添加获取当前脉冲和最大脉冲，修改打开串口逻辑，通过api进行获取
This commit is contained in:
@@ -27,10 +27,12 @@ namespace HitBotCSharpDemo
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private float currentGain = 0f; // 默认增益
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private string configFilePath = "Camera_config.txt";
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private PictureBox displayControl;
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private PictureBox zoomDisplayControl;
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public CameraManager(PictureBox displayPictureBox)
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public CameraManager(PictureBox displayPictureBox, PictureBox zoomDisplayControl)
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{
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displayControl = displayPictureBox;
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this.zoomDisplayControl = zoomDisplayControl;
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}
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public void Initialize()
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{
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@@ -320,6 +322,20 @@ namespace HitBotCSharpDemo
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// 处理显示异常
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Console.WriteLine("显示图像异常: " + ex.Message);
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}
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// 显示图像到zoom PictureBox
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try
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{
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if (zoomDisplayControl != null && zoomDisplayControl.IsHandleCreated)
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{
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device.ImageRender.DisplayOneFrame(zoomDisplayControl.Handle, frameOut.Image);
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}
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}
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catch (Exception ex)
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{
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Console.WriteLine("显示图像异常: " + ex.Message);
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}
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device.StreamGrabber.FreeImageBuffer(frameOut);
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}
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else
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@@ -375,5 +391,10 @@ namespace HitBotCSharpDemo
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MessageBox.Show("设置参数失败: " + ex.Message);
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}
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}
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public void SetZoomDisplayControl(PictureBox zoomPictureBox)
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{
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zoomDisplayControl = zoomPictureBox;
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}
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}
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}
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942
HitBotCSharpDemo/ShowForm.Designer.cs
generated
942
HitBotCSharpDemo/ShowForm.Designer.cs
generated
File diff suppressed because it is too large
Load Diff
@@ -67,6 +67,7 @@ namespace HitBotCSharpDemo
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private bool[] heatingStates = new bool[4];
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private bool isZoomPortOpen = false;
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private CameraManager cameraManager;
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private tempControl tempControl;
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private ZoomControl zoomControl;
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@@ -207,7 +208,7 @@ namespace HitBotCSharpDemo
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LoadCameraPositions();
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cameraManager = new CameraManager(cam_feed);
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cameraManager = new CameraManager(cam_feed, cam_zoom);
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cameraManager.LoadConfiguration();
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cameraManager.Initialize();
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@@ -217,7 +218,7 @@ namespace HitBotCSharpDemo
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tempControl = new tempControl(temperatureLabels, setting_temperatureLabels);
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tempControl.LoadAvailablePorts(comboBox1);
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zoomControl = new ZoomControl();
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zoomControl = new ZoomControl(this);
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zoomControl.LoadAvailablePorts(comboBox2);
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textBox6.Click += TextBox_Click;
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@@ -230,6 +231,13 @@ namespace HitBotCSharpDemo
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textBox4.Click += TextBox_SetTemp_Click;
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textBox5.Click += TextBox_SetTemp_Click;
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button6.Enabled = false;
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button8.Enabled = false;
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button10.Enabled = false;
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button12.Enabled = false;
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cam_zoom.SizeMode = PictureBoxSizeMode.Zoom;
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InitializeHeatingButtons();
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}
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@@ -1468,7 +1476,7 @@ namespace HitBotCSharpDemo
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private void Form1_FormClosing(object sender, FormClosingEventArgs e)
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{
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tempControl.OnFormClosing();
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zoomControl?.OnFormClosing();
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//zoomControl?.OnFormClosing();
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}
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private void groupBox1_Enter(object sender, EventArgs e)
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@@ -1563,12 +1571,113 @@ namespace HitBotCSharpDemo
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private void button5_Click(object sender, EventArgs e)
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{
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zoomControl.ToggleSerialPort(button5, comboBox2);
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if (!isZoomPortOpen)
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{
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// 打开串口
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zoomControl.ToggleSerialPort(button5, comboBox2);
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if (zoomControl.IsSerialPortOpen())
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{
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isZoomPortOpen = true;
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// 串口成功打开后，只启用button6
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button6.Enabled = true;
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// 其他按钮保持禁用状态，等待获取最大脉冲后再启用
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button8.Enabled = false;
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button10.Enabled = false;
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button12.Enabled = false;
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}
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}
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else
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{
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// 关闭串口
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zoomControl.ToggleSerialPort(button5, comboBox2);
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if (!zoomControl.IsSerialPortOpen())
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{
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isZoomPortOpen = false;
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// 串口关闭后，所有按钮都禁用
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DisableZoomButtons();
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// 清空显示
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label30.Text = "";
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label31.Text = "";
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}
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}
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}
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private void comboBox2_SelectedIndexChanged(object sender, EventArgs e)
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{
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zoomControl.OnComboBoxSelectedIndexChanged(comboBox2, button5);
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}
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private void cam_zoom_Click(object sender, EventArgs e)
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{
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}
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private void button8_Click(object sender, EventArgs e)
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{
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// 检查串口是否打开
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if (!isZoomPortOpen || !zoomControl.IsSerialPortOpen())
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{
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MessageBox.Show("串口未打开，无法获取当前脉冲");
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return;
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}
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// 调用获取当前脉冲的方法
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zoomControl.GetCurrentPulse();
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}
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private void button6_Click(object sender, EventArgs e)
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{
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// 检查串口是否打开
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if (!isZoomPortOpen || !zoomControl.IsSerialPortOpen())
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{
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MessageBox.Show("串口未打开，无法获取最大脉冲");
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return;
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}
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// 调用获取最大脉冲的方法
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zoomControl.GetMaxPulse();
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}
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public void UpdateMaxPulseDisplay(string value)
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{
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label30.Text = value;
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}
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public void UpdateCurrentPulseDisplay(string value)
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{
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label31.Text = value;
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}
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public void EnableOtherButtons()
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{
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button8.Enabled = true;
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button10.Enabled = true;
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button12.Enabled = true;
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}
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public void DisableZoomButtons()
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{
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button6.Enabled = false;
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button8.Enabled = false;
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button10.Enabled = false;
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button12.Enabled = false;
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}
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// 启用变焦按钮
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//public void EnableZoomButtons()
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//{
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// if (isZoomPortOpen && !string.IsNullOrEmpty(label30.Text))
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// {
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// button6.Enabled = true;
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// button8.Enabled = true;
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// button10.Enabled = true;
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// button12.Enabled = true;
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// }
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//}
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private void button12_Click(object sender, EventArgs e)
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{
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}
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private void button10_Click(object sender, EventArgs e)
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{
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}
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}
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}
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@@ -10,16 +10,34 @@ namespace HitBotCSharpDemo
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{
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internal class ZoomControl
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{
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private enum Motor { X = 'X', Y = 'Y' };
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private enum Command
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{
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Limit = 'L', Home = 'H', Stop = 'S', Up = 'U', Down = 'D',
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Reset = 'R', Goto = 'G', Status = 'Z', MaxLength = 'M', Pos = 'N'
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};
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private enum Error { m_eoc = '\x00D' };
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[System.Runtime.InteropServices.DllImport("PMSOpticalDlld.dll",
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CallingConvention = System.Runtime.InteropServices.CallingConvention.Cdecl)]
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private static extern IntPtr PMSOptical_OpenComm(string comname, int nBaud);
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[System.Runtime.InteropServices.DllImport("PMSOpticalDlld.dll",
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CallingConvention = System.Runtime.InteropServices.CallingConvention.Cdecl)]
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private static extern bool PMSOptical_GetMaxPos(IntPtr pHandle, out int nMaxPulse);
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[System.Runtime.InteropServices.DllImport("PMSOpticalDlld.dll",
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CallingConvention = System.Runtime.InteropServices.CallingConvention.Cdecl)]
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private static extern bool PMSOptical_Close(ref IntPtr pHandle);
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[System.Runtime.InteropServices.DllImport("PMSOpticalDlld.dll",
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CallingConvention = System.Runtime.InteropServices.CallingConvention.Cdecl)]
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private static extern bool PMSOptical_IsOpened(IntPtr pHandle, out bool bIsOpened);
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[System.Runtime.InteropServices.DllImport("PMSOpticalDlld.dll",
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CallingConvention = System.Runtime.InteropServices.CallingConvention.Cdecl)]
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private static extern bool PMSOptical_GetPos(IntPtr pHandle, out int nCurrentPulse);
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private IntPtr deviceHandle = IntPtr.Zero;
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private SerialPort serialPort;
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public ZoomControl()
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private ShowForm parentForm;
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private StringBuilder receiveBuffer = new StringBuilder();
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public ZoomControl(ShowForm form)
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{
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parentForm = form;
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InitializeSerialPort();
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}
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@@ -32,6 +50,7 @@ namespace HitBotCSharpDemo
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serialPort.Parity = Parity.None; // 奇偶校验
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serialPort.DataReceived += SerialPort_DataReceived;
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}
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private void SerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
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{
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try
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@@ -47,10 +66,7 @@ namespace HitBotCSharpDemo
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}
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private void ProcessReceivedData(string data)
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{
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// 根据需要处理返回的数据
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// 例如解析最大脉冲数、当前脉冲数、运动状态等
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MessageBox.Show(data);
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}
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public void LoadAvailablePorts(ComboBox comboBox)
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@@ -70,12 +86,12 @@ namespace HitBotCSharpDemo
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{
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comboBox.SelectedIndex = 1;
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}
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else if(comboBox.Items.Count > 0)
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else if (comboBox.Items.Count > 0)
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{
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comboBox.SelectedIndex = 0;
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}
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}
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else
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{
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@@ -94,51 +110,74 @@ namespace HitBotCSharpDemo
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{
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try
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{
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if (serialPort.IsOpen)
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// 检查设备是否已经打开
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bool bIsOpened;
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bool queryResult = false;
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if (deviceHandle != IntPtr.Zero)
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{
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// 关闭串口
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serialPort.Close();
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queryResult = PMSOptical_IsOpened(deviceHandle, out bIsOpened);
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}
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else
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{
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bIsOpened = false;
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queryResult = true; // 句柄为空时，认为查询成功，设备未打开
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}
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if (!queryResult)
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{
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MessageBox.Show("无法查询设备状态", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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return;
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}
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if (bIsOpened)
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{
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// 关闭设备
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PMSOptical_Close(ref deviceHandle);
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deviceHandle = IntPtr.Zero;
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UpdateUIStatus(false, button, comboBox);
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MessageBox.Show("变焦镜头串口已关闭", "提示",
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MessageBox.Show("变焦镜头设备已关闭", "提示",
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MessageBoxButtons.OK, MessageBoxIcon.Information);
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}
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else
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{
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// 打开串口
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// 打开设备
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if (string.IsNullOrEmpty(serialPort.PortName))
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{
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MessageBox.Show("请先选择一个串口！", "提示",
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MessageBoxButtons.OK, MessageBoxIcon.Warning);
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return;
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}
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serialPort.Open();
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UpdateUIStatus(true, button, comboBox);
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MessageBox.Show($"变焦镜头串口 {serialPort.PortName} 已成功打开", "提示",
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MessageBoxButtons.OK, MessageBoxIcon.Information);
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// 串口打开后，获取最大脉冲数
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GetMaxPulse();
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// 用SDK打开设备
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deviceHandle = PMSOptical_OpenComm(serialPort.PortName, 9600);
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if (deviceHandle != IntPtr.Zero)
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{
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// 再次验证设备是否真正打开
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bool finalCheck = PMSOptical_IsOpened(deviceHandle, out bIsOpened);
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if (finalCheck && bIsOpened)
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{
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UpdateUIStatus(true, button, comboBox);
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MessageBox.Show($"变焦镜头串口 {serialPort.PortName} 已成功打开", "提示",
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MessageBoxButtons.OK, MessageBoxIcon.Information);
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}
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else
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{
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// 如果验证失败，清理句柄
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PMSOptical_Close(ref deviceHandle);
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deviceHandle = IntPtr.Zero;
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MessageBox.Show("设备打开后验证失败", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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}
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else
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{
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MessageBox.Show("无法打开变焦镜头设备", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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}
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}
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catch (UnauthorizedAccessException)
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{
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MessageBox.Show("串口访问被拒绝，可能已被其他程序占用！", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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catch (ArgumentException)
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{
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MessageBox.Show("串口名称无效！", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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catch (InvalidOperationException)
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{
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MessageBox.Show("串口已经处于打开状态！", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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catch (Exception ex)
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{
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MessageBox.Show($"操作串口时发生错误: {ex.Message}", "错误",
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MessageBox.Show($"操作设备时发生错误: {ex.Message}", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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}
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@@ -178,47 +217,88 @@ namespace HitBotCSharpDemo
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comboBox.Enabled = true; // 串口关闭时启用选择框
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}
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}
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public bool IsSerialPortOpen()
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{
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return serialPort != null && serialPort.IsOpen;
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}
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// 获取最大脉冲数
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//获取最大脉冲的方法
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public void GetMaxPulse()
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{
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if (serialPort != null && serialPort.IsOpen)
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if (deviceHandle == IntPtr.Zero)
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{
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try
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{
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string command = $"{(char)Motor.X}{(char)Command.MaxLength}\r";
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serialPort.Write(command);
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}
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catch (Exception ex)
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{
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MessageBox.Show($"获取最大脉冲数失败: {ex.Message}", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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MessageBox.Show("设备未连接", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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return;
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}
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}
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public void OnFormClosing()
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{
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try
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{
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if (serialPort != null && serialPort.IsOpen)
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int maxPulse;
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bool result = PMSOptical_GetMaxPos(deviceHandle, out maxPulse);
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if (result)
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{
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serialPort.Close();
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// 更新显示并启用其他按钮
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parentForm.UpdateMaxPulseDisplay(maxPulse.ToString());
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parentForm.EnableOtherButtons();
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}
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else
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{
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MessageBox.Show("获取最大脉冲失败", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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serialPort?.Dispose();
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}
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catch (Exception ex)
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{
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MessageBox.Show($"关闭变焦串口时发生错误: {ex.Message}", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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MessageBox.Show($"获取最大脉冲时发生错误: {ex.Message}", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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}
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//获取当前脉冲的方法
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public void GetCurrentPulse()
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{
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if (deviceHandle == IntPtr.Zero)
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{
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MessageBox.Show("设备未连接", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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return;
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}
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try
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{
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int currentPulse;
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bool result = PMSOptical_GetPos(deviceHandle, out currentPulse);
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if (result)
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{
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// 更新当前脉冲显示
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parentForm.UpdateCurrentPulseDisplay(currentPulse.ToString());
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}
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else
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{
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MessageBox.Show("获取当前脉冲失败", "错误",
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MessageBoxButtons.OK, MessageBoxIcon.Error);
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}
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}
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catch (Exception ex)
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{
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||||
MessageBox.Show($"获取当前脉冲时发生错误: {ex.Message}", "错误",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public bool IsSerialPortOpen()
|
||||
{
|
||||
if (deviceHandle != IntPtr.Zero)
|
||||
{
|
||||
bool bIsOpened;
|
||||
bool result = PMSOptical_IsOpened(deviceHandle, out bIsOpened);
|
||||
if (result)
|
||||
{
|
||||
return bIsOpened;
|
||||
}
|
||||
else
|
||||
{
|
||||
// 如果查询失败，返回false
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,2 +1,2 @@
|
||||
Exposure=128515
|
||||
Exposure=734515
|
||||
Gain=1
|
||||
|
||||
Binary file not shown.
Binary file not shown.
BIN
HitBotCSharpDemo/bin/x64/Debug/PMSOpticalDll_CS.dll
Normal file
BIN
HitBotCSharpDemo/bin/x64/Debug/PMSOpticalDll_CS.dll
Normal file
Binary file not shown.
BIN
HitBotCSharpDemo/bin/x64/Debug/PMSOpticalDlld.dll
Normal file
BIN
HitBotCSharpDemo/bin/x64/Debug/PMSOpticalDlld.dll
Normal file
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 443 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 772 KiB |
@@ -2120,3 +2120,338 @@
|
||||
2025-06-20 11:44:22.282 trail_number2.933128
|
||||
2025-06-20 11:44:22.282 tcp_distance 293.312775
|
||||
2025-06-20 11:44:22.283 angle1_1 = -11.173326 angle2_1 = 84.928253 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-20 11:51:40.523 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-20 11:51:40.523 robot connected
|
||||
2025-06-20 11:51:40.523 26
|
||||
2025-06-20 11:51:40.523 current generation=26
|
||||
2025-06-20 11:51:41.035 0x1a
|
||||
2025-06-20 11:51:41.927 initial joint2 4444932
|
||||
2025-06-20 11:51:41.927 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-20 11:51:41.927 robot WritePID
|
||||
2025-06-20 11:51:42.232 initial joint1 -1269936
|
||||
2025-06-20 11:51:42.279 initial joint2 4444931
|
||||
2025-06-20 11:51:42.326 initial joint3 -12991
|
||||
2025-06-20 11:51:42.371 initial joint4 -25056187
|
||||
2025-06-20 11:51:42.386 initial joint1 -1269935
|
||||
2025-06-20 11:51:42.431 initial joint2 4444932
|
||||
2025-06-20 11:51:42.477 initial joint3 -12991
|
||||
2025-06-20 11:51:42.523 initial joint4 -25056188
|
||||
2025-06-20 11:51:42.539 initial joint1 -1269935
|
||||
2025-06-20 11:51:42.586 initial joint2 4444934
|
||||
2025-06-20 11:51:42.632 initial joint3 -12991
|
||||
2025-06-20 11:51:42.677 initial joint4 -25056189
|
||||
2025-06-20 11:51:44.882 initial_thread initialized
|
||||
2025-06-20 11:51:44.883 servo enable
|
||||
2025-06-20 11:51:44.883 brake open
|
||||
2025-06-20 11:51:44.883 set_brake_state 0 1
|
||||
2025-06-20 11:51:45.098 robot initialized
|
||||
2025-06-20 11:51:45.641 get_scara_param -87.199501 152.604706 -4.460400 -1027.919922
|
||||
2025-06-20 11:51:45.641 get_scara_real_coor -87.199402 152.604706 -4.460400 -1027.919800
|
||||
2025-06-20 11:51:45.642 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-20 11:51:45.642 position -1269934.750000 4444934.500000 -12991.857422 -25056190.000000 -308331.156250 2594892.500000 -284340.593750 -25188900.000000
|
||||
2025-06-20 11:51:45.642 speed 66028.078125 63516.152344 93160.203125 5467.483398
|
||||
2025-06-20 11:51:45.642 set_first_position_after_initial
|
||||
2025-06-20 11:51:45.643 movej_old start_pos: -87.199501 152.604721 -4.460400 -1027.919922 end_pos: -87.199501 152.604721 -4.460400 -1027.919922 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-20 11:51:45.934 J3 Belt Meilage=40.936607km
|
||||
2025-06-20 11:51:47.923 30 30 30 30
|
||||
2025-06-20 11:51:47.923 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-20 11:51:47.923 goal_angle -61.881187 31.250517
|
||||
2025-06-20 11:51:47.924 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-20 11:51:47.924 z1 -4.460400 z2 -97.620598
|
||||
2025-06-20 11:51:47.924 angle1_1 -87.199501 angle2_1 152.604721 z1 -4.460400 r1 -1027.919922
|
||||
2025-06-20 11:51:47.924 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994
|
||||
2025-06-20 11:51:47.924 speed 100.000000
|
||||
2025-06-20 11:51:47.924 tcp_distance 358.792419
|
||||
2025-06-20 11:51:47.925 new_end_speed 100.000000 j1_acc_t 1.793962 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 15.436177
|
||||
2025-06-20 11:51:47.925 new_end_speed 100.000000 j2_acc_t 1.793962 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.987747
|
||||
2025-06-20 11:51:47.925 new_end_speed 100.000000 j3_acc_t 1.793962 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 56.798306
|
||||
2025-06-20 11:51:47.925 new_end_speed 100.000000 j4_acc_t 1.793962 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.687971
|
||||
2025-06-20 11:51:47.925 end_speed 100.000000
|
||||
2025-06-20 11:51:47.925 trail_number3.587924
|
||||
2025-06-20 11:51:47.925 tcp_distance 358.792419
|
||||
2025-06-20 11:51:47.927 angle1_1 = -87.199501 angle2_1 = 152.604721 z1 = -4.460400 r1 = -1027.919922 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994
|
||||
2025-06-20 11:51:55.806 30 30 30 30
|
||||
2025-06-20 11:51:55.806 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-20 11:51:55.806 goal_angle -66.454506 86.491570
|
||||
2025-06-20 11:51:55.806 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-20 11:51:55.806 z1 -97.620598 z2 -99.620598
|
||||
2025-06-20 11:51:55.807 angle1_1 -61.881187 angle2_1 31.250517 z1 -97.620598 r1 -1005.468994
|
||||
2025-06-20 11:51:55.807 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994
|
||||
2025-06-20 11:51:55.807 speed 100.000000
|
||||
2025-06-20 11:51:55.807 tcp_distance 167.798187
|
||||
2025-06-20 11:51:55.807 new_end_speed 100.000000 j1_acc_t 0.838991 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.962006
|
||||
2025-06-20 11:51:55.807 new_end_speed 100.000000 j2_acc_t 0.838991 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 72.014984
|
||||
2025-06-20 11:51:55.808 new_end_speed 100.000000 j3_acc_t 0.838991 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 2.607300
|
||||
2025-06-20 11:51:55.808 new_end_speed 100.000000 j4_acc_t 0.838991 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-20 11:51:55.808 end_speed 100.000000
|
||||
2025-06-20 11:51:55.808 trail_number1.677982
|
||||
2025-06-20 11:51:55.808 tcp_distance 167.798187
|
||||
2025-06-20 11:51:55.808 angle1_1 = -61.881187 angle2_1 = 31.250517 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994
|
||||
2025-06-20 11:51:58.602 30 30 30 30
|
||||
2025-06-20 11:51:58.602 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-20 11:51:58.602 goal_angle -46.207226 99.506226
|
||||
2025-06-20 11:51:58.603 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-20 11:51:58.603 z1 -99.620598 z2 -97.620598
|
||||
2025-06-20 11:51:58.603 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994
|
||||
2025-06-20 11:51:58.603 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994
|
||||
2025-06-20 11:51:58.603 speed 100.000000
|
||||
2025-06-20 11:51:58.604 tcp_distance 135.547607
|
||||
2025-06-20 11:51:58.604 new_end_speed 100.000000 j1_acc_t 0.677738 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.675541
|
||||
2025-06-20 11:51:58.604 new_end_speed 100.000000 j2_acc_t 0.677738 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.003363
|
||||
2025-06-20 11:51:58.604 new_end_speed 100.000000 j3_acc_t 0.677738 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 3.227648
|
||||
2025-06-20 11:51:58.604 new_end_speed 100.000000 j4_acc_t 0.677738 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-20 11:51:58.604 end_speed 100.000000
|
||||
2025-06-20 11:51:58.604 trail_number1.355476
|
||||
2025-06-20 11:51:58.604 tcp_distance 135.547607
|
||||
2025-06-20 11:51:58.606 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994
|
||||
2025-06-20 11:52:04.476 30 30 30 30
|
||||
2025-06-20 11:52:04.476 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-20 11:52:04.476 goal_angle -87.199585 152.604431
|
||||
2025-06-20 11:52:04.476 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-20 11:52:04.477 z1 -97.620598 z2 -4.457100
|
||||
2025-06-20 11:52:04.477 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994
|
||||
2025-06-20 11:52:04.477 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-20 11:52:04.477 speed 100.000000
|
||||
2025-06-20 11:52:04.477 tcp_distance 205.543213
|
||||
2025-06-20 11:52:04.477 new_end_speed 100.000000 j1_acc_t 1.027716 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 43.626221
|
||||
2025-06-20 11:52:04.478 new_end_speed 100.000000 j2_acc_t 1.027716 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 56.509899
|
||||
2025-06-20 11:52:04.478 new_end_speed 100.000000 j3_acc_t 1.027716 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 99.149490
|
||||
2025-06-20 11:52:04.478 new_end_speed 100.000000 j4_acc_t 1.027716 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 23.893600
|
||||
2025-06-20 11:52:04.478 end_speed 100.000000
|
||||
2025-06-20 11:52:04.478 trail_number2.055432
|
||||
2025-06-20 11:52:04.478 tcp_distance 205.543213
|
||||
2025-06-20 11:52:04.479 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-20 14:56:31.149 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-20 14:56:31.149 robot connected
|
||||
2025-06-20 14:56:31.149 26
|
||||
2025-06-20 14:56:31.150 current generation=26
|
||||
2025-06-20 14:56:31.654 0x1a
|
||||
2025-06-20 14:56:32.493 initial joint2 4444930
|
||||
2025-06-20 14:56:32.494 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-20 14:56:32.494 robot WritePID
|
||||
2025-06-20 14:56:32.801 initial joint1 -1269935
|
||||
2025-06-20 14:56:32.864 initial joint2 4444931
|
||||
2025-06-20 14:56:32.910 initial joint3 -12992
|
||||
2025-06-20 14:56:32.957 initial joint4 -25056188
|
||||
2025-06-20 14:56:32.972 initial joint1 -1269935
|
||||
2025-06-20 14:56:33.018 initial joint2 4444932
|
||||
2025-06-20 14:56:33.065 initial joint3 -12993
|
||||
2025-06-20 14:56:33.111 initial joint4 -25056188
|
||||
2025-06-20 14:56:33.126 initial joint1 -1269935
|
||||
2025-06-20 14:56:33.173 initial joint2 4444934
|
||||
2025-06-20 14:56:33.218 initial joint3 -12994
|
||||
2025-06-20 14:56:33.264 initial joint4 -25056188
|
||||
2025-06-20 14:56:35.482 initial_thread initialized
|
||||
2025-06-20 14:56:35.483 servo enable
|
||||
2025-06-20 14:56:35.483 brake open
|
||||
2025-06-20 14:56:35.483 set_brake_state 0 1
|
||||
2025-06-20 14:56:35.699 robot initialized
|
||||
2025-06-20 14:56:36.258 get_scara_param -87.199402 152.604797 -4.461400 -1027.919678
|
||||
2025-06-20 14:56:36.258 get_scara_real_coor -87.199501 152.604706 -4.461400 -1027.919922
|
||||
2025-06-20 14:56:36.259 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-20 14:56:36.259 position -1269933.375000 4444937.000000 -12994.769531 -25056186.000000 -1239068.875000 4364960.500000 -27012.625000 -25039474.000000
|
||||
2025-06-20 14:56:36.259 speed 2119.296875 2745.775146 4812.648926 688.513184
|
||||
2025-06-20 14:56:36.259 set_first_position_after_initial
|
||||
2025-06-20 14:56:36.260 movej_old start_pos: -87.199402 152.604797 -4.461400 -1027.919678 end_pos: -87.199402 152.604797 -4.461400 -1027.919678 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-20 14:56:36.554 J3 Belt Meilage=40.937717km
|
||||
2025-06-20 14:56:38.873 30 30 30 30
|
||||
2025-06-20 14:56:38.875 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-20 14:56:38.875 goal_angle -61.881187 31.250517
|
||||
2025-06-20 14:56:38.875 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-20 14:56:38.876 z1 -4.461400 z2 -97.620598
|
||||
2025-06-20 14:56:38.876 angle1_1 -87.199402 angle2_1 152.604797 z1 -4.461400 r1 -1027.919678
|
||||
2025-06-20 14:56:38.876 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994
|
||||
2025-06-20 14:56:38.877 speed 100.000000
|
||||
2025-06-20 14:56:38.877 tcp_distance 358.792511
|
||||
2025-06-20 14:56:38.878 new_end_speed 100.000000 j1_acc_t 1.793963 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 15.436099
|
||||
2025-06-20 14:56:38.878 new_end_speed 100.000000 j2_acc_t 1.793963 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.987709
|
||||
2025-06-20 14:56:38.878 new_end_speed 100.000000 j3_acc_t 1.793963 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 56.797630
|
||||
2025-06-20 14:56:38.878 new_end_speed 100.000000 j4_acc_t 1.793963 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.687819
|
||||
2025-06-20 14:56:38.879 end_speed 100.000000
|
||||
2025-06-20 14:56:38.879 trail_number3.587925
|
||||
2025-06-20 14:56:38.879 tcp_distance 358.792511
|
||||
2025-06-20 14:56:38.879 angle1_1 = -87.199402 angle2_1 = 152.604797 z1 = -4.461400 r1 = -1027.919678 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994
|
||||
2025-06-20 15:02:05.759 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-20 15:02:05.759 robot connected
|
||||
2025-06-20 15:02:05.759 26
|
||||
2025-06-20 15:02:05.759 current generation=26
|
||||
2025-06-20 15:02:06.262 0x1a
|
||||
2025-06-20 15:02:07.180 initial joint2 910239
|
||||
2025-06-20 15:02:07.181 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-20 15:02:07.181 robot WritePID
|
||||
2025-06-20 15:02:07.486 initial joint1 -901210
|
||||
2025-06-20 15:02:07.548 initial joint2 910240
|
||||
2025-06-20 15:02:07.594 initial joint3 -284347
|
||||
2025-06-20 15:02:07.639 initial joint4 -23358441
|
||||
2025-06-20 15:02:07.654 initial joint1 -901211
|
||||
2025-06-20 15:02:07.701 initial joint2 910241
|
||||
2025-06-20 15:02:07.748 initial joint3 -284350
|
||||
2025-06-20 15:02:07.795 initial joint4 -23358443
|
||||
2025-06-20 15:02:07.811 initial joint1 -901211
|
||||
2025-06-20 15:02:07.856 initial joint2 910243
|
||||
2025-06-20 15:02:07.903 initial joint3 -284351
|
||||
2025-06-20 15:02:07.950 initial joint4 -23358443
|
||||
2025-06-20 15:02:10.116 initial_thread initialized
|
||||
2025-06-20 15:02:10.116 servo enable
|
||||
2025-06-20 15:02:10.116 brake open
|
||||
2025-06-20 15:02:10.117 set_brake_state 0 1
|
||||
2025-06-20 15:02:10.333 robot initialized
|
||||
2025-06-20 15:02:10.878 get_scara_param -61.881199 31.250700 -97.625801 -1005.468994
|
||||
2025-06-20 15:02:10.879 get_scara_real_coor -61.881199 31.250700 -97.625801 -1005.469116
|
||||
2025-06-20 15:02:10.879 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-20 15:02:10.879 position -901210.312500 910242.562500 -284355.750000 -23358444.000000 -1239068.875000 4364960.500000 -27012.625000 -25039474.000000
|
||||
2025-06-20 15:02:10.879 speed 23198.906250 118608.335938 88351.750000 69256.304688
|
||||
2025-06-20 15:02:10.880 set_first_position_after_initial
|
||||
2025-06-20 15:02:10.881 movej_old start_pos: -61.881203 31.250698 -97.625801 -1005.469055 end_pos: -61.881203 31.250603 -97.625801 -1005.469116 org_sp 10.000000 end_sp 0.595239
|
||||
2025-06-20 15:02:11.166 J3 Belt Meilage=40.937862km
|
||||
2025-06-20 15:03:24.609 30 30 30 30
|
||||
2025-06-20 15:03:24.610 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-20 15:03:24.610 goal_angle -66.454506 86.491570
|
||||
2025-06-20 15:03:24.611 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-20 15:03:24.611 z1 -97.625801 z2 -99.620598
|
||||
2025-06-20 15:03:24.611 angle1_1 -61.881203 angle2_1 31.250603 z1 -97.625801 r1 -1005.469116
|
||||
2025-06-20 15:03:24.611 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994
|
||||
2025-06-20 15:03:24.612 speed 100.000000
|
||||
2025-06-20 15:03:24.612 tcp_distance 167.797791
|
||||
2025-06-20 15:03:24.612 new_end_speed 100.000000 j1_acc_t 0.838989 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.961998
|
||||
2025-06-20 15:03:24.612 new_end_speed 100.000000 j2_acc_t 0.838989 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 72.015015
|
||||
2025-06-20 15:03:24.612 new_end_speed 100.000000 j3_acc_t 0.838989 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 2.600522
|
||||
2025-06-20 15:03:24.613 new_end_speed 100.000000 j4_acc_t 0.838989 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000159
|
||||
2025-06-20 15:03:24.613 end_speed 100.000000
|
||||
2025-06-20 15:03:24.613 trail_number1.677978
|
||||
2025-06-20 15:03:24.613 tcp_distance 167.797791
|
||||
2025-06-20 15:03:24.614 angle1_1 = -61.881203 angle2_1 = 31.250603 z1 = -97.625801 r1 = -1005.469116 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994
|
||||
2025-06-20 15:03:32.817 30 30 30 30
|
||||
2025-06-20 15:03:32.817 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-20 15:03:32.817 goal_angle -46.207226 99.506226
|
||||
2025-06-20 15:03:32.817 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-20 15:03:32.818 z1 -99.620598 z2 -97.620598
|
||||
2025-06-20 15:03:32.818 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994
|
||||
2025-06-20 15:03:32.818 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994
|
||||
2025-06-20 15:03:32.818 speed 100.000000
|
||||
2025-06-20 15:03:32.818 tcp_distance 135.547607
|
||||
2025-06-20 15:03:32.818 new_end_speed 100.000000 j1_acc_t 0.677738 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.675541
|
||||
2025-06-20 15:03:32.819 new_end_speed 100.000000 j2_acc_t 0.677738 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.003363
|
||||
2025-06-20 15:03:32.819 new_end_speed 100.000000 j3_acc_t 0.677738 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 3.227648
|
||||
2025-06-20 15:03:32.819 new_end_speed 100.000000 j4_acc_t 0.677738 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-20 15:03:32.819 end_speed 100.000000
|
||||
2025-06-20 15:03:32.819 trail_number1.355476
|
||||
2025-06-20 15:03:32.820 tcp_distance 135.547607
|
||||
2025-06-20 15:03:32.820 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994
|
||||
2025-06-20 15:04:41.804 30 30 30 30
|
||||
2025-06-20 15:04:41.804 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-20 15:04:41.804 goal_angle -61.881187 31.250517
|
||||
2025-06-20 15:04:41.804 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-20 15:04:41.804 z1 -97.620598 z2 -97.620598
|
||||
2025-06-20 15:04:41.805 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994
|
||||
2025-06-20 15:04:41.805 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994
|
||||
2025-06-20 15:04:41.805 speed 100.000000
|
||||
2025-06-20 15:04:41.805 tcp_distance 319.033539
|
||||
2025-06-20 15:04:41.805 new_end_speed 100.000000 j1_acc_t 1.595168 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 10.747083
|
||||
2025-06-20 15:04:41.806 new_end_speed 100.000000 j2_acc_t 1.595168 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 46.800533
|
||||
2025-06-20 15:04:41.806 new_end_speed 100.000000 j3_acc_t 1.595168 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-20 15:04:41.806 new_end_speed 100.000000 j4_acc_t 1.595168 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-20 15:04:41.806 end_speed 100.000000
|
||||
2025-06-20 15:04:41.806 trail_number3.190335
|
||||
2025-06-20 15:04:41.806 tcp_distance 319.033539
|
||||
2025-06-20 15:04:41.807 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994
|
||||
2025-06-20 16:48:59.332 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-20 16:48:59.333 robot connected
|
||||
2025-06-20 16:48:59.333 26
|
||||
2025-06-20 16:48:59.333 current generation=26
|
||||
2025-06-20 16:48:59.839 0x1a
|
||||
2025-06-20 16:49:00.720 initial joint2 910242
|
||||
2025-06-20 16:49:00.720 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-20 16:49:00.720 robot WritePID
|
||||
2025-06-20 16:49:01.027 initial joint1 -901208
|
||||
2025-06-20 16:49:01.073 initial joint2 910242
|
||||
2025-06-20 16:49:01.119 initial joint3 -284349
|
||||
2025-06-20 16:49:01.181 initial joint4 -23358443
|
||||
2025-06-20 16:49:01.211 initial joint1 -901203
|
||||
2025-06-20 16:49:01.257 initial joint2 910244
|
||||
2025-06-20 16:49:01.304 initial joint3 -284350
|
||||
2025-06-20 16:49:01.350 initial joint4 -23358443
|
||||
2025-06-20 16:49:01.365 initial joint1 -901213
|
||||
2025-06-20 16:49:01.414 initial joint2 910246
|
||||
2025-06-20 16:49:01.459 initial joint3 -284353
|
||||
2025-06-20 16:49:01.523 initial joint4 -23358443
|
||||
2025-06-20 16:49:03.728 initial_thread initialized
|
||||
2025-06-20 16:49:03.729 servo enable
|
||||
2025-06-20 16:49:03.729 brake open
|
||||
2025-06-20 16:49:03.729 set_brake_state 0 1
|
||||
2025-06-20 16:49:03.946 robot initialized
|
||||
2025-06-20 16:49:04.487 get_scara_param -61.881500 31.250900 -97.625504 -1005.469299
|
||||
2025-06-20 16:49:04.487 get_scara_real_coor -61.881302 31.250900 -97.626198 -1005.469177
|
||||
2025-06-20 16:49:04.487 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-20 16:49:04.487 position -901214.687500 910248.437500 -284354.875000 -23358444.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-20 16:49:04.487 speed 61881.500000 31250.900391 97625.492188 962338.312500
|
||||
2025-06-20 16:49:04.488 set_first_position_after_initial
|
||||
2025-06-20 16:49:04.489 movej_old start_pos: -61.881500 31.250900 -97.625496 -1005.469238 end_pos: -61.881500 31.250900 -97.625389 -1005.469116 org_sp 10.000000 end_sp 0.432312
|
||||
2025-06-20 16:49:04.781 J3 Belt Meilage=40.939880km
|
||||
2025-06-20 16:51:10.668 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-20 16:51:10.669 robot connected
|
||||
2025-06-20 16:51:10.669 26
|
||||
2025-06-20 16:51:10.669 current generation=26
|
||||
2025-06-20 16:51:11.180 0x1a
|
||||
2025-06-20 16:51:12.132 initial joint2 910253
|
||||
2025-06-20 16:51:12.132 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-20 16:51:12.132 robot WritePID
|
||||
2025-06-20 16:51:12.442 initial joint1 -901215
|
||||
2025-06-20 16:51:12.503 initial joint2 910253
|
||||
2025-06-20 16:51:12.565 initial joint3 -284357
|
||||
2025-06-20 16:51:12.611 initial joint4 -23358442
|
||||
2025-06-20 16:51:12.626 initial joint1 -901216
|
||||
2025-06-20 16:51:12.672 initial joint2 910253
|
||||
2025-06-20 16:51:12.718 initial joint3 -284360
|
||||
2025-06-20 16:51:12.764 initial joint4 -23358442
|
||||
2025-06-20 16:51:12.795 initial joint1 -901216
|
||||
2025-06-20 16:51:12.841 initial joint2 910255
|
||||
2025-06-20 16:51:12.902 initial joint3 -284364
|
||||
2025-06-20 16:51:12.962 initial joint4 -23358442
|
||||
2025-06-20 16:51:15.157 initial_thread initialized
|
||||
2025-06-20 16:51:15.158 servo enable
|
||||
2025-06-20 16:51:15.158 brake open
|
||||
2025-06-20 16:51:15.158 set_brake_state 0 1
|
||||
2025-06-20 16:51:15.359 robot initialized
|
||||
2025-06-20 16:51:15.928 get_scara_param -61.881599 31.251101 -97.629601 -1005.469177
|
||||
2025-06-20 16:51:15.928 get_scara_real_coor -61.881401 31.251301 -97.629303 -1005.468872
|
||||
2025-06-20 16:51:15.929 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-20 16:51:15.929 position -901216.062500 910254.312500 -284366.812500 -23358442.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-20 16:51:15.929 speed 61881.597656 31251.101563 97629.601563 962338.250000
|
||||
2025-06-20 16:51:15.929 set_first_position_after_initial
|
||||
2025-06-20 16:51:15.931 movej_old start_pos: -61.881596 31.251102 -97.629601 -1005.469116 end_pos: -61.881500 31.251102 -97.629601 -1005.469116 org_sp 10.000000 end_sp 1.072947
|
||||
2025-06-20 16:51:16.222 J3 Belt Meilage=40.939922km
|
||||
2025-06-20 16:51:21.160 30 30 30 30
|
||||
2025-06-20 16:51:21.161 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-20 16:51:21.161 goal_angle -87.199585 152.604431
|
||||
2025-06-20 16:51:21.162 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-20 16:51:21.162 z1 -97.629601 z2 -4.457100
|
||||
2025-06-20 16:51:21.163 angle1_1 -61.881500 angle2_1 31.251102 z1 -97.629601 r1 -1005.469116
|
||||
2025-06-20 16:51:21.163 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-20 16:51:21.163 speed 100.000000
|
||||
2025-06-20 16:51:21.164 tcp_distance 357.904816
|
||||
2025-06-20 16:51:21.165 new_end_speed 100.000000 j1_acc_t 1.789524 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 15.474312
|
||||
2025-06-20 16:51:21.165 new_end_speed 100.000000 j2_acc_t 1.789524 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.170670
|
||||
2025-06-20 16:51:21.165 new_end_speed 100.000000 j3_acc_t 1.789524 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 56.946659
|
||||
2025-06-20 16:51:21.165 new_end_speed 100.000000 j4_acc_t 1.789524 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.721918
|
||||
2025-06-20 16:51:21.165 end_speed 100.000000
|
||||
2025-06-20 16:51:21.166 trail_number3.579048
|
||||
2025-06-20 16:51:21.166 tcp_distance 357.904816
|
||||
2025-06-20 16:51:21.166 angle1_1 = -61.881500 angle2_1 = 31.251102 z1 = -97.629601 r1 = -1005.469116 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-20 16:51:41.740 30 30 30 30
|
||||
2025-06-20 16:51:41.740 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-20 16:51:41.740 goal_angle -61.881187 31.250517
|
||||
2025-06-20 16:51:41.741 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-20 16:51:41.741 z1 -4.457100 z2 -97.620598
|
||||
2025-06-20 16:51:41.741 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-20 16:51:41.741 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994
|
||||
2025-06-20 16:51:41.741 speed 100.000000
|
||||
2025-06-20 16:51:41.742 tcp_distance 358.791901
|
||||
2025-06-20 16:51:41.742 new_end_speed 100.000000 j1_acc_t 1.793959 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 15.436246
|
||||
2025-06-20 16:51:41.742 new_end_speed 100.000000 j2_acc_t 1.793959 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.987656
|
||||
2025-06-20 16:51:41.742 new_end_speed 100.000000 j3_acc_t 1.793959 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 56.800385
|
||||
2025-06-20 16:51:41.742 new_end_speed 100.000000 j4_acc_t 1.793959 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.688066
|
||||
2025-06-20 16:51:41.742 end_speed 100.000000
|
||||
2025-06-20 16:51:41.743 trail_number3.587919
|
||||
2025-06-20 16:51:41.743 tcp_distance 358.791901
|
||||
2025-06-20 16:51:41.743 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994
|
||||
|
||||
123
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-24.hilog
Normal file
123
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-24.hilog
Normal file
@@ -0,0 +1,123 @@
|
||||
2025-06-24 10:12:22.812 ROBOT_ERROR_CODE = 1004
|
||||
2025-06-24 10:12:22.813
|
||||
0 : 0 0 0 0 0 0
|
||||
1 : 0 0 0 0 0 0
|
||||
2 : 0 0 0 0 0 0
|
||||
3 : 0 0 0 0 0 0
|
||||
4 : 0 0 0 0 0 0
|
||||
5 : 0 0 0 0 0 0
|
||||
6 : 0 0 0 0 0 0
|
||||
7 : 0 0 0 0 0 0
|
||||
8 : 0 0 0 0 0 0
|
||||
9 : 0 0 0 0 0 0
|
||||
10 : 0 0 0 0 0 0
|
||||
11 : 0 0 0 0 0 0
|
||||
12 : 0 0 0 0 0 0
|
||||
13 : 0 0 0 0 0 0
|
||||
14 : 0 0 0 0 0 0
|
||||
15 : 9999 9999 9999 9999 9999 0
|
||||
2025-06-24 10:12:26.986 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-24 10:12:26.986 robot connected
|
||||
2025-06-24 10:12:26.986 26
|
||||
2025-06-24 10:12:26.986 current generation=26
|
||||
2025-06-24 10:12:27.566 0x1a
|
||||
2025-06-24 10:12:28.449 initial joint2 932762
|
||||
2025-06-24 10:12:28.449 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-24 10:12:28.449 robot WritePID
|
||||
2025-06-24 10:12:28.757 initial joint1 -927169
|
||||
2025-06-24 10:12:28.805 initial joint2 932756
|
||||
2025-06-24 10:12:28.841 initial joint3 -284649
|
||||
2025-06-24 10:12:28.900 initial joint4 -23361748
|
||||
2025-06-24 10:12:28.916 initial joint1 -927166
|
||||
2025-06-24 10:12:28.967 initial joint2 932760
|
||||
2025-06-24 10:12:29.016 initial joint3 -284650
|
||||
2025-06-24 10:12:29.052 initial joint4 -23361747
|
||||
2025-06-24 10:12:29.068 initial joint1 -927152
|
||||
2025-06-24 10:12:29.134 initial joint2 932759
|
||||
2025-06-24 10:12:29.177 initial joint3 -284650
|
||||
2025-06-24 10:12:29.228 initial joint4 -23361749
|
||||
2025-06-24 10:12:31.392 initial_thread initialized
|
||||
2025-06-24 10:12:31.392 servo enable
|
||||
2025-06-24 10:12:31.392 brake open
|
||||
2025-06-24 10:12:31.393 set_brake_state 0 1
|
||||
2025-06-24 10:12:31.603 robot initialized
|
||||
2025-06-24 10:12:32.192 get_scara_param -63.662998 32.023800 -97.726799 -1006.923279
|
||||
2025-06-24 10:12:32.192 get_scara_real_coor -63.661400 32.023899 -97.727097 -1006.921570
|
||||
2025-06-24 10:12:32.192 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-24 10:12:32.192 position -927159.625000 932760.812500 -284649.937500 -23361752.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-24 10:12:32.192 speed 63663.000000 32023.800781 97726.796875 962474.500000
|
||||
2025-06-24 10:12:32.192 set_first_position_after_initial
|
||||
2025-06-24 10:12:32.195 movej_old start_pos: -63.662998 32.023800 -97.726799 -1006.923279 end_pos: -63.662998 32.023800 -97.726799 -1006.923279 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-24 10:12:32.475 J3 Belt Meilage=40.940556km
|
||||
2025-06-24 10:12:47.573 30 30 30 30
|
||||
2025-06-24 10:12:47.574 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-24 10:12:47.574 goal_angle -61.881187 31.250517
|
||||
2025-06-24 10:12:47.575 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-24 10:12:47.576 z1 -97.726799 z2 -97.620598
|
||||
2025-06-24 10:12:47.576 angle1_1 -63.662998 angle2_1 32.023800 z1 -97.726799 r1 -1006.923279
|
||||
2025-06-24 10:12:47.577 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994
|
||||
2025-06-24 10:12:47.577 speed 100.000000
|
||||
2025-06-24 10:12:47.577 tcp_distance 9.955632
|
||||
2025-06-24 10:12:47.580 new_end_speed 41.812035 j1_acc_t 0.119052 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.369759
|
||||
2025-06-24 10:12:47.580 new_end_speed 41.812035 j2_acc_t 0.119052 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 7.104265
|
||||
2025-06-24 10:12:47.580 new_end_speed 41.812035 j3_acc_t 0.119052 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.975686
|
||||
2025-06-24 10:12:47.583 new_end_speed 41.812035 j4_acc_t 0.119052 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.360723
|
||||
2025-06-24 10:12:47.583 end_speed 41.812035
|
||||
2025-06-24 10:12:47.583 trail_number0.238104
|
||||
2025-06-24 10:12:47.583 tcp_distance 9.955632
|
||||
2025-06-24 10:12:47.583 angle1_1 = -63.662998 angle2_1 = 32.023800 z1 = -97.726799 r1 = -1006.923279 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994
|
||||
2025-06-24 10:12:54.284 30 30 30 30
|
||||
2025-06-24 10:12:54.284 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-24 10:12:54.284 goal_angle -61.881187 31.250517
|
||||
2025-06-24 10:12:54.284 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-24 10:12:56.571 30 30 30 30
|
||||
2025-06-24 10:12:56.571 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-24 10:12:56.571 goal_angle -66.454506 86.491570
|
||||
2025-06-24 10:12:56.571 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-24 10:12:56.572 z1 -97.620598 z2 -99.620598
|
||||
2025-06-24 10:12:56.572 angle1_1 -61.881187 angle2_1 31.250517 z1 -97.620598 r1 -1005.468994
|
||||
2025-06-24 10:12:56.572 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994
|
||||
2025-06-24 10:12:56.572 speed 100.000000
|
||||
2025-06-24 10:12:56.572 tcp_distance 167.798187
|
||||
2025-06-24 10:12:56.572 new_end_speed 100.000000 j1_acc_t 0.838991 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.962006
|
||||
2025-06-24 10:12:56.573 new_end_speed 100.000000 j2_acc_t 0.838991 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 72.014984
|
||||
2025-06-24 10:12:56.573 new_end_speed 100.000000 j3_acc_t 0.838991 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 2.607300
|
||||
2025-06-24 10:12:56.573 new_end_speed 100.000000 j4_acc_t 0.838991 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-24 10:12:56.573 end_speed 100.000000
|
||||
2025-06-24 10:12:56.573 trail_number1.677982
|
||||
2025-06-24 10:12:56.573 tcp_distance 167.798187
|
||||
2025-06-24 10:12:56.574 angle1_1 = -61.881187 angle2_1 = 31.250517 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994
|
||||
2025-06-24 10:13:00.047 30 30 30 30
|
||||
2025-06-24 10:13:00.047 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-24 10:13:00.047 goal_angle -46.207226 99.506226
|
||||
2025-06-24 10:13:00.047 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-24 10:13:00.047 z1 -99.620598 z2 -97.620598
|
||||
2025-06-24 10:13:00.048 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994
|
||||
2025-06-24 10:13:00.048 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994
|
||||
2025-06-24 10:13:00.048 speed 100.000000
|
||||
2025-06-24 10:13:00.048 tcp_distance 135.547607
|
||||
2025-06-24 10:13:00.048 new_end_speed 100.000000 j1_acc_t 0.677738 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.675541
|
||||
2025-06-24 10:13:00.049 new_end_speed 100.000000 j2_acc_t 0.677738 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.003363
|
||||
2025-06-24 10:13:00.049 new_end_speed 100.000000 j3_acc_t 0.677738 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 3.227648
|
||||
2025-06-24 10:13:00.049 new_end_speed 100.000000 j4_acc_t 0.677738 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-24 10:13:00.049 end_speed 100.000000
|
||||
2025-06-24 10:13:00.049 trail_number1.355476
|
||||
2025-06-24 10:13:00.049 tcp_distance 135.547607
|
||||
2025-06-24 10:13:00.051 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994
|
||||
2025-06-24 10:13:04.488 30 30 30 30
|
||||
2025-06-24 10:13:04.488 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1
|
||||
2025-06-24 10:13:04.489 goal_angle -61.881187 31.250517
|
||||
2025-06-24 10:13:04.489 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000
|
||||
2025-06-24 10:13:04.489 z1 -97.620598 z2 -97.620598
|
||||
2025-06-24 10:13:04.489 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994
|
||||
2025-06-24 10:13:04.489 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994
|
||||
2025-06-24 10:13:04.489 speed 100.000000
|
||||
2025-06-24 10:13:04.490 tcp_distance 319.033539
|
||||
2025-06-24 10:13:04.490 new_end_speed 100.000000 j1_acc_t 1.595168 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 10.747083
|
||||
2025-06-24 10:13:04.490 new_end_speed 100.000000 j2_acc_t 1.595168 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 46.800533
|
||||
2025-06-24 10:13:04.490 new_end_speed 100.000000 j3_acc_t 1.595168 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-24 10:13:04.490 new_end_speed 100.000000 j4_acc_t 1.595168 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-24 10:13:04.491 end_speed 100.000000
|
||||
2025-06-24 10:13:04.491 trail_number3.190335
|
||||
2025-06-24 10:13:04.491 tcp_distance 319.033539
|
||||
2025-06-24 10:13:04.491 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994
|
||||
BIN
HitBotCSharpDemo/bin/x64/Debug/msvcp100d.dll
Normal file
BIN
HitBotCSharpDemo/bin/x64/Debug/msvcp100d.dll
Normal file
Binary file not shown.
BIN
HitBotCSharpDemo/bin/x64/Debug/msvcr100d.dll
Normal file
BIN
HitBotCSharpDemo/bin/x64/Debug/msvcr100d.dll
Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -2,6 +2,7 @@
|
||||
using System.Collections.Generic;
|
||||
using System.IO.Ports;
|
||||
using System.Linq;
|
||||
using System.Reflection.Emit;
|
||||
using System.Text;
|
||||
using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
@@ -27,15 +28,18 @@ namespace HitBotCSharpDemo
|
||||
"TC1:TCSETTEMP?@2\r",
|
||||
"TC1:TCSETTEMP?@3\r"
|
||||
};
|
||||
private Label[] temperatureLabels;
|
||||
private Label[] settingTemperatureLabels;
|
||||
private System.Windows.Forms.Label[] temperatureLabels;
|
||||
private System.Windows.Forms.Label[] settingTemperatureLabels;
|
||||
private int currentCommandIndex = 0;
|
||||
private int currentSettingCommandIndex = 0;
|
||||
private string lastCommandType = "";
|
||||
private string receivedData = "";
|
||||
private string lastHeatingCommand = "";
|
||||
private int lastHeatingDeviceNumber = -1;
|
||||
public tempControl(Label[] labels, Label[] setting_labels)
|
||||
private System.Windows.Forms.Label[] temperatureLabels1;
|
||||
private System.Windows.Forms.Label[] setting_temperatureLabels;
|
||||
|
||||
public tempControl(System.Windows.Forms.Label[] labels, System.Windows.Forms.Label[] setting_labels)
|
||||
{
|
||||
temperatureLabels = labels;
|
||||
settingTemperatureLabels = setting_labels;
|
||||
@@ -43,6 +47,7 @@ namespace HitBotCSharpDemo
|
||||
InitializeTemperatureTimer();
|
||||
InitializeSettingTemperatureTimer();
|
||||
}
|
||||
|
||||
public void LoadAvailablePorts(ComboBox comboBox)
|
||||
{
|
||||
try
|
||||
@@ -543,7 +548,6 @@ namespace HitBotCSharpDemo
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user