增加演示图片
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@@ -1088,3 +1088,189 @@
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2025-06-11 15:55:54.190 set_first_position_after_initial
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2025-06-11 15:55:54.190 movej_old start_pos: -87.199501 152.604721 -4.461100 -1027.919922 end_pos: -87.199501 152.604721 -4.461100 -1027.919922 org_sp 10.000000 end_sp 10.000000
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2025-06-11 15:55:54.488 J3 Belt Meilage=40.903347km
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2025-06-11 16:00:40.335 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 16:00:40.335 robot connected
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2025-06-11 16:00:40.335 26
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2025-06-11 16:00:40.335 current generation=26
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2025-06-11 16:00:40.851 0x1a
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2025-06-11 16:00:41.720 initial joint2 4444939
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2025-06-11 16:00:41.721 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-11 16:00:41.721 robot WritePID
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2025-06-11 16:00:42.023 initial joint1 -1269934
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2025-06-11 16:00:42.073 initial joint2 4444938
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2025-06-11 16:00:42.122 initial joint3 -12994
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2025-06-11 16:00:42.173 initial joint4 -25056189
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2025-06-11 16:00:42.188 initial joint1 -1269934
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2025-06-11 16:00:42.239 initial joint2 4444940
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2025-06-11 16:00:42.289 initial joint3 -12994
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2025-06-11 16:00:42.356 initial joint4 -25056190
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2025-06-11 16:00:42.374 initial joint1 -1269935
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2025-06-11 16:00:42.423 initial joint2 4444942
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2025-06-11 16:00:42.462 initial joint3 -12994
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2025-06-11 16:00:42.507 initial joint4 -25056191
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2025-06-11 16:00:44.594 initial_thread initialized
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2025-06-11 16:00:44.594 servo enable
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2025-06-11 16:00:44.594 brake open
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2025-06-11 16:00:44.594 set_brake_state 0 1
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2025-06-11 16:00:44.810 robot initialized
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2025-06-11 16:00:45.392 get_scara_param -87.199501 152.604996 -4.461400 -1027.919800
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2025-06-11 16:00:45.392 get_scara_real_coor -87.199501 152.604996 -4.461400 -1027.919800
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2025-06-11 16:00:45.392 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
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2025-06-11 16:00:45.392 position -1269934.750000 4444942.500000 -12994.769531 -25056192.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-11 16:00:45.392 speed 87199.500000 152604.984375 4461.399902 1032283.375000
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2025-06-11 16:00:45.393 set_first_position_after_initial
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2025-06-11 16:00:45.393 movej_old start_pos: -87.199501 152.604996 -4.461400 -1027.919800 end_pos: -87.199501 152.604996 -4.461400 -1027.919800 org_sp 10.000000 end_sp 10.000000
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2025-06-11 16:00:45.667 J3 Belt Meilage=40.903397km
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2025-06-11 16:00:50.268 30 30 30 30
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2025-06-11 16:00:50.269 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
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||||
2025-06-11 16:00:50.269 goal_angle -63.500324 35.083988
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2025-06-11 16:00:50.276 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-11 16:00:50.281 z1 -4.461400 z2 -75.466103
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2025-06-11 16:00:50.281 angle1_1 -87.199501 angle2_1 152.604996 z1 -4.461400 r1 -1027.919800
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2025-06-11 16:00:50.281 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
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2025-06-11 16:00:50.281 speed 100.000000
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||||
2025-06-11 16:00:50.282 tcp_distance 347.516388
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||||
2025-06-11 16:00:50.282 new_end_speed 100.000000 j1_acc_t 1.737582 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917840
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2025-06-11 16:00:50.282 new_end_speed 100.000000 j2_acc_t 1.737582 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975548
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2025-06-11 16:00:50.282 new_end_speed 100.000000 j3_acc_t 1.737582 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.695087
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||||
2025-06-11 16:00:50.282 new_end_speed 100.000000 j4_acc_t 1.737582 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973400
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||||
2025-06-11 16:00:50.283 end_speed 100.000000
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||||
2025-06-11 16:00:50.283 trail_number3.475164
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||||
2025-06-11 16:00:50.283 tcp_distance 347.516388
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||||
2025-06-11 16:00:50.283 angle1_1 = -87.199501 angle2_1 = 152.604996 z1 = -4.461400 r1 = -1027.919800 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
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2025-06-11 16:01:02.057 30 30 30 30
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||||
2025-06-11 16:01:02.057 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
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||||
2025-06-11 16:01:02.057 goal_angle -67.226128 86.401024
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||||
2025-06-11 16:01:02.057 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
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||||
2025-06-11 16:01:02.057 z1 -75.466103 z2 -75.466103
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||||
2025-06-11 16:01:02.058 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
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||||
2025-06-11 16:01:02.058 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
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||||
2025-06-11 16:01:02.058 speed 100.000000
|
||||
2025-06-11 16:01:02.058 tcp_distance 158.906982
|
||||
2025-06-11 16:01:02.058 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
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||||
2025-06-11 16:01:02.059 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
|
||||
2025-06-11 16:01:02.059 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
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||||
2025-06-11 16:01:02.059 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
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||||
2025-06-11 16:01:02.059 end_speed 100.000000
|
||||
2025-06-11 16:01:02.059 trail_number1.589070
|
||||
2025-06-11 16:01:02.060 tcp_distance 158.906982
|
||||
2025-06-11 16:01:02.061 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
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||||
2025-06-11 16:01:04.576 30 30 30 30
|
||||
2025-06-11 16:01:04.577 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-11 16:01:04.577 goal_angle -44.911705 98.661697
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||||
2025-06-11 16:01:04.577 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-11 16:01:04.577 z1 -75.466103 z2 -75.466103
|
||||
2025-06-11 16:01:04.578 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-11 16:01:04.578 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
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||||
2025-06-11 16:01:04.578 speed 100.000000
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||||
2025-06-11 16:01:04.578 tcp_distance 144.069748
|
||||
2025-06-11 16:01:04.578 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||||
2025-06-11 16:01:04.578 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||||
2025-06-11 16:01:04.578 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-11 16:01:04.579 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-11 16:01:04.579 end_speed 100.000000
|
||||
2025-06-11 16:01:04.579 trail_number1.440697
|
||||
2025-06-11 16:01:04.579 tcp_distance 144.069748
|
||||
2025-06-11 16:01:04.580 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-11 16:01:06.772 30 30 30 30
|
||||
2025-06-11 16:01:06.772 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-11 16:01:06.772 goal_angle -11.002804 84.112190
|
||||
2025-06-11 16:01:06.772 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-11 16:01:06.772 z1 -75.466103 z2 -75.466103
|
||||
2025-06-11 16:01:06.772 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-11 16:01:06.774 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-11 16:01:06.774 speed 100.000000
|
||||
2025-06-11 16:01:06.774 tcp_distance 144.322098
|
||||
2025-06-11 16:01:06.774 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||||
2025-06-11 16:01:06.774 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||||
2025-06-11 16:01:06.774 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-11 16:01:06.774 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-11 16:01:06.774 end_speed 100.000000
|
||||
2025-06-11 16:01:06.774 trail_number1.443221
|
||||
2025-06-11 16:01:06.774 tcp_distance 144.322098
|
||||
2025-06-11 16:01:06.776 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-11 16:01:08.967 30 30 30 30
|
||||
2025-06-11 16:01:08.967 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-11 16:01:08.967 goal_angle -87.199585 152.604431
|
||||
2025-06-11 16:01:08.969 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-11 16:01:08.969 z1 -75.466103 z2 -4.457100
|
||||
2025-06-11 16:01:08.969 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
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||||
2025-06-11 16:01:08.969 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
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||||
2025-06-11 16:01:08.969 speed 100.000000
|
||||
2025-06-11 16:01:08.970 tcp_distance 288.737366
|
||||
2025-06-11 16:01:08.970 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
|
||||
2025-06-11 16:01:08.970 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
|
||||
2025-06-11 16:01:08.970 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
|
||||
2025-06-11 16:01:08.970 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
|
||||
2025-06-11 16:01:08.970 end_speed 100.000000
|
||||
2025-06-11 16:01:08.971 trail_number2.887374
|
||||
2025-06-11 16:01:08.971 tcp_distance 288.737366
|
||||
2025-06-11 16:01:08.971 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-11 16:01:18.896 30 30 30 30
|
||||
2025-06-11 16:01:18.896 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-11 16:01:18.896 goal_angle -63.500324 35.083988
|
||||
2025-06-11 16:01:18.896 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-11 16:01:18.896 z1 -4.457100 z2 -75.466103
|
||||
2025-06-11 16:01:18.896 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-11 16:01:18.896 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-11 16:01:18.896 speed 100.000000
|
||||
2025-06-11 16:01:18.896 tcp_distance 347.514679
|
||||
2025-06-11 16:01:18.896 new_end_speed 100.000000 j1_acc_t 1.737573 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917970
|
||||
2025-06-11 16:01:18.896 new_end_speed 100.000000 j2_acc_t 1.737573 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975578
|
||||
2025-06-11 16:01:18.896 new_end_speed 100.000000 j3_acc_t 1.737573 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.698025
|
||||
2025-06-11 16:01:18.896 new_end_speed 100.000000 j4_acc_t 1.737573 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973623
|
||||
2025-06-11 16:01:18.896 end_speed 100.000000
|
||||
2025-06-11 16:01:18.896 trail_number3.475147
|
||||
2025-06-11 16:01:18.896 tcp_distance 347.514679
|
||||
2025-06-11 16:01:18.896 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-11 16:01:28.712 30 30 30 30
|
||||
2025-06-11 16:01:28.712 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-11 16:01:28.712 goal_angle -67.226128 86.401024
|
||||
2025-06-11 16:01:28.713 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-11 16:01:28.713 z1 -75.466103 z2 -75.466103
|
||||
2025-06-11 16:01:28.713 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-11 16:01:28.713 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-11 16:01:28.713 speed 100.000000
|
||||
2025-06-11 16:01:28.714 tcp_distance 158.906982
|
||||
2025-06-11 16:01:28.714 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
|
||||
2025-06-11 16:01:28.714 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
|
||||
2025-06-11 16:01:28.714 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-11 16:01:28.714 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-11 16:01:28.714 end_speed 100.000000
|
||||
2025-06-11 16:01:28.715 trail_number1.589070
|
||||
2025-06-11 16:01:28.715 tcp_distance 158.906982
|
||||
2025-06-11 16:01:28.716 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-11 16:01:40.018 30 30 30 30
|
||||
2025-06-11 16:01:40.018 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-11 16:01:40.018 goal_angle -44.911705 98.661697
|
||||
2025-06-11 16:01:40.018 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-11 16:01:40.018 z1 -75.466103 z2 -75.466103
|
||||
2025-06-11 16:01:40.018 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-11 16:01:40.018 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-11 16:01:40.018 speed 100.000000
|
||||
2025-06-11 16:01:40.018 tcp_distance 144.069748
|
||||
2025-06-11 16:01:40.018 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||||
2025-06-11 16:01:40.027 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||||
2025-06-11 16:01:40.027 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-11 16:01:40.027 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-11 16:01:40.027 end_speed 100.000000
|
||||
2025-06-11 16:01:40.027 trail_number1.440697
|
||||
2025-06-11 16:01:40.027 tcp_distance 144.069748
|
||||
2025-06-11 16:01:40.027 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-11 16:01:48.415 30 30 30 30
|
||||
2025-06-11 16:01:48.415 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-11 16:01:48.415 goal_angle -11.002804 84.112190
|
||||
2025-06-11 16:01:48.430 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-11 16:01:48.430 z1 -75.466103 z2 -75.466103
|
||||
2025-06-11 16:01:48.430 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-11 16:01:48.430 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-11 16:01:48.430 speed 100.000000
|
||||
2025-06-11 16:01:48.430 tcp_distance 144.322098
|
||||
2025-06-11 16:01:48.430 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||||
2025-06-11 16:01:48.430 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||||
2025-06-11 16:01:48.430 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-11 16:01:48.430 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-11 16:01:48.430 end_speed 100.000000
|
||||
2025-06-11 16:01:48.430 trail_number1.443221
|
||||
2025-06-11 16:01:48.430 tcp_distance 144.322098
|
||||
2025-06-11 16:01:48.430 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
|
||||
Reference in New Issue
Block a user