-per-second-2 value="1000.0" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>0.014063</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceVirtualAxis" id="AXS17ed9a8eb5d2999a" name="Rotation Top" type="Rotation">
<home-coordinate value="0.0" units="Millimeters"/>
</axis>
</axes>
<heads>
<head class="org.openpnp.machine.reference.ReferenceHead" id="H1" name="H1" vacuum-pump-control="PartOn" pump-on-wait-milliseconds="0" visual-homing-method="ResetToFiducialLocation" nozzle-solution="DualNegated" nozzle-solutions-multiplier="1">
<nozzles>
<nozzle class="org.openpnp.machine.reference.ContactProbeNozzle" axis-X-id="AXS17e9a353ce2a839a" axis-Y-id="AXS17e9a353ce3c9cb4" axis-Z-id="AXS17ede8c94870dff7" axis-rotation-id="AXS17e9a353ce46bfe6" id="N1" name="LEFT_NOZZLE" rotation-mode="AbsolutePartAngle" aligning-rotation-mode="true" max-pick-articulation-angle="15.0" max-alignment-articulation-angle="30.0" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" current-nozzle-tip-id="NT1" changer-enabled="false" nozzle-tip-changed-on-manual-feed="false" enable-dynamic-safe-z="false" blow-off-closing-valve="true" version="200" limit-rotation="true" contact-probe-speed="0.05" sniffle-dwell-time="250" contact-probe-method="None" feeder-height-probing="EachTime" part-height-probing="EachTime" discard-probing="false" max-Z-offset-mm="2.0">
<compatible-nozzle-tip-ids class="java.util.ArrayList">
<string>NT1</string>
<string>TIP17ed3778bb261350</string>
</compatible-nozzle-tip-ids>
<head-offsets units="Millimeters" x="-22.391" y="-72.172" z="0.0" rotation="0.0"/>
<manual-nozzle-tip-change-location units="Millimeters" x="-156.08812679619788" y="-87.06068234482834" z="107.70000000000002" rotation="0.0"/>
<vacuum-sense-actuator-name>LEFT_SENSOR</vacuum-sense-actuator-name>
<vacuum-actuator-name>LEFT_PUMP</vacuum-actuator-name>
<blow-off-actuator-name>LEFT_SOLENOID</blow-off-actuator-name>
<contact-probe-start-offset-z value="1.0" units="Millimeters"/>
<contact-probe-depth-z value="2.0" units="Millimeters"/>
<sniffle-increment-z value="0.1" units="Millimeters"/>
<contact-probe-adjust-z value="0.0" units="Millimeters"/>
<probed-feeder-height-offsets/>
<probed-part-height-offsets/>
</nozzle>
<nozzle class="org.openpnp.machine.reference.ContactProbeNozzle" axis-X-id="AXS17e9a353ce2a839a" axis-Y-id="AXS17e9a353ce3c9cb4" axis-Z-id="AXS17ed40bfc4e788e0" axis-rotation-id="AXS17e9a358f1f0ccea" id="NOZ17e9a358f1cb4932" name="RIGHT_NOZZLE" rotation-mode="AbsolutePartAngle" aligning-rotation-mode="true" max-pick-articulation-angle="15.0" max-alignment-articulation-angle="30.0" pick-dwell-milliseconds="0" place-dwell-milliseconds="0" current-nozzle-tip-id="TIP17ed3778bb261350" changer-enabled="false" nozzle-tip-changed-on-manual-feed="false" enable-dynamic-safe-z="false" blow-off-closing-valve="true" version="200" limit-rotation="true" contact-probe-speed="0.05" sniffle-dwell-time="250" contact-probe-method="None" feeder-height-probing="EachTime" part-height-probing="EachTime" discard-probing="false" max-Z-offset-mm="2.0">
<compatible-nozzle-tip-ids class="java.util.ArrayList">
<string>NT1</string>
<string>TIP17ed3778bb261350</string>
</compatible-nozzle-tip-ids>
<head-offsets units="Millimeters" x="24.97" y="-72.31" z="0.0" rotation="0.0"/>
<manual-nozzle-tip-change-location units="Millimeters" x="126.65248632412778" y="57.59259609460429" z="144.43999999999988" rotation="0.0"/>
<vacuum-sense-actuator-name>RIGHT_SENSOR</vacuum-sense-actuator-name>
<vacuum-actuator-name>RIGHT_PUMP</vacuum-actuator-name>
<blow-off-actuator-name>RIGHT_SOLENOID</blow-off-actuator-name>
<contact-probe-start-offset-z value="1.0" units="Millimeters"/>
<contact-probe-depth-z value="2.0" units="Millimeters"/>
<sniffle-increment-z value="0.1" units="Millimeters"/>
<contact-probe-adjust-z value="0.0" units="Millimeters"/>
<probed-feeder-height-offsets/>
<probed-part-height-offsets/>
</nozzle>
</nozzles>
<actuators>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="AL1" name="LIGHT_TOP" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV17e9a38a73e47842" coordinated-before-actuate="false" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="ActuateOff" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT17ed98c763cfb409" name="LEFT_PUMP" value-type="Double" value-type-confirmed="true" default-on-double="1.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV17e9a38a73e47842" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT17ed98d408495942" name="LEFT_SOLENOID" value-type="Boolean" value-type-confirmed="true" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV17e9a38a73e47842" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT17ed98d9c098a578" name="RIGHT_PUMP" value-type="Double" value-type-confirmed="true" default-on-double="1.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV17e9a38a73e47842" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT17ed98e1c0d97975" name="RIGHT_SOLENOID" value-type="Boolean" value-type-confirmed="true" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV17e9a38a73e47842" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT17ed98e7c29a3883" name="LEFT_SENSOR" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV17e9a38a73e47842" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT17ed98ecf1b835ae" name="RIGHT_SENSOR" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV17e9a38a73e47842" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
</actuators>
<cameras>
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</modeled-test-pattern-image-points-list>
<outlier-points length="19">
<integer>38</integer>
<integer>42</integer>
<integer>44</integer>
<integer>52</integer>
<integer>56</integer>
<integer>66</integer>
<integer>67</integer>
<integer>82</integer>
<integer>88</integer>
<integer>89</integer>
<integer>94</integer>
<integer>95</integer>
<integer>97</integer>
<integer>105</integer>
<integer>106</integer>
<integer>108</integer>
<integer>140</integer>
<integer>165</integer>
<integer>205</integer>
</outlier-points>
<trial-step value="0.5" units="Millimeters"/>
<calibrated-offsets units="Millimeters" x="1.2994305788049019" y="-1.972192942936232" z="0.0" rotation="0.0"/>
</advanced-calibration>
<focus-provider class="org.openpnp.machine.reference.camera.AutoFocusProvider" averaged-frames="1" focus-speed="0.5" show-diagnostics="true">
<focal-resolution value="0.05" units="Millimeters"/>
</focus-provider>
<back-light-compensation property="BackLightCompensation" value="3"/>
<brightness property="Brightness" value="0"/>
<contrast property="Contrast" value="38"/>
<exposure property="Exposure" value="852" auto="false"/>
<focus property="Focus" value="58" auto="true"/>
<gain property="Gain"/>
<gamma property="Gamma" value="400"/>
<hue property="Hue" value="0"/>
<power-line-frequency property="PowerLineFrequency" value="1"/>
<saturation property="Saturation" value="64"/>
<sharpness property="Sharpness" value="0"/>
<white-balance property="WhiteBalance" value="4600" auto="false"/>
<zoom property="Zoom" value="0"/>
</camera>
</cameras>
<actuators>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="AL2" name="LIGHT_BOTTOM" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV17e9a38a73e47842" coordinated-before-actuate="true" coordinated-after-actuate="true" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="ActuateOff" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
</actuators>
<part-alignments>
<part-alignment class="org.openpnp.machine.reference.vision.ReferenceBottomVision" bottom-vision-id="BVS_Default" enabled="true" pre-rotate="false" max-vision-passes="3" max-angular-offset="10.0" test-alignment-angle="0.0">
<max-linear-offset value="1.0" units="Millimeters"/>
</part-alignment>
</part-alignments>
<drivers>
<driver class="org.openpnp.machine.reference.driver.GcodeDriver" id="DRV17e9a38a73e47842" name="Klipper" motion-control-type="ToolpathFeedRate" communications="tcp" connection-keep-alive="false" sync-initial-location="true" allow-unhomed-motion="false" units="Millimeters" max-feed-rate="40000" backlash-offset-x="-1.0" backlash-offset-y="-1.0" backlash-offset-z="0.0" backlash-offset-r="0.0" non-squareness-factor="0.0" backlash-feed-rate-factor="0.1" timeout-milliseconds="10000" connect-wait-time-milliseconds="3000" dollar-wait-time-milliseconds="50" visual-homing-enabled="true" backslash-escaped-characters-enabled="false" remove-comments="false" compress-gcode="false" compression-excludes="[]"" logging-gcode="true" supporting-pre-move="false" using-letter-variables="true" infinity-timeout-milliseconds="60000">
<serial line-ending-type="LF" port-name="" baud="115200" flow-control="Off" data-bits="Eight" stop-bits="One" parity="None" set-dtr="false" set-rts="false" name="SerialPortCommunications"/>
<tcp line-ending-type="LF" ip-address="127.0.0.1" port="23" name="TcpCommunications"/>
<simulated line-ending-type="LF"/>
<homing-fiducial-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<detected-firmware><![CDATA[ok FIRMWARE_NAME:Klipper FIRMWARE_VERSION:v0.12.0-CNC20240801-7-ge9e4ac61-dirty]]></detected-firmware>
<reported-axes><![CDATA[X:200.830 Y:251.910 Z:31.500 A:360.000 B:360.000 C:0.000 E:0.000]]></reported-axes>
<command type="COMMAND_CONFIRM_REGEX">
<text><![CDATA[^ok.*]]></text>
</command>
<command type="COMMAND_ERROR_REGEX">
<text><![CDATA[!!]]></text>
</command>
<command head-mountable-id="AP1" type="ACTUATE_BOOLEAN_COMMAND">
<text><![CDATA[SET_FAN_SPEED FAN=pump SPEED=.{True:5}{False:0}]]></text>
</command>
<command head-mountable-id="AL1" type="ACTUATE_BOOLEAN_COMMAND">
<text><![CDATA[TOP_LED_O{True:N}{False:FF}]]></text>
</command>
<command head-mountable-id="ACT17e9a358f1f5acf3" type="ACTUATE_BOOLEAN_COMMAND">
<text><![CDATA[VAC_O{True:N}{False:FF}]]></text>
</command>
<command type="HOME_COMMAND">
<text><![CDATA[HOME_ALL]]></text>
</command>
<command type="MOVE_TO_COMPLETE_COMMAND">
<text><![CDATA[M400 ; Wait for moves to complete before returning]]></text>
</command>
<command type="CONNECT_COMMAND">
<text><![CDATA[G21 ; Set millimeters mode ]]></text>
<text><![CDATA[G90 ; Set absolute positioning mode]]></text>
</command>
<command head-mountable-id="AL2" type="ACTUATE_BOOLEAN_COMMAND">
<text><![CDATA[BOTTOM_LED_O{True:N}{False:FF}]]></text>
</command>
<command head-mountable-id="ACT17e9a821a5f4c39d" type="ACTUATE_BOOLEAN_COMMAND">
<text><![CDATA[TOP_LED_O{True:N}{False:FF}]]></text>
</command>
<command type="POSITION_REPORT_REGEX">
<text><![CDATA[^.*X:(?<X>-?\d+\.\d+) Y:(?<Y>-?\d+\.\d+) Z:(?<Z>-?\d+\.\d+) A:(?<A>-?\d+\.\d+) B:(?<B>-?\d+\.\d+).*]]></text>
</command>
<command type="MOVE_TO_COMMAND">
<text><![CDATA[G1 {X:X%.2f} {Y:Y%.2f} {Z:Z%.3f} {A:A%.2f} {B:B%.2f} {FeedRate:F%.0f} ; move to target]]></text>
</command>
<command type="GET_POSITION_COMMAND">
<text><![CDATA[M114 ; get position]]></text>
</command>
<command type="SET_GLOBAL_OFFSETS_COMMAND">
<text><![CDATA[G92 {X:X%.4f} {Y:Y%.4f} {Z:Z%.4f} {A:A%.4f} {B:B%.4f} ; reset coordinates]]></text>
</command>
<command type="HOME_COMPLETE_REGEX">
<text><![CDATA[^ok.*]]></text>
</command>
<command head-mountable-id="ACT17ed98c763cfb409" type="ACTUATE_DOUBLE_COMMAND">
<text><![CDATA[SET_PIN PIN=left_pump VALUE=1]]></text>
</command>
<command head-mountable-id="ACT17ed98d408495942" type="ACTUATE_BOOLEAN_COMMAND">
<text><![CDATA[SET_PIN PIN=left_solenoid VALUE={True:1}{False:0}]]></text>
</command>
<command head-mountable-id="ACT17ed98d9c098a578" type="ACTUATE_DOUBLE_COMMAND">
<text><![CDATA[SET_PIN PIN=left_pump VALUE=1,00]]></text>
</command>
<command head-mountable-id="ACT17ed98e1c0d97975" type="ACTUATE_BOOLEAN_COMMAND">
<text><![CDATA[SET_PIN PIN=right_solenoid VALUE={True:1}{False:0}]]></text>
</command>
<command type="DISABLE_COMMAND">
<text><![CDATA[M84]]></text>
</command>
<command type="ENABLE_COMMAND">
<text><![CDATA[FIRMWARE_RESTART]]></text>
</command>
<send-on-change-feed-rate send-on-change="false" relative-deviation="0.001" variable="FeedRate"/>
<send-on-change-acceleration send-on-change="false" relative-deviation="0.001" variable="Acceleration"/>
<send-on-change-jerk send-on-change="false" relative-deviation="0.001" variable="Jerk"/>
</driver>
</drivers>
<discard-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<default-board-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<properties>
<entry>
<string>CameraCalibrationProcessProperties</string>
<object class="org.openpnp.gui.processes.CalibrateCameraProcess$CameraCalibrationProcessProperties">
<max-allowed-pixel-step-factor>0.08333333333333333</max-allowed-pixel-step-factor>
<min-allowed-pixel-step-factor>0.027777777777777776</min-allowed-pixel-step-factor>
<change-mask-threshold>3</change-mask-threshold>
<mask-growth-threshold-factor>0.7</mask-growth-threshold-factor>
<mask-shrink-thresholdfactor>0.1</mask-shrink-thresholdfactor>
<mask-growth-factor>0.1</mask-growth-factor>
<mask-shrinkfactor>0.05</mask-shrinkfactor>
<initial-mask-diameter-fraction>0.25</initial-mask-diameter-fraction>
<centering-diameter-fraction>0.5</centering-diameter-fraction>
<max-error-count>15</max-error-count>
<default-detection-diameter>25</default-detection-diameter>
<default-up-looking-secondary-offset-Z-mm>2.0</default-up-looking-secondary-offset-Z-mm>
</object>
</entry>
<entry>
<string>Welcome2_0_Dialog_Shown</string>
<object class="java.lang.Boolean">true</object>
</entry>
</properties>
<nozzle-tips>
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="NT1" name="N045" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="false" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
<changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
<changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-mid-to-mid-2-speed>1.0</changer-mid-to-mid-2-speed>
<changer-mid-location-2 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-mid-2-to-end-speed>1.0</changer-mid-2-to-end-speed>
<changer-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<touch-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<vision-calibration-Z-adjust value="0.0" units="Millimeters"/>
<vision-template-dimension-x value="10.0" units="Millimeters"/>
<vision-template-dimension-y value="10.0" units="Millimeters"/>
<vision-template-tolerance value="4.0" units="Millimeters"/>
<vision-calibration-tolerance value="0.7" units="Millimeters"/>
<min-part-diameter value="2.5" units="Millimeters"/>
<max-part-diameter value="5.0" units="Millimeters"/>
<max-part-height value="10.0" units="Millimeters"/>
<max-pick-tolerance value="1.0" units="Millimeters"/>
<calibration angle-subdivisions="6" allow-misdetections="15" angle-start="0.0" angle-stop="360.0" excenter-ratio="0.25" enabled="true" fail-homing="false" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="Brightness" background-min-hue="0" background-max-hue="255" background-tol-hue="8" background-min-saturation="0" background-max-saturation="255" background-tol-saturation="8" background-min-value="4" background-max-value="218" background-tol-value="8" background-diagnostics="<html>Background elements are too bright.<br/>Try to eliminate highlights and reflections.<br/>Use a shade behind the nozzle.<br/>Renew the blackening of dark parts of the nozzle tip.<br/>Clean the nozzle tip. If it is shiny, make it dull.<br/>Eliminate light sources that reflect on the nozzle tip.</html>" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="50" property-name="MaskCircle"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="5" max-diameter="25" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
</stages>
</pipeline>
<runout-compensation-lookup class="java.util.HashMap">
<entry>
<string>N1</string>
<runout-compensation class="org.openpnp.machine.reference.ReferenceNozzleTipCalibration$ModelBasedRunoutCameraOffsetCompensation" center-x="-0.23446534195593274" center-y="0.5345809796595266" radius="0.12827169638396727" phase-shift="9.702857232852399" units="Millimeters" peak-error="0.23900143661867854" rms-error="0.17121689220608288"/>
</entry>
</runout-compensation-lookup>
<minimum-detail-size value="0.2" units="Millimeters"/>
<offset-threshold-length value="2.0" units="Millimeters"/>
<calibration-Z-offset value="0.0" units="Millimeters"/>
<calibration-tip-diameter value="0.0" units="Millimeters"/>
</calibration>
<method-part-on>None</method-part-on>
<part-on-check-after-pick>true</part-on-check-after-pick>
<part-on-check-align>true</part-on-check-align>
<part-on-check-before-place>true</part-on-check-before-place>
<vacuum-level-part-on-low>0.0</vacuum-level-part-on-low>
<vacuum-level-part-on-high>0.0</vacuum-level-part-on-high>
<vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
<vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
<method-part-off>None</method-part-off>
<part-off-check-after-place>true</part-off-check-after-place>
<part-off-check-before-pick>true</part-off-check-before-pick>
<vacuum-level-part-off-low>0.0</vacuum-level-part-off-low>
<vacuum-level-part-off-high>0.0</vacuum-level-part-off-high>
<vacuum-difference-part-off-low>0.0</vacuum-difference-part-off-low>
<vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
<diameter-low value="1.0" units="Millimeters"/>
</nozzle-tip>
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP17ed3778bb261350" name="N24" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="false" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
<changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
<changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-mid-to-mid-2-speed>1.0</changer-mid-to-mid-2-speed>
<changer-mid-location-2 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-mid-2-to-end-speed>1.0</changer-mid-2-to-end-speed>
<changer-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<touch-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<vision-calibration-Z-adjust value="0.0" units="Millimeters"/>
<vision-template-dimension-x value="10.0" units="Millimeters"/>
<vision-template-dimension-y value="10.0" units="Millimeters"/>
<vision-template-tolerance value="4.0" units="Millimeters"/>
<vision-calibration-tolerance value="0.7" units="Millimeters"/>
<min-part-diameter value="4.4" units="Millimeters"/>
<max-part-diameter value="20.0" units="Millimeters"/>
<max-part-height value="5.0" units="Millimeters"/>
<max-pick-tolerance value="1.0" units="Millimeters"/>
<calibration angle-subdivisions="6" allow-misdetections="15" angle-start="0.0" angle-stop="360.0" excenter-ratio="0.25" enabled="true" fail-homing="false" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="BrightnessAndKeyColor" background-min-hue="155" background-max-hue="197" background-tol-hue="8" background-min-saturation="63" background-max-saturation="104" background-tol-saturation="8" background-min-value="128" background-max-value="247" background-tol-value="8" background-diagnostics="<html>Non-color-keyed background elements are too bright.<br/>Try to eliminate highlights and reflections.<br/>Use a shade behind the nozzle.<br/>Renew the blackening of dark parts of the nozzle tip.<br/>Clean the nozzle tip. If it is shiny, make it dull.<br/>Eliminate light sources that reflect on the nozzle tip.</html>" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
<pipeline>
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<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="100" property-name="MaskCircle"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="70" max-diameter="90" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
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</pipeline>
<runout-compensation-lookup class="java.util.HashMap">
<entry>
<string>NOZ17e9a358f1cb4932</string>
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</entry>
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<minimum-detail-size value="0.2" units="Millimeters"/>
<offset-threshold-length value="0.5" units="Millimeters"/>
<calibration-Z-offset value="0.0" units="Millimeters"/>
<calibration-tip-diameter value="0.0" units="Millimeters"/>
</calibration>
<method-part-on>None</method-part-on>
<part-on-check-after-pick>true</part-on-check-after-pick>
<part-on-check-align>true</part-on-check-align>
<part-on-check-before-place>true</part-on-check-before-place>
<vacuum-level-part-on-low>0.0</vacuum-level-part-on-low>
<vacuum-level-part-on-high>0.0</vacuum-level-part-on-high>
<vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
<vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
<method-part-off>None</method-part-off>
<part-off-check-after-place>true</part-off-check-after-place>
<part-off-check-before-pick>true</part-off-check-before-pick>
<vacuum-level-part-off-low>0.0</vacuum-level-part-off-low>
<vacuum-level-part-off-high>0.0</vacuum-level-part-off-high>
<vacuum-difference-part-off-low>0.0</vacuum-difference-part-off-low>
<vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
<diameter-low value="0.0" units="Millimeters"/>
</nozzle-tip>
</nozzle-tips>
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<planner class="org.openpnp.machine.reference.ReferencePnpJobProcessor$SimplePnpJobPlanner"/>
</pnp-job-processor>
<fiducial-locator class="org.openpnp.machine.reference.vision.ReferenceFiducialLocator" fiducial-vision-id="FVS_Default" enabled-averaging="true">
<max-distance value="4.0" units="Millimeters"/>
<tolerances>
<scaling-tolerance>0.05</scaling-tolerance>
<shearing-tolerance>0.05</shearing-tolerance>
<board-location-tolerance value="5.0" units="Millimeters"/>
</tolerances>
</fiducial-locator>
<motion-planner class="org.openpnp.machine.reference.driver.ReferenceAdvancedMotionPlanner" maximum-plan-history="60.0" allow-continuous-motion="true" allow-uncoordinated="false" diagnostics-enabled="false" interpolation-retiming="true" minimum-speed="0.05" show-approximation="true" to-mid-1-speed="1.0" to-mid-2-speed="1.0" to-end-speed="1.0" start-location-enabled="false" mid-1-location-enabled="false" mid-2-location-enabled="false" end-location-enabled="false" to-mid-1-safe-z="true" to-mid-2-safe-z="true" to-end-safe-z="true">
<start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<mid-location-1 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<mid-location-2 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</motion-planner>
<home-after-enabled>false</home-after-enabled>
<park-after-homed>false</park-after-homed>
<unsafe-Z-roaming-distance value="10.0" units="Millimeters"/>
<pool-scripting-engines>true</pool-scripting-engines>
<auto-load-most-recent-job>false</auto-load-most-recent-job>
<solutions show-indicator="true" target-milestone="Advanced">
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<visual-solutions min-symmetry="1.5" sub-sampling="8" super-sampling="4" symmetry-score="OverallVarianceVsRingVarianceSum" diagnostics-milliseconds="4000" max-camera-relative-fiducial-area-diameter="0.2" max-camera-relative-subject-diameter="0.7" zero-knowledge-displacement-ratio="0.2" zero-knowledge-displacement-mm="1.0" fiducials-minimum-Z-offset-mm="2.0" zero-knowledge-fiducial-locator-passes="3" fiducial-margin="1.1" zero-knowledge-runout-compensation-shots="2" zero-knowledge-auto-focus-depth-mm="2.0" zero-knowledge-backlash-speed="0.2" zero-knowledge-settle-time-ms="600" settle-wanted-resolution-mm="0.05" settle-acceptable-compute-time="25.0" settle-maximum-pixel-diff="8.0" settle-test-move-mm="1.0">
<zero-knowledge-backlash-offsets units="Millimeters" x="-1.0" y="-1.0" z="0.0" rotation="-5.0"/>
</visual-solutions>
<calibration-solutions backlash-calibration-passes="4" error-dampening="0.9" backlash-test-move-mm="10.0" backlash-test-move-large-mm="90.0" step-test-mm="1.0" max-sneak-up-offset-mm="2.5" acceptable-sneak-up-offset-mm="0.8" backlash-distance-factor="1.4142135623730951" nozzle-offset-angles="6" extra-vacuum-dwell-ms="300" machine-settle-ms="500" up-looking-secondary-offset-Z-mm="2.0" automation-level="2">
<backlash-probing-speeds length="5">0.25, 0.33, 0.5, 0.75, 1.0</backlash-probing-speeds>
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</machine>
</openpnp-machine>