实现与显微放大控制器的连接
This commit is contained in:
@@ -119,6 +119,7 @@
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<Compile Include="Program.cs" />
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<Compile Include="Properties\AssemblyInfo.cs" />
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<Compile Include="tempControl.cs" />
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<Compile Include="ZoomControl.cs" />
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<EmbeddedResource Include="ParameterInputForm.resx">
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<DependentUpon>ParameterInputForm.cs</DependentUpon>
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</EmbeddedResource>
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158
HitBotCSharpDemo/ShowForm.Designer.cs
generated
158
HitBotCSharpDemo/ShowForm.Designer.cs
generated
@@ -124,7 +124,6 @@
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this.textBox9 = new System.Windows.Forms.TextBox();
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this.label26 = new System.Windows.Forms.Label();
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this.label18 = new System.Windows.Forms.Label();
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this.button10 = new System.Windows.Forms.Button();
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this.button11 = new System.Windows.Forms.Button();
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this.textBox5 = new System.Windows.Forms.TextBox();
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this.label19 = new System.Windows.Forms.Label();
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@@ -135,7 +134,6 @@
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this.textBox8 = new System.Windows.Forms.TextBox();
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this.label25 = new System.Windows.Forms.Label();
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this.label13 = new System.Windows.Forms.Label();
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this.button8 = new System.Windows.Forms.Button();
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this.button9 = new System.Windows.Forms.Button();
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this.textBox4 = new System.Windows.Forms.TextBox();
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this.label14 = new System.Windows.Forms.Label();
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@@ -146,7 +144,6 @@
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this.textBox7 = new System.Windows.Forms.TextBox();
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this.label24 = new System.Windows.Forms.Label();
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this.label8 = new System.Windows.Forms.Label();
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this.button6 = new System.Windows.Forms.Button();
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this.button7 = new System.Windows.Forms.Button();
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this.textBox3 = new System.Windows.Forms.TextBox();
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this.label9 = new System.Windows.Forms.Label();
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@@ -157,7 +154,6 @@
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this.textBox6 = new System.Windows.Forms.TextBox();
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this.label23 = new System.Windows.Forms.Label();
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this.label7 = new System.Windows.Forms.Label();
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this.button5 = new System.Windows.Forms.Button();
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this.button4 = new System.Windows.Forms.Button();
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this.textBox2 = new System.Windows.Forms.TextBox();
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this.label6 = new System.Windows.Forms.Label();
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@@ -168,11 +164,18 @@
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this.comboBox1 = new System.Windows.Forms.ComboBox();
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this.label2 = new System.Windows.Forms.Label();
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this.button3 = new System.Windows.Forms.Button();
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this.tabPage1 = new System.Windows.Forms.TabPage();
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this.groupBox4 = new System.Windows.Forms.GroupBox();
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this.comboBox2 = new System.Windows.Forms.ComboBox();
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this.label27 = new System.Windows.Forms.Label();
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this.button5 = new System.Windows.Forms.Button();
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this.panel1 = new System.Windows.Forms.Panel();
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this.cob_Robot_ID = new System.Windows.Forms.ComboBox();
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this.lbl_Refresh_ID = new System.Windows.Forms.Label();
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this.tim_IO_Refresh = new System.Windows.Forms.Timer(this.components);
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this.rit_Coord = new System.Windows.Forms.RichTextBox();
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this.groupBox5 = new System.Windows.Forms.GroupBox();
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this.button6 = new System.Windows.Forms.Button();
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this.tac_MainForm.SuspendLayout();
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this.tap_Axis.SuspendLayout();
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this.grb_R.SuspendLayout();
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@@ -194,7 +197,10 @@
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this.groupBox1.SuspendLayout();
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this.grb_pos1.SuspendLayout();
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this.grb_temport.SuspendLayout();
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this.tabPage1.SuspendLayout();
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this.groupBox4.SuspendLayout();
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this.panel1.SuspendLayout();
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this.groupBox5.SuspendLayout();
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this.SuspendLayout();
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//
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// btn_Init
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@@ -216,6 +222,7 @@
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this.tac_MainForm.Controls.Add(this.tap_Move);
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this.tac_MainForm.Controls.Add(this.tap_Cam);
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this.tac_MainForm.Controls.Add(this.tap_tempCtrl);
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this.tac_MainForm.Controls.Add(this.tabPage1);
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this.tac_MainForm.Dock = System.Windows.Forms.DockStyle.Fill;
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this.tac_MainForm.Location = new System.Drawing.Point(0, 0);
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this.tac_MainForm.Margin = new System.Windows.Forms.Padding(4);
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@@ -1263,7 +1270,6 @@
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this.groupBox3.Controls.Add(this.textBox9);
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this.groupBox3.Controls.Add(this.label26);
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this.groupBox3.Controls.Add(this.label18);
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this.groupBox3.Controls.Add(this.button10);
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this.groupBox3.Controls.Add(this.button11);
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this.groupBox3.Controls.Add(this.textBox5);
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this.groupBox3.Controls.Add(this.label19);
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@@ -1303,20 +1309,11 @@
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this.label18.TabIndex = 9;
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this.label18.Text = "0";
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//
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// button10
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//
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this.button10.Location = new System.Drawing.Point(980, 32);
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this.button10.Name = "button10";
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this.button10.Size = new System.Drawing.Size(97, 40);
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this.button10.TabIndex = 8;
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this.button10.Text = "保存";
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this.button10.UseVisualStyleBackColor = true;
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//
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// button11
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//
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this.button11.Location = new System.Drawing.Point(866, 34);
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this.button11.Location = new System.Drawing.Point(935, 27);
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this.button11.Name = "button11";
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this.button11.Size = new System.Drawing.Size(92, 40);
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this.button11.Size = new System.Drawing.Size(113, 40);
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this.button11.TabIndex = 7;
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this.button11.Text = "开始升温";
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this.button11.UseVisualStyleBackColor = true;
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@@ -1370,7 +1367,6 @@
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this.groupBox2.Controls.Add(this.textBox8);
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this.groupBox2.Controls.Add(this.label25);
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this.groupBox2.Controls.Add(this.label13);
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this.groupBox2.Controls.Add(this.button8);
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this.groupBox2.Controls.Add(this.button9);
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this.groupBox2.Controls.Add(this.textBox4);
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this.groupBox2.Controls.Add(this.label14);
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@@ -1409,20 +1405,11 @@
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this.label13.TabIndex = 9;
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this.label13.Text = "0";
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//
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// button8
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//
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this.button8.Location = new System.Drawing.Point(980, 32);
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this.button8.Name = "button8";
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this.button8.Size = new System.Drawing.Size(97, 40);
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this.button8.TabIndex = 8;
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this.button8.Text = "保存";
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this.button8.UseVisualStyleBackColor = true;
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//
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// button9
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//
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this.button9.Location = new System.Drawing.Point(866, 32);
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this.button9.Location = new System.Drawing.Point(935, 30);
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this.button9.Name = "button9";
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this.button9.Size = new System.Drawing.Size(92, 40);
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this.button9.Size = new System.Drawing.Size(113, 40);
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this.button9.TabIndex = 7;
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this.button9.Text = "开始升温";
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this.button9.UseVisualStyleBackColor = true;
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@@ -1476,7 +1463,6 @@
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this.groupBox1.Controls.Add(this.textBox7);
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this.groupBox1.Controls.Add(this.label24);
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this.groupBox1.Controls.Add(this.label8);
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this.groupBox1.Controls.Add(this.button6);
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this.groupBox1.Controls.Add(this.button7);
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this.groupBox1.Controls.Add(this.textBox3);
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this.groupBox1.Controls.Add(this.label9);
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@@ -1516,20 +1502,11 @@
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this.label8.TabIndex = 9;
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this.label8.Text = "0";
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//
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// button6
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//
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this.button6.Location = new System.Drawing.Point(980, 33);
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this.button6.Name = "button6";
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this.button6.Size = new System.Drawing.Size(97, 40);
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this.button6.TabIndex = 8;
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this.button6.Text = "保存";
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this.button6.UseVisualStyleBackColor = true;
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//
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// button7
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//
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this.button7.Location = new System.Drawing.Point(866, 33);
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this.button7.Location = new System.Drawing.Point(935, 31);
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this.button7.Name = "button7";
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this.button7.Size = new System.Drawing.Size(92, 40);
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this.button7.Size = new System.Drawing.Size(113, 40);
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this.button7.TabIndex = 7;
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this.button7.Text = "开始升温";
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this.button7.UseVisualStyleBackColor = true;
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@@ -1583,7 +1560,6 @@
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this.grb_pos1.Controls.Add(this.textBox6);
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this.grb_pos1.Controls.Add(this.label23);
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this.grb_pos1.Controls.Add(this.label7);
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this.grb_pos1.Controls.Add(this.button5);
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this.grb_pos1.Controls.Add(this.button4);
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this.grb_pos1.Controls.Add(this.textBox2);
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this.grb_pos1.Controls.Add(this.label6);
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@@ -1623,20 +1599,11 @@
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this.label7.TabIndex = 9;
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this.label7.Text = "0";
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//
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// button5
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//
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this.button5.Location = new System.Drawing.Point(980, 32);
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this.button5.Name = "button5";
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this.button5.Size = new System.Drawing.Size(97, 40);
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this.button5.TabIndex = 8;
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this.button5.Text = "保存";
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this.button5.UseVisualStyleBackColor = true;
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//
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// button4
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//
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this.button4.Location = new System.Drawing.Point(866, 32);
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this.button4.Location = new System.Drawing.Point(935, 32);
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this.button4.Name = "button4";
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this.button4.Size = new System.Drawing.Size(92, 40);
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this.button4.Size = new System.Drawing.Size(113, 40);
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this.button4.TabIndex = 7;
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this.button4.Text = "开始升温";
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this.button4.UseVisualStyleBackColor = true;
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@@ -1728,6 +1695,59 @@
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this.button3.UseVisualStyleBackColor = true;
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this.button3.Click += new System.EventHandler(this.button3_Click_1);
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//
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// tabPage1
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//
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this.tabPage1.Controls.Add(this.groupBox5);
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this.tabPage1.Controls.Add(this.groupBox4);
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this.tabPage1.Location = new System.Drawing.Point(4, 28);
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this.tabPage1.Name = "tabPage1";
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this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
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this.tabPage1.Size = new System.Drawing.Size(1214, 760);
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this.tabPage1.TabIndex = 6;
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this.tabPage1.Text = "电动变倍";
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this.tabPage1.UseVisualStyleBackColor = true;
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this.tabPage1.Click += new System.EventHandler(this.tabPage1_Click_1);
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//
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// groupBox4
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//
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this.groupBox4.Controls.Add(this.comboBox2);
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this.groupBox4.Controls.Add(this.label27);
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this.groupBox4.Controls.Add(this.button5);
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this.groupBox4.Location = new System.Drawing.Point(56, 38);
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this.groupBox4.Name = "groupBox4";
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this.groupBox4.Size = new System.Drawing.Size(271, 169);
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this.groupBox4.TabIndex = 4;
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this.groupBox4.TabStop = false;
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this.groupBox4.Text = "串口设置";
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//
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// comboBox2
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//
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this.comboBox2.FormattingEnabled = true;
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this.comboBox2.Location = new System.Drawing.Point(108, 46);
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this.comboBox2.Name = "comboBox2";
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this.comboBox2.Size = new System.Drawing.Size(91, 26);
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this.comboBox2.TabIndex = 5;
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this.comboBox2.SelectedIndexChanged += new System.EventHandler(this.comboBox2_SelectedIndexChanged);
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//
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// label27
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//
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this.label27.AutoSize = true;
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this.label27.Location = new System.Drawing.Point(40, 49);
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this.label27.Name = "label27";
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this.label27.Size = new System.Drawing.Size(62, 18);
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this.label27.TabIndex = 4;
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this.label27.Text = "端口：";
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//
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// button5
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//
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this.button5.Location = new System.Drawing.Point(43, 101);
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this.button5.Name = "button5";
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this.button5.Size = new System.Drawing.Size(156, 40);
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this.button5.TabIndex = 0;
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this.button5.Text = "打开串口";
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this.button5.UseVisualStyleBackColor = true;
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this.button5.Click += new System.EventHandler(this.button5_Click);
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//
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// panel1
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//
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this.panel1.Controls.Add(this.tac_MainForm);
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@@ -1774,6 +1794,25 @@
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this.rit_Coord.Text = "";
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this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged);
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//
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// groupBox5
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//
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this.groupBox5.Controls.Add(this.button6);
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this.groupBox5.Location = new System.Drawing.Point(56, 237);
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this.groupBox5.Name = "groupBox5";
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this.groupBox5.Size = new System.Drawing.Size(271, 262);
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this.groupBox5.TabIndex = 5;
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this.groupBox5.TabStop = false;
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this.groupBox5.Text = "运动控制";
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//
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// button6
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//
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this.button6.Location = new System.Drawing.Point(43, 43);
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this.button6.Name = "button6";
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this.button6.Size = new System.Drawing.Size(156, 40);
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this.button6.TabIndex = 6;
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this.button6.Text = "获取最大脉冲";
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this.button6.UseVisualStyleBackColor = true;
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//
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// ShowForm
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//
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this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F);
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@@ -1827,7 +1866,11 @@
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this.grb_pos1.PerformLayout();
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this.grb_temport.ResumeLayout(false);
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this.grb_temport.PerformLayout();
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this.tabPage1.ResumeLayout(false);
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this.groupBox4.ResumeLayout(false);
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this.groupBox4.PerformLayout();
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this.panel1.ResumeLayout(false);
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this.groupBox5.ResumeLayout(false);
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this.ResumeLayout(false);
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this.PerformLayout();
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@@ -1941,11 +1984,9 @@
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private System.Windows.Forms.TextBox textBox2;
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private System.Windows.Forms.Label label6;
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private System.Windows.Forms.Label label7;
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private System.Windows.Forms.Button button5;
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private System.Windows.Forms.Button button4;
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private System.Windows.Forms.GroupBox groupBox1;
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private System.Windows.Forms.Label label8;
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private System.Windows.Forms.Button button6;
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private System.Windows.Forms.Button button7;
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private System.Windows.Forms.TextBox textBox3;
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private System.Windows.Forms.Label label9;
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@@ -1954,7 +1995,6 @@
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private System.Windows.Forms.Label label12;
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private System.Windows.Forms.GroupBox groupBox3;
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private System.Windows.Forms.Label label18;
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private System.Windows.Forms.Button button10;
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private System.Windows.Forms.Button button11;
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private System.Windows.Forms.TextBox textBox5;
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private System.Windows.Forms.Label label19;
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@@ -1963,7 +2003,6 @@
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private System.Windows.Forms.Label label22;
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private System.Windows.Forms.GroupBox groupBox2;
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private System.Windows.Forms.Label label13;
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private System.Windows.Forms.Button button8;
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private System.Windows.Forms.Button button9;
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private System.Windows.Forms.TextBox textBox4;
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private System.Windows.Forms.Label label14;
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@@ -1978,6 +2017,13 @@
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private System.Windows.Forms.TextBox textBox9;
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private System.Windows.Forms.TextBox textBox8;
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private System.Windows.Forms.TextBox textBox7;
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private System.Windows.Forms.TabPage tabPage1;
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private System.Windows.Forms.GroupBox groupBox4;
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private System.Windows.Forms.ComboBox comboBox2;
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private System.Windows.Forms.Label label27;
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private System.Windows.Forms.Button button5;
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private System.Windows.Forms.GroupBox groupBox5;
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private System.Windows.Forms.Button button6;
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}
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}
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@@ -69,6 +69,7 @@ namespace HitBotCSharpDemo
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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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private ControlBeanEx robot;
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public ShowForm()
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{
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@@ -216,6 +217,9 @@ 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.LoadAvailablePorts(comboBox2);
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textBox6.Click += TextBox_Click;
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textBox7.Click += TextBox_Click;
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textBox8.Click += TextBox_Click;
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@@ -1464,6 +1468,7 @@ 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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}
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private void groupBox1_Enter(object sender, EventArgs e)
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@@ -1550,5 +1555,20 @@ namespace HitBotCSharpDemo
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};
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enableTimer.Start();
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}
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private void tabPage1_Click_1(object sender, EventArgs e)
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||||
{
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||||
|
||||
}
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||||
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||||
private void button5_Click(object sender, EventArgs e)
|
||||
{
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||||
zoomControl.ToggleSerialPort(button5, comboBox2);
|
||||
}
|
||||
|
||||
private void comboBox2_SelectedIndexChanged(object sender, EventArgs e)
|
||||
{
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||||
zoomControl.OnComboBoxSelectedIndexChanged(comboBox2, button5);
|
||||
}
|
||||
}
|
||||
}
|
||||
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||||
224
HitBotCSharpDemo/ZoomControl.cs
Normal file
224
HitBotCSharpDemo/ZoomControl.cs
Normal file
@@ -0,0 +1,224 @@
|
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using System;
|
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using System.Collections.Generic;
|
||||
using System.IO.Ports;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
using System.Windows.Forms;
|
||||
|
||||
namespace HitBotCSharpDemo
|
||||
{
|
||||
internal class ZoomControl
|
||||
{
|
||||
private enum Motor { X = 'X', Y = 'Y' };
|
||||
private enum Command
|
||||
{
|
||||
Limit = 'L', Home = 'H', Stop = 'S', Up = 'U', Down = 'D',
|
||||
Reset = 'R', Goto = 'G', Status = 'Z', MaxLength = 'M', Pos = 'N'
|
||||
};
|
||||
private enum Error { m_eoc = '\x00D' };
|
||||
private SerialPort serialPort;
|
||||
public ZoomControl()
|
||||
{
|
||||
InitializeSerialPort();
|
||||
}
|
||||
|
||||
private void InitializeSerialPort()
|
||||
{
|
||||
serialPort = new SerialPort();
|
||||
serialPort.BaudRate = 9600; // 波特率
|
||||
serialPort.DataBits = 8; // 数据位
|
||||
serialPort.StopBits = StopBits.One; // 停止位
|
||||
serialPort.Parity = Parity.None; // 奇偶校验
|
||||
serialPort.DataReceived += SerialPort_DataReceived;
|
||||
}
|
||||
private void SerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
|
||||
{
|
||||
try
|
||||
{
|
||||
string data = serialPort.ReadExisting();
|
||||
// 处理接收到的数据
|
||||
ProcessReceivedData(data);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Console.WriteLine($"处理串口数据时发生错误: {ex.Message}");
|
||||
}
|
||||
}
|
||||
private void ProcessReceivedData(string data)
|
||||
{
|
||||
// 根据需要处理返回的数据
|
||||
// 例如解析最大脉冲数、当前脉冲数、运动状态等
|
||||
|
||||
MessageBox.Show(data);
|
||||
}
|
||||
|
||||
public void LoadAvailablePorts(ComboBox comboBox)
|
||||
{
|
||||
try
|
||||
{
|
||||
comboBox.Items.Clear();
|
||||
string[] ports = SerialPort.GetPortNames();
|
||||
if (ports.Length > 0)
|
||||
{
|
||||
foreach (string port in ports)
|
||||
{
|
||||
comboBox.Items.Add(port);
|
||||
}
|
||||
// 默认选择第一个串口
|
||||
if (comboBox.Items.Count > 1)
|
||||
{
|
||||
comboBox.SelectedIndex = 1;
|
||||
}
|
||||
else if(comboBox.Items.Count > 0)
|
||||
{
|
||||
comboBox.SelectedIndex = 0;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
MessageBox.Show("系统中没有找到可用的串口！", "提示",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Information);
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
MessageBox.Show($"获取串口列表时发生错误: {ex.Message}", "错误",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||||
}
|
||||
}
|
||||
|
||||
public void ToggleSerialPort(Button button, ComboBox comboBox)
|
||||
{
|
||||
try
|
||||
{
|
||||
if (serialPort.IsOpen)
|
||||
{
|
||||
// 关闭串口
|
||||
serialPort.Close();
|
||||
UpdateUIStatus(false, button, comboBox);
|
||||
MessageBox.Show("变焦镜头串口已关闭", "提示",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Information);
|
||||
}
|
||||
else
|
||||
{
|
||||
// 打开串口
|
||||
if (string.IsNullOrEmpty(serialPort.PortName))
|
||||
{
|
||||
MessageBox.Show("请先选择一个串口！", "提示",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Warning);
|
||||
return;
|
||||
}
|
||||
|
||||
serialPort.Open();
|
||||
UpdateUIStatus(true, button, comboBox);
|
||||
MessageBox.Show($"变焦镜头串口 {serialPort.PortName} 已成功打开", "提示",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Information);
|
||||
|
||||
// 串口打开后，获取最大脉冲数
|
||||
GetMaxPulse();
|
||||
}
|
||||
}
|
||||
catch (UnauthorizedAccessException)
|
||||
{
|
||||
MessageBox.Show("串口访问被拒绝，可能已被其他程序占用！", "错误",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||||
}
|
||||
catch (ArgumentException)
|
||||
{
|
||||
MessageBox.Show("串口名称无效！", "错误",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||||
}
|
||||
catch (InvalidOperationException)
|
||||
{
|
||||
MessageBox.Show("串口已经处于打开状态！", "错误",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
MessageBox.Show($"操作串口时发生错误: {ex.Message}", "错误",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||||
}
|
||||
}
|
||||
public void OnComboBoxSelectedIndexChanged(ComboBox comboBox, Button button)
|
||||
{
|
||||
if (serialPort != null && serialPort.IsOpen)
|
||||
{
|
||||
try
|
||||
{
|
||||
serialPort.Close();
|
||||
UpdateUIStatus(false, button, comboBox);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
MessageBox.Show($"关闭串口时发生错误: {ex.Message}", "错误",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||||
}
|
||||
}
|
||||
|
||||
// 设置新选择的串口名称
|
||||
if (comboBox.SelectedItem != null)
|
||||
{
|
||||
serialPort.PortName = comboBox.SelectedItem.ToString();
|
||||
}
|
||||
}
|
||||
|
||||
private void UpdateUIStatus(bool isPortOpen, Button button, ComboBox comboBox)
|
||||
{
|
||||
if (isPortOpen)
|
||||
{
|
||||
button.Text = "关闭串口";
|
||||
comboBox.Enabled = false; // 串口打开时禁用选择框
|
||||
}
|
||||
else
|
||||
{
|
||||
button.Text = "打开串口";
|
||||
comboBox.Enabled = true; // 串口关闭时启用选择框
|
||||
}
|
||||
}
|
||||
|
||||
public bool IsSerialPortOpen()
|
||||
{
|
||||
return serialPort != null && serialPort.IsOpen;
|
||||
}
|
||||
|
||||
// 获取最大脉冲数
|
||||
public void GetMaxPulse()
|
||||
{
|
||||
if (serialPort != null && serialPort.IsOpen)
|
||||
{
|
||||
try
|
||||
{
|
||||
string command = $"{(char)Motor.X}{(char)Command.Pos}\r";
|
||||
serialPort.Write(command);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
MessageBox.Show($"获取最大脉冲数失败: {ex.Message}", "错误",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||||
}
|
||||
}
|
||||
}
|
||||
public void OnFormClosing()
|
||||
{
|
||||
try
|
||||
{
|
||||
if (serialPort != null && serialPort.IsOpen)
|
||||
{
|
||||
serialPort.Close();
|
||||
}
|
||||
serialPort?.Dispose();
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
MessageBox.Show($"关闭变焦串口时发生错误: {ex.Message}", "错误",
|
||||
MessageBoxButtons.OK, MessageBoxIcon.Error);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
@@ -1,2 +1,2 @@
|
||||
Exposure=90000
|
||||
Exposure=900000
|
||||
Gain=1
|
||||
|
||||
Binary file not shown.
Binary file not shown.
BIN
HitBotCSharpDemo/bin/x64/Debug/Photo_20250619_163751.jpg
Normal file
BIN
HitBotCSharpDemo/bin/x64/Debug/Photo_20250619_163751.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 443 KiB |
@@ -49,3 +49,188 @@
|
||||
2025-06-18 11:15:57.953 set_first_position_after_initial
|
||||
2025-06-18 11:15:57.954 movej_old start_pos: -87.030098 152.275085 -4.568500 -1028.047607 end_pos: -87.030098 152.275009 -4.568500 -1028.047607 org_sp 10.000000 end_sp 0.558927
|
||||
2025-06-18 11:15:58.244 J3 Belt Meilage=40.924805km
|
||||
2025-06-18 17:30:51.458 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-18 17:30:51.459 robot connected
|
||||
2025-06-18 17:30:51.459 26
|
||||
2025-06-18 17:30:51.459 current generation=26
|
||||
2025-06-18 17:30:51.971 0x1a
|
||||
2025-06-18 17:30:52.882 initial joint2 4435336
|
||||
2025-06-18 17:30:52.882 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-18 17:30:52.883 robot WritePID
|
||||
2025-06-18 17:30:53.190 initial joint1 -1267467
|
||||
2025-06-18 17:30:53.235 initial joint2 4435336
|
||||
2025-06-18 17:30:53.282 initial joint3 -13310
|
||||
2025-06-18 17:30:53.342 initial joint4 -25058602
|
||||
2025-06-18 17:30:53.373 initial joint1 -1267467
|
||||
2025-06-18 17:30:53.419 initial joint2 4435336
|
||||
2025-06-18 17:30:53.480 initial joint3 -13310
|
||||
2025-06-18 17:30:53.543 initial joint4 -25058604
|
||||
2025-06-18 17:30:53.573 initial joint1 -1267467
|
||||
2025-06-18 17:30:53.618 initial joint2 4435337
|
||||
2025-06-18 17:30:53.665 initial joint3 -13310
|
||||
2025-06-18 17:30:53.711 initial joint4 -25058605
|
||||
2025-06-18 17:30:55.990 initial_thread initialized
|
||||
2025-06-18 17:30:55.990 servo enable
|
||||
2025-06-18 17:30:55.992 brake open
|
||||
2025-06-18 17:30:55.992 set_brake_state 0 1
|
||||
2025-06-18 17:30:56.193 robot initialized
|
||||
2025-06-18 17:30:56.752 get_scara_param -87.029999 152.275208 -4.569900 -1028.047729
|
||||
2025-06-18 17:30:56.752 get_scara_real_coor -87.029900 152.275299 -4.569600 -1028.047607
|
||||
2025-06-18 17:30:56.753 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-18 17:30:56.753 position -1267466.250000 4435337.000000 -13310.798828 -25058608.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-18 17:30:56.753 speed 87030.000000 152275.203125 4569.899902 1032382.875000
|
||||
2025-06-18 17:30:56.754 set_first_position_after_initial
|
||||
2025-06-18 17:30:56.755 movej_old start_pos: -87.029999 152.275208 -4.569900 -1028.047729 end_pos: -87.029999 152.275208 -4.569900 -1028.047729 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-18 17:30:57.055 J3 Belt Meilage=40.926311km
|
||||
2025-06-18 17:31:00.469 30 30 30 30
|
||||
2025-06-18 17:31:00.470 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-18 17:31:00.470 goal_angle -63.500324 35.083988
|
||||
2025-06-18 17:31:00.470 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-18 17:31:00.472 z1 -4.569900 z2 -75.466103
|
||||
2025-06-18 17:31:00.472 angle1_1 -87.029999 angle2_1 152.275208 z1 -4.569900 r1 -1028.047729
|
||||
2025-06-18 17:31:00.472 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-18 17:31:00.472 speed 100.000000
|
||||
2025-06-18 17:31:00.473 tcp_distance 346.611359
|
||||
2025-06-18 17:31:00.473 new_end_speed 100.000000 j1_acc_t 1.733057 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.849814
|
||||
2025-06-18 17:31:00.473 new_end_speed 100.000000 j2_acc_t 1.733057 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.960564
|
||||
2025-06-18 17:31:00.473 new_end_speed 100.000000 j3_acc_t 1.733057 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.743309
|
||||
2025-06-18 17:31:00.473 new_end_speed 100.000000 j4_acc_t 1.733057 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.090624
|
||||
2025-06-18 17:31:00.474 end_speed 100.000000
|
||||
2025-06-18 17:31:00.474 trail_number3.466114
|
||||
2025-06-18 17:31:00.474 tcp_distance 346.611359
|
||||
2025-06-18 17:31:00.474 angle1_1 = -87.029999 angle2_1 = 152.275208 z1 = -4.569900 r1 = -1028.047729 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-18 17:31:03.670 30 30 30 30
|
||||
2025-06-18 17:31:03.670 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-18 17:31:03.670 goal_angle -44.911705 98.661697
|
||||
2025-06-18 17:31:03.671 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-18 17:31:03.671 z1 -75.466103 z2 -75.466103
|
||||
2025-06-18 17:31:03.671 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-18 17:31:03.671 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-18 17:31:03.671 speed 100.000000
|
||||
2025-06-18 17:31:03.671 tcp_distance 318.237030
|
||||
2025-06-18 17:31:03.672 new_end_speed 100.000000 j1_acc_t 1.591185 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 12.777455
|
||||
2025-06-18 17:31:03.672 new_end_speed 100.000000 j2_acc_t 1.591185 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 43.702080
|
||||
2025-06-18 17:31:03.672 new_end_speed 100.000000 j3_acc_t 1.591185 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-18 17:31:03.672 new_end_speed 100.000000 j4_acc_t 1.591185 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-18 17:31:03.672 end_speed 100.000000
|
||||
2025-06-18 17:31:03.672 trail_number3.182370
|
||||
2025-06-18 17:31:03.672 tcp_distance 318.237030
|
||||
2025-06-18 17:31:03.988 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-18 17:31:08.180 30 30 30 30
|
||||
2025-06-18 17:31:08.181 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-18 17:31:08.181 goal_angle -11.002804 84.112190
|
||||
2025-06-18 17:31:08.181 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-18 17:31:08.181 z1 -75.466103 z2 -75.466103
|
||||
2025-06-18 17:31:08.181 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-18 17:31:08.181 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-18 17:31:08.182 speed 100.000000
|
||||
2025-06-18 17:31:08.182 tcp_distance 144.322098
|
||||
2025-06-18 17:31:08.182 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
|
||||
2025-06-18 17:31:08.182 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
|
||||
2025-06-18 17:31:08.182 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
|
||||
2025-06-18 17:31:08.182 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
|
||||
2025-06-18 17:31:08.183 end_speed 100.000000
|
||||
2025-06-18 17:31:08.183 trail_number1.443221
|
||||
2025-06-18 17:31:08.183 tcp_distance 144.322098
|
||||
2025-06-18 17:31:08.184 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
|
||||
2025-06-18 17:31:25.306 30 30 30 30
|
||||
2025-06-18 17:31:25.306 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-18 17:31:25.306 goal_angle -87.199585 152.604431
|
||||
2025-06-18 17:31:25.307 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-18 17:31:25.307 z1 -75.466103 z2 -4.457100
|
||||
2025-06-18 17:31:25.307 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-18 17:31:25.307 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-18 17:31:25.307 speed 100.000000
|
||||
2025-06-18 17:31:25.308 tcp_distance 288.737366
|
||||
2025-06-18 17:31:25.308 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
|
||||
2025-06-18 17:31:25.308 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
|
||||
2025-06-18 17:31:25.308 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
|
||||
2025-06-18 17:31:25.308 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
|
||||
2025-06-18 17:31:25.308 end_speed 100.000000
|
||||
2025-06-18 17:31:25.308 trail_number2.887374
|
||||
2025-06-18 17:31:25.309 tcp_distance 288.737366
|
||||
2025-06-18 17:31:25.309 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
|
||||
2025-06-18 17:31:30.011 30 30 30 30
|
||||
2025-06-18 17:31:30.011 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-18 17:31:30.011 goal_angle -44.911705 98.661697
|
||||
2025-06-18 17:31:30.011 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-18 17:31:30.012 z1 -4.457100 z2 -75.466103
|
||||
2025-06-18 17:31:30.012 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-18 17:31:30.012 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-18 17:31:30.012 speed 100.000000
|
||||
2025-06-18 17:31:30.012 tcp_distance 200.024658
|
||||
2025-06-18 17:31:30.012 new_end_speed 100.000000 j1_acc_t 1.000123 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.246628
|
||||
2025-06-18 17:31:30.013 new_end_speed 100.000000 j2_acc_t 1.000123 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 58.992538
|
||||
2025-06-18 17:31:30.013 new_end_speed 100.000000 j3_acc_t 1.000123 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.656456
|
||||
2025-06-18 17:31:30.013 new_end_speed 100.000000 j4_acc_t 1.000123 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.277203
|
||||
2025-06-18 17:31:30.013 end_speed 100.000000
|
||||
2025-06-18 17:31:30.013 trail_number2.000247
|
||||
2025-06-18 17:31:30.013 tcp_distance 200.024658
|
||||
2025-06-18 17:31:30.014 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-18 17:31:32.830 30 30 30 30
|
||||
2025-06-18 17:31:32.830 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-18 17:31:32.830 goal_angle -11.002804 84.112190
|
||||
2025-06-18 17:31:32.830 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-18 17:31:32.831 z1 -75.466103 z2 -75.466103
|
||||
2025-06-18 17:31:32.831 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-18 17:31:32.831 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-18 17:31:32.831 speed 100.000000
|
||||
2025-06-18 17:31:32.831 tcp_distance 144.322098
|
||||
2025-06-18 17:31:32.832 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
|
||||
2025-06-18 17:31:32.832 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
|
||||
2025-06-18 17:31:32.832 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
|
||||
2025-06-18 17:31:32.832 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
|
||||
2025-06-18 17:31:32.832 end_speed 100.000000
|
||||
2025-06-18 17:31:32.832 trail_number1.443221
|
||||
2025-06-18 17:31:32.832 tcp_distance 144.322098
|
||||
2025-06-18 17:31:32.833 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
|
||||
2025-06-18 19:37:58.186 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-18 19:37:58.187 robot connected
|
||||
2025-06-18 19:37:58.187 26
|
||||
2025-06-18 19:37:58.187 current generation=26
|
||||
2025-06-18 19:37:58.699 0x1a
|
||||
2025-06-18 19:37:59.606 initial joint2 2449949
|
||||
2025-06-18 19:37:59.607 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-18 19:37:59.607 robot WritePID
|
||||
2025-06-18 19:37:59.913 initial joint1 -160239
|
||||
2025-06-18 19:37:59.960 initial joint2 2449949
|
||||
2025-06-18 19:38:00.006 initial joint3 -219814
|
||||
2025-06-18 19:38:00.053 initial joint4 -25369362
|
||||
2025-06-18 19:38:00.084 initial joint1 -160238
|
||||
2025-06-18 19:38:00.130 initial joint2 2449949
|
||||
2025-06-18 19:38:00.191 initial joint3 -219816
|
||||
2025-06-18 19:38:00.254 initial joint4 -25369363
|
||||
2025-06-18 19:38:00.270 initial joint1 -160238
|
||||
2025-06-18 19:38:00.316 initial joint2 2449950
|
||||
2025-06-18 19:38:00.363 initial joint3 -219816
|
||||
2025-06-18 19:38:00.409 initial joint4 -25369363
|
||||
2025-06-18 19:38:02.704 initial_thread initialized
|
||||
2025-06-18 19:38:02.706 servo enable
|
||||
2025-06-18 19:38:02.706 brake open
|
||||
2025-06-18 19:38:02.706 set_brake_state 0 1
|
||||
2025-06-18 19:38:02.916 robot initialized
|
||||
2025-06-18 19:38:03.486 get_scara_param -11.002600 84.112297 -75.468803 -1005.720886
|
||||
2025-06-18 19:38:03.487 get_scara_real_coor -11.002600 84.112396 -75.469200 -1005.720825
|
||||
2025-06-18 19:38:03.487 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-18 19:38:03.487 position -160236.984375 2449948.250000 -219818.828125 -25369364.000000 -771826.500000 3174142.000000 -180265.437500 -24815172.000000
|
||||
2025-06-18 19:38:03.487 speed 41994.519531 24863.218750 13579.579102 22832.005859
|
||||
2025-06-18 19:38:03.488 set_first_position_after_initial
|
||||
2025-06-18 19:38:03.488 movej_old start_pos: -11.002601 84.112297 -75.468803 -1005.720886 end_pos: -11.002601 84.112297 -75.468803 -1005.720886 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-18 19:38:03.778 J3 Belt Meilage=40.927448km
|
||||
2025-06-18 19:38:06.260 30 30 30 30
|
||||
2025-06-18 19:38:06.261 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-18 19:38:06.263 goal_angle -87.199585 152.604431
|
||||
2025-06-18 19:38:06.263 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-18 19:38:06.263 z1 -75.468803 z2 -4.457100
|
||||
2025-06-18 19:38:06.263 angle1_1 -11.002601 angle2_1 84.112297 z1 -75.468803 r1 -1005.720886
|
||||
2025-06-18 19:38:06.263 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-18 19:38:06.263 speed 100.000000
|
||||
2025-06-18 19:38:06.263 tcp_distance 288.738281
|
||||
2025-06-18 19:38:06.263 new_end_speed 100.000000 j1_acc_t 1.443691 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727360
|
||||
2025-06-18 19:38:06.264 new_end_speed 100.000000 j2_acc_t 1.443691 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890110
|
||||
2025-06-18 19:38:06.264 new_end_speed 100.000000 j3_acc_t 1.443691 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.798954
|
||||
2025-06-18 19:38:06.264 new_end_speed 100.000000 j4_acc_t 1.443691 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818227
|
||||
2025-06-18 19:38:06.264 end_speed 100.000000
|
||||
2025-06-18 19:38:06.265 trail_number2.887383
|
||||
2025-06-18 19:38:06.265 tcp_distance 288.738281
|
||||
2025-06-18 19:38:06.266 angle1_1 = -11.002601 angle2_1 = 84.112297 z1 = -75.468803 r1 = -1005.720886 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
|
||||
636
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-19.hilog
Normal file
636
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-19.hilog
Normal file
@@ -0,0 +1,636 @@
|
||||
2025-06-19 09:59:59.245 ROBOT_ERROR_CODE = 1004
|
||||
2025-06-19 09:59:59.245
|
||||
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
|
||||
2025-06-19 10:19:29.971 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-19 10:19:29.971 robot connected
|
||||
2025-06-19 10:19:29.971 26
|
||||
2025-06-19 10:19:29.971 current generation=26
|
||||
2025-06-19 10:19:30.600 0x1a
|
||||
2025-06-19 10:19:31.394 initial joint2 4431669
|
||||
2025-06-19 10:19:31.394 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-19 10:19:31.394 robot WritePID
|
||||
2025-06-19 10:19:31.699 initial joint1 -1266654
|
||||
2025-06-19 10:19:31.767 initial joint2 4431669
|
||||
2025-06-19 10:19:31.816 initial joint3 -14677
|
||||
2025-06-19 10:19:31.855 initial joint4 -25059778
|
||||
2025-06-19 10:19:31.861 initial joint1 -1266659
|
||||
2025-06-19 10:19:31.913 initial joint2 4431667
|
||||
2025-06-19 10:19:31.961 initial joint3 -14677
|
||||
2025-06-19 10:19:32.016 initial joint4 -25059778
|
||||
2025-06-19 10:19:32.022 initial joint1 -1266657
|
||||
2025-06-19 10:19:32.070 initial joint2 4431668
|
||||
2025-06-19 10:19:32.118 initial joint3 -14678
|
||||
2025-06-19 10:19:32.185 initial joint4 -25059778
|
||||
2025-06-19 10:19:34.374 initial_thread initialized
|
||||
2025-06-19 10:19:34.374 servo enable
|
||||
2025-06-19 10:19:34.374 brake open
|
||||
2025-06-19 10:19:34.376 set_brake_state 0 1
|
||||
2025-06-19 10:19:34.582 robot initialized
|
||||
2025-06-19 10:19:35.194 get_scara_param -86.974098 152.149307 -5.039900 -1028.115723
|
||||
2025-06-19 10:19:35.194 get_scara_real_coor -86.974503 152.149307 -5.039900 -1028.116089
|
||||
2025-06-19 10:19:35.194 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-19 10:19:35.194 position -1266652.125000 4431669.500000 -14679.772461 -25059782.000000 -771826.500000 3174142.000000 -180265.437500 -24815172.000000
|
||||
2025-06-19 10:19:35.194 speed 33976.980469 43173.781250 56849.328125 10077.622070
|
||||
2025-06-19 10:19:35.194 set_first_position_after_initial
|
||||
2025-06-19 10:19:35.194 movej_old start_pos: -86.974098 152.149292 -5.039900 -1028.115723 end_pos: -86.974098 152.149200 -5.039900 -1028.115723 org_sp 10.000000 end_sp 0.660932
|
||||
2025-06-19 10:19:35.503 J3 Belt Meilage=40.927971km
|
||||
2025-06-19 10:19:36.937 30 30 30 30
|
||||
2025-06-19 10:19:36.953 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-19 10:19:36.953 goal_angle -11.002804 84.112190
|
||||
2025-06-19 10:19:36.953 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-19 10:19:36.953 z1 -5.039900 z2 -75.466103
|
||||
2025-06-19 10:19:36.953 angle1_1 -86.974098 angle2_1 152.149200 z1 -5.039900 r1 -1028.115723
|
||||
2025-06-19 10:19:36.953 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-19 10:19:36.953 speed 100.000000
|
||||
2025-06-19 10:19:36.953 tcp_distance 287.405090
|
||||
2025-06-19 10:19:36.953 new_end_speed 100.000000 j1_acc_t 1.437025 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.823383
|
||||
2025-06-19 10:19:36.953 new_end_speed 100.000000 j2_acc_t 1.437025 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.784428
|
||||
2025-06-19 10:19:36.953 new_end_speed 100.000000 j3_acc_t 1.437025 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.602894
|
||||
2025-06-19 10:19:36.953 new_end_speed 100.000000 j4_acc_t 1.437025 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 17.045084
|
||||
2025-06-19 10:19:36.953 end_speed 100.000000
|
||||
2025-06-19 10:19:36.953 trail_number2.874051
|
||||
2025-06-19 10:19:36.953 tcp_distance 287.405090
|
||||
2025-06-19 10:19:36.953 angle1_1 = -86.974098 angle2_1 = 152.149200 z1 = -5.039900 r1 = -1028.115723 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-19 11:24:20.660 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-19 11:24:20.660 robot connected
|
||||
2025-06-19 11:24:20.661 26
|
||||
2025-06-19 11:24:20.661 current generation=26
|
||||
2025-06-19 11:24:21.176 0x1a
|
||||
2025-06-19 11:24:21.176 initial return 3 ĩ<>˹ؽڲ<D8BD><DAB2><EFBFBD><EFBFBD><EFBFBD><DEB6><EFBFBD>Χ<EFBFBD><CEA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>joint_homeʹ<65>ؽ<EFBFBD>ǿ<EFBFBD>ƻ<EFBFBD><C6BB><EFBFBD>
|
||||
2025-06-19 11:24:23.489 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-19 11:24:23.490 robot connected
|
||||
2025-06-19 11:24:23.490 26
|
||||
2025-06-19 11:24:23.490 current generation=26
|
||||
2025-06-19 11:24:24.001 0x1a
|
||||
2025-06-19 11:24:24.894 initial joint2 2449949
|
||||
2025-06-19 11:24:24.894 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-19 11:24:24.895 robot WritePID
|
||||
2025-06-19 11:24:25.199 initial joint1 -160239
|
||||
2025-06-19 11:24:25.260 initial joint2 2449949
|
||||
2025-06-19 11:24:25.322 initial joint3 -219819
|
||||
2025-06-19 11:24:25.367 initial joint4 -25369362
|
||||
2025-06-19 11:24:25.383 initial joint1 -160231
|
||||
2025-06-19 11:24:25.429 initial joint2 2449950
|
||||
2025-06-19 11:24:25.475 initial joint3 -219819
|
||||
2025-06-19 11:24:25.521 initial joint4 -25369363
|
||||
2025-06-19 11:24:25.537 initial joint1 -160231
|
||||
2025-06-19 11:24:25.599 initial joint2 2449951
|
||||
2025-06-19 11:24:25.660 initial joint3 -219823
|
||||
2025-06-19 11:24:25.721 initial joint4 -25369363
|
||||
2025-06-19 11:24:27.970 initial_thread initialized
|
||||
2025-06-19 11:24:27.971 servo enable
|
||||
2025-06-19 11:24:27.971 brake open
|
||||
2025-06-19 11:24:27.971 set_brake_state 0 1
|
||||
2025-06-19 11:24:28.187 robot initialized
|
||||
2025-06-19 11:24:28.756 get_scara_param -11.002100 84.112396 -75.471603 -1005.720276
|
||||
2025-06-19 11:24:28.756 get_scara_real_coor -11.002200 84.112396 -75.470901 -1005.720276
|
||||
2025-06-19 11:24:28.756 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-19 11:24:28.757 position -160229.687500 2449951.000000 -219826.984375 -25369364.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-19 11:24:28.757 speed 11002.099609 84112.390625 75471.601563 1045185.625000
|
||||
2025-06-19 11:24:28.757 set_first_position_after_initial
|
||||
2025-06-19 11:24:28.759 movej_old start_pos: -11.002100 84.112396 -75.471603 -1005.720276 end_pos: -11.002100 84.112297 -75.471603 -1005.720276 org_sp 10.000000 end_sp 0.667419
|
||||
2025-06-19 11:24:29.047 J3 Belt Meilage=40.928776km
|
||||
2025-06-19 11:24:42.081 _new_stop_move_thread_0
|
||||
2025-06-19 11:24:42.081 j1_slow_down_t = 0
|
||||
2025-06-19 11:24:42.081 j2_slow_down_t = 0
|
||||
2025-06-19 11:24:42.081 j3_slow_down_t = 0
|
||||
2025-06-19 11:24:42.082 j4_slow_down_t = 0
|
||||
2025-06-19 11:24:42.082 tmp_t[3] = 0
|
||||
2025-06-19 11:24:42.082 _new_stop_move_thread_1
|
||||
2025-06-19 11:24:42.203 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:42.235 _new_stop_move_thread_2
|
||||
2025-06-19 11:24:42.265 _new_stop_move_thread_3
|
||||
2025-06-19 11:24:42.266 get_scara_param -11.002100 84.112396 -75.729401 -1005.720398
|
||||
2025-06-19 11:24:42.266 get_scara_real_coor -11.002100 84.112396 -75.729401 -1005.720276
|
||||
2025-06-19 11:24:42.266 _new_stop_move_thread_4
|
||||
2025-06-19 11:24:42.406 wait_stop in
|
||||
2025-06-19 11:24:42.435 wait_stop out_0
|
||||
2025-06-19 11:24:42.573 _new_stop_move_thread_0
|
||||
2025-06-19 11:24:42.574 j1_slow_down_t = 0
|
||||
2025-06-19 11:24:42.574 j2_slow_down_t = 0
|
||||
2025-06-19 11:24:42.574 j3_slow_down_t = 0
|
||||
2025-06-19 11:24:42.574 j4_slow_down_t = 0
|
||||
2025-06-19 11:24:42.574 tmp_t[3] = 0
|
||||
2025-06-19 11:24:42.575 _new_stop_move_thread_1
|
||||
2025-06-19 11:24:42.680 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:42.710 _new_stop_move_thread_2
|
||||
2025-06-19 11:24:42.742 _new_stop_move_thread_3
|
||||
2025-06-19 11:24:42.743 get_scara_param -11.002100 84.112503 -75.996201 -1005.720398
|
||||
2025-06-19 11:24:42.743 get_scara_real_coor -11.002100 84.112503 -75.996201 -1005.720398
|
||||
2025-06-19 11:24:42.743 _new_stop_move_thread_4
|
||||
2025-06-19 11:24:42.896 wait_stop in
|
||||
2025-06-19 11:24:42.927 wait_stop out_0
|
||||
2025-06-19 11:24:43.354 _new_stop_move_thread_0
|
||||
2025-06-19 11:24:43.355 j1_slow_down_t = 0
|
||||
2025-06-19 11:24:43.355 j2_slow_down_t = 0
|
||||
2025-06-19 11:24:43.355 j3_slow_down_t = 0
|
||||
2025-06-19 11:24:43.355 j4_slow_down_t = 0
|
||||
2025-06-19 11:24:43.356 tmp_t[3] = 0
|
||||
2025-06-19 11:24:43.356 _new_stop_move_thread_1
|
||||
2025-06-19 11:24:43.451 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:43.498 _new_stop_move_thread_2
|
||||
2025-06-19 11:24:43.528 _new_stop_move_thread_3
|
||||
2025-06-19 11:24:43.528 get_scara_param -11.002100 84.112602 -76.261497 -1005.720398
|
||||
2025-06-19 11:24:43.528 get_scara_real_coor -11.002100 84.112602 -76.261497 -1005.720398
|
||||
2025-06-19 11:24:43.529 _new_stop_move_thread_4
|
||||
2025-06-19 11:24:43.607 _new_stop_move_thread_0
|
||||
2025-06-19 11:24:43.607 j1_slow_down_t = 0
|
||||
2025-06-19 11:24:43.608 j2_slow_down_t = 0
|
||||
2025-06-19 11:24:43.608 j3_slow_down_t = 0
|
||||
2025-06-19 11:24:43.608 j4_slow_down_t = 0
|
||||
2025-06-19 11:24:43.608 tmp_t[3] = 0
|
||||
2025-06-19 11:24:43.608 _new_stop_move_thread_1
|
||||
2025-06-19 11:24:43.652 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:43.745 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:43.760 _new_stop_move_thread_2
|
||||
2025-06-19 11:24:43.791 _new_stop_move_thread_3
|
||||
2025-06-19 11:24:43.791 get_scara_param -11.002100 84.112701 -76.480904 -1005.720520
|
||||
2025-06-19 11:24:43.791 get_scara_real_coor -11.002100 84.112701 -76.480904 -1005.720398
|
||||
2025-06-19 11:24:43.793 _new_stop_move_thread_4
|
||||
2025-06-19 11:24:43.799 _new_stop_move_thread_0
|
||||
2025-06-19 11:24:43.799 j1_slow_down_t = 0
|
||||
2025-06-19 11:24:43.799 j2_slow_down_t = 0
|
||||
2025-06-19 11:24:43.800 j3_slow_down_t = 23
|
||||
2025-06-19 11:24:43.800 j4_slow_down_t = 0
|
||||
2025-06-19 11:24:43.800 tmp_t[3] = 23
|
||||
2025-06-19 11:24:43.800 _new_stop_move_thread_1
|
||||
2025-06-19 11:24:43.822 _new_stop_move_thread_2
|
||||
2025-06-19 11:24:43.853 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:43.900 _new_stop_move_thread_3
|
||||
2025-06-19 11:24:43.900 get_scara_param -11.002000 84.113998 -76.116699 -1005.723511
|
||||
2025-06-19 11:24:43.901 get_scara_real_coor -11.002000 84.113998 -76.116699 -1005.723572
|
||||
2025-06-19 11:24:43.901 _new_stop_move_thread_4
|
||||
2025-06-19 11:24:43.958 _new_stop_move_thread_0
|
||||
2025-06-19 11:24:43.959 j1_slow_down_t = 0
|
||||
2025-06-19 11:24:43.959 j2_slow_down_t = 0
|
||||
2025-06-19 11:24:43.959 j3_slow_down_t = 0
|
||||
2025-06-19 11:24:43.959 j4_slow_down_t = 0
|
||||
2025-06-19 11:24:43.959 tmp_t[3] = 0
|
||||
2025-06-19 11:24:43.960 _new_stop_move_thread_1
|
||||
2025-06-19 11:24:44.008 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.055 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.117 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.132 _new_stop_move_thread_2
|
||||
2025-06-19 11:24:44.147 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.163 _new_stop_move_thread_3
|
||||
2025-06-19 11:24:44.164 get_scara_param -11.002000 84.114197 -76.319901 -1005.723694
|
||||
2025-06-19 11:24:44.164 get_scara_real_coor -11.002000 84.114197 -76.319901 -1005.723694
|
||||
2025-06-19 11:24:44.164 _new_stop_move_thread_4
|
||||
2025-06-19 11:24:44.168 _new_stop_move_thread_0
|
||||
2025-06-19 11:24:44.168 j1_slow_down_t = 0
|
||||
2025-06-19 11:24:44.169 j2_slow_down_t = 0
|
||||
2025-06-19 11:24:44.169 j3_slow_down_t = 28
|
||||
2025-06-19 11:24:44.169 j4_slow_down_t = 0
|
||||
2025-06-19 11:24:44.169 tmp_t[3] = 28
|
||||
2025-06-19 11:24:44.169 _new_stop_move_thread_1
|
||||
2025-06-19 11:24:44.193 _new_stop_move_thread_2
|
||||
2025-06-19 11:24:44.223 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.253 _new_stop_move_thread_3
|
||||
2025-06-19 11:24:44.254 get_scara_param -11.002200 84.115799 -75.911400 -1005.726379
|
||||
2025-06-19 11:24:44.254 get_scara_real_coor -11.002200 84.115799 -75.911400 -1005.726318
|
||||
2025-06-19 11:24:44.254 _new_stop_move_thread_4
|
||||
2025-06-19 11:24:44.257 wait_stop in
|
||||
2025-06-19 11:24:44.276 _new_stop_move_thread_0
|
||||
2025-06-19 11:24:44.276 j1_slow_down_t = 0
|
||||
2025-06-19 11:24:44.276 j2_slow_down_t = 1
|
||||
2025-06-19 11:24:44.276 j3_slow_down_t = 276
|
||||
2025-06-19 11:24:44.276 j4_slow_down_t = 0
|
||||
2025-06-19 11:24:44.277 tmp_t[3] = 276
|
||||
2025-06-19 11:24:44.277 _new_stop_move_thread_1
|
||||
2025-06-19 11:24:44.301 _new_stop_move_thread_2
|
||||
2025-06-19 11:24:44.331 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.363 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.378 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.425 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.471 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.533 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.564 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.579 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.626 _new_stop_move_thread_3
|
||||
2025-06-19 11:24:44.627 wait_stop out_0
|
||||
2025-06-19 11:24:44.627 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.628 get_scara_param -11.053000 83.910797 -174.089996 -1005.768799
|
||||
2025-06-19 11:24:44.628 get_scara_real_coor -11.053000 83.910797 -174.089996 -1005.768921
|
||||
2025-06-19 11:24:44.628 _new_stop_move_thread_4
|
||||
2025-06-19 11:24:44.632 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-19 11:24:44.632 position -160972.328125 2444080.500000 -507079.687500 -25366368.000000 -160367.109375 2443771.250000 -576623.312500 -25366518.000000
|
||||
2025-06-19 11:24:44.632 speed 41.557072 10.617256 23875.908203 6.179810
|
||||
2025-06-19 11:24:44.633 _new_stop_move_thread_0
|
||||
2025-06-19 11:24:44.633 j1_slow_down_t = 55
|
||||
2025-06-19 11:24:44.633 j2_slow_down_t = 7
|
||||
2025-06-19 11:24:44.633 j3_slow_down_t = 7461
|
||||
2025-06-19 11:24:44.634 j4_slow_down_t = 3
|
||||
2025-06-19 11:24:44.634 tmp_t[3] = 7461
|
||||
2025-06-19 11:24:44.636 _new_stop_move_thread_1
|
||||
2025-06-19 11:24:44.672 _new_stop_move_thread_2
|
||||
2025-06-19 11:24:44.672 ROBOT_ERROR_CODE = 1002
|
||||
2025-06-19 11:24:44.672 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:24:44.674
|
||||
0 : 9999 9999 9999 9999 10000 0
|
||||
1 : 9999 9999 9999 9997 9999 0
|
||||
2 : 9999 9999 9999 9997 9999 0
|
||||
3 : 9999 9999 9999 9996 9999 0
|
||||
4 : 9999 9999 9999 9996 9999 0
|
||||
5 : 9999 9999 9999 9996 9999 0
|
||||
6 : 9999 9999 9999 9996 9999 0
|
||||
7 : 9999 9999 9999 9996 9999 0
|
||||
8 : 9999 9999 9999 9996 9999 0
|
||||
9 : 9999 9999 9999 9996 9999 0
|
||||
10 : 9999 9999 9999 9996 9999 0
|
||||
11 : 9999 9999 9999 9996 9999 0
|
||||
12 : 9999 9999 9999 9996 9999 0
|
||||
13 : 9999 9999 9999 9996 9999 0
|
||||
14 : 9999 9999 9999 9996 9999 0
|
||||
15 : 9999 9999 9999 9996 9999 0
|
||||
2025-06-19 11:24:44.703 _new_stop_move_thread_3
|
||||
2025-06-19 11:24:44.703 get_scara_param -11.020300 83.895203 -173.856201 -1005.752686
|
||||
2025-06-19 11:24:44.703 get_scara_real_coor -11.020300 83.895203 -173.856201 -1005.752686
|
||||
2025-06-19 11:24:44.704 _new_stop_move_thread_4
|
||||
2025-06-19 11:24:44.749 wait_stop in
|
||||
2025-06-19 11:24:44.765 wait_stop exit_2
|
||||
2025-06-19 11:24:44.765 wait_stop in
|
||||
2025-06-19 11:24:44.780 wait_stop exit_2
|
||||
2025-06-19 11:24:44.781 wait_stop in
|
||||
2025-06-19 11:24:44.795 wait_stop exit_2
|
||||
2025-06-19 11:24:44.842 wait_stop in
|
||||
2025-06-19 11:24:44.843 wait_stop in
|
||||
2025-06-19 11:24:44.857 wait_stop exit_2
|
||||
2025-06-19 11:24:44.859 wait_stop exit_2
|
||||
2025-06-19 11:24:44.887 wait_stop in
|
||||
2025-06-19 11:24:44.903 wait_stop exit_2
|
||||
2025-06-19 11:24:49.993 wait_stop in
|
||||
2025-06-19 11:24:50.008 wait_stop exit_2
|
||||
2025-06-19 11:28:10.860 ROBOT_ERROR_CODE = 1004
|
||||
2025-06-19 11:28:10.862
|
||||
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
|
||||
2025-06-19 11:28:14.460 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-19 11:28:14.460 robot connected
|
||||
2025-06-19 11:28:14.460 26
|
||||
2025-06-19 11:28:14.460 current generation=26
|
||||
2025-06-19 11:28:15.081 0x1a
|
||||
2025-06-19 11:28:15.932 initial joint2 2453046
|
||||
2025-06-19 11:28:15.932 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-19 11:28:15.933 robot WritePID
|
||||
2025-06-19 11:28:16.239 initial joint1 -174709
|
||||
2025-06-19 11:28:16.302 initial joint2 2453047
|
||||
2025-06-19 11:28:16.347 initial joint3 -496694
|
||||
2025-06-19 11:28:16.393 initial joint4 -25252816
|
||||
2025-06-19 11:28:16.408 initial joint1 -174709
|
||||
2025-06-19 11:28:16.453 initial joint2 2453047
|
||||
2025-06-19 11:28:16.500 initial joint3 -496694
|
||||
2025-06-19 11:28:16.561 initial joint4 -25252817
|
||||
2025-06-19 11:28:16.577 initial joint1 -174710
|
||||
2025-06-19 11:28:16.638 initial joint2 2453046
|
||||
2025-06-19 11:28:16.700 initial joint3 -496696
|
||||
2025-06-19 11:28:16.761 initial joint4 -25252816
|
||||
2025-06-19 11:28:18.945 initial_thread initialized
|
||||
2025-06-19 11:28:18.946 servo enable
|
||||
2025-06-19 11:28:18.946 brake open
|
||||
2025-06-19 11:28:18.947 set_brake_state 0 1
|
||||
2025-06-19 11:28:19.161 robot initialized
|
||||
2025-06-19 11:28:19.703 get_scara_param -11.996300 84.218697 -170.527695 -1001.849182
|
||||
2025-06-19 11:28:19.703 get_scara_real_coor -11.996300 84.218697 -170.527695 -1001.849182
|
||||
2025-06-19 11:28:19.704 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-19 11:28:19.704 position -174708.781250 2453047.250000 -496697.906250 -25252818.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-19 11:28:19.704 speed 11996.300781 84218.695313 170527.687500 1040384.062500
|
||||
2025-06-19 11:28:19.704 set_first_position_after_initial
|
||||
2025-06-19 11:28:19.705 movej_old start_pos: -11.996300 84.218697 -170.527695 -1001.849182 end_pos: -11.996300 84.218597 -170.527695 -1001.849182 org_sp 10.000000 end_sp 0.805957
|
||||
2025-06-19 11:28:19.995 J3 Belt Meilage=40.928917km
|
||||
2025-06-19 11:28:29.903 wait_stop in
|
||||
2025-06-19 11:28:29.942 wait_stop out_0
|
||||
2025-06-19 11:28:30.012 30 30 30 30
|
||||
2025-06-19 11:28:30.013 new_movej_xyz_lr 276.260315 144.722900 -168.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:30.013 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:30.014 new_movej_angle -11.996325 84.218636 -168.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:30.015 z1 -170.527695 z2 -168.527695
|
||||
2025-06-19 11:28:30.015 angle1_1 -11.996300 angle2_1 84.218597 z1 -170.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:30.016 angle1_2 -11.996325 angle2_2 84.218636 z2 -168.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:30.016 speed 2.000000
|
||||
2025-06-19 11:28:30.016 tcp_distance 1.988894
|
||||
2025-06-19 11:28:30.017 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000055
|
||||
2025-06-19 11:28:30.018 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000084
|
||||
2025-06-19 11:28:30.018 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399429
|
||||
2025-06-19 11:28:30.018 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:30.019 end_speed 2.000000
|
||||
2025-06-19 11:28:30.019 trail_number0.994447
|
||||
2025-06-19 11:28:30.019 tcp_distance 1.988894
|
||||
2025-06-19 11:28:30.020 angle1_1 = -11.996300 angle2_1 = 84.218597 z1 = -170.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -168.527695 r2 = -1001.849182
|
||||
2025-06-19 11:28:34.351 wait_stop in
|
||||
2025-06-19 11:28:34.389 wait_stop out_0
|
||||
2025-06-19 11:28:34.473 30 30 30 30
|
||||
2025-06-19 11:28:34.473 new_movej_xyz_lr 276.260315 144.722900 -166.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:34.473 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:34.473 new_movej_angle -11.996325 84.218636 -166.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:34.474 z1 -168.527695 z2 -166.527695
|
||||
2025-06-19 11:28:34.474 angle1_1 -11.996325 angle2_1 84.218636 z1 -168.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:34.474 angle1_2 -11.996325 angle2_2 84.218636 z2 -166.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:34.474 speed 2.000000
|
||||
2025-06-19 11:28:34.474 tcp_distance 1.988892
|
||||
2025-06-19 11:28:34.475 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
|
||||
2025-06-19 11:28:34.475 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
|
||||
2025-06-19 11:28:34.475 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436
|
||||
2025-06-19 11:28:34.475 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:34.475 end_speed 2.000000
|
||||
2025-06-19 11:28:34.475 trail_number0.994446
|
||||
2025-06-19 11:28:34.475 tcp_distance 1.988892
|
||||
2025-06-19 11:28:34.476 angle1_1 = -11.996325 angle2_1 = 84.218636 z1 = -168.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -166.527695 r2 = -1001.849182
|
||||
2025-06-19 11:28:36.310 wait_stop in
|
||||
2025-06-19 11:28:36.346 wait_stop out_0
|
||||
2025-06-19 11:28:36.412 30 30 30 30
|
||||
2025-06-19 11:28:36.413 new_movej_xyz_lr 276.260315 144.722900 -164.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:36.413 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:36.413 new_movej_angle -11.996325 84.218636 -164.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:36.413 z1 -166.527695 z2 -164.527695
|
||||
2025-06-19 11:28:36.413 angle1_1 -11.996325 angle2_1 84.218636 z1 -166.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:36.413 angle1_2 -11.996325 angle2_2 84.218636 z2 -164.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:36.413 speed 2.000000
|
||||
2025-06-19 11:28:36.413 tcp_distance 1.988892
|
||||
2025-06-19 11:28:36.414 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
|
||||
2025-06-19 11:28:36.414 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
|
||||
2025-06-19 11:28:36.414 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436
|
||||
2025-06-19 11:28:36.414 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:36.414 end_speed 2.000000
|
||||
2025-06-19 11:28:36.414 trail_number0.994446
|
||||
2025-06-19 11:28:36.415 tcp_distance 1.988892
|
||||
2025-06-19 11:28:36.415 angle1_1 = -11.996325 angle2_1 = 84.218636 z1 = -166.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -164.527695 r2 = -1001.849182
|
||||
2025-06-19 11:28:38.278 wait_stop in
|
||||
2025-06-19 11:28:38.307 wait_stop out_0
|
||||
2025-06-19 11:28:38.374 30 30 30 30
|
||||
2025-06-19 11:28:38.374 new_movej_xyz_lr 276.260315 144.722900 -162.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:38.374 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:38.374 new_movej_angle -11.996325 84.218636 -162.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:38.375 z1 -164.527695 z2 -162.527695
|
||||
2025-06-19 11:28:38.375 angle1_1 -11.996325 angle2_1 84.218636 z1 -164.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:38.375 angle1_2 -11.996325 angle2_2 84.218636 z2 -162.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:38.375 speed 2.000000
|
||||
2025-06-19 11:28:38.375 tcp_distance 1.988892
|
||||
2025-06-19 11:28:38.375 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
|
||||
2025-06-19 11:28:38.376 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
|
||||
2025-06-19 11:28:38.376 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436
|
||||
2025-06-19 11:28:38.376 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:38.376 end_speed 2.000000
|
||||
2025-06-19 11:28:38.376 trail_number0.994446
|
||||
2025-06-19 11:28:38.376 tcp_distance 1.988892
|
||||
2025-06-19 11:28:38.377 angle1_1 = -11.996325 angle2_1 = 84.218636 z1 = -164.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -162.527695 r2 = -1001.849182
|
||||
2025-06-19 11:28:40.206 wait_stop in
|
||||
2025-06-19 11:28:40.233 wait_stop out_0
|
||||
2025-06-19 11:28:40.298 30 30 30 30
|
||||
2025-06-19 11:28:40.298 new_movej_xyz_lr 276.260315 144.722900 -160.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:40.298 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:40.298 new_movej_angle -11.996325 84.218636 -160.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:40.298 z1 -162.527695 z2 -160.527695
|
||||
2025-06-19 11:28:40.299 angle1_1 -11.996325 angle2_1 84.218636 z1 -162.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:40.299 angle1_2 -11.996325 angle2_2 84.218636 z2 -160.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:40.299 speed 2.000000
|
||||
2025-06-19 11:28:40.299 tcp_distance 1.988892
|
||||
2025-06-19 11:28:40.299 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
|
||||
2025-06-19 11:28:40.299 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
|
||||
2025-06-19 11:28:40.299 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436
|
||||
2025-06-19 11:28:40.300 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:40.300 end_speed 2.000000
|
||||
2025-06-19 11:28:40.300 trail_number0.994446
|
||||
2025-06-19 11:28:40.300 tcp_distance 1.988892
|
||||
2025-06-19 11:28:40.301 angle1_1 = -11.996325 angle2_1 = 84.218636 z1 = -162.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -160.527695 r2 = -1001.849182
|
||||
2025-06-19 11:28:42.147 wait_stop in
|
||||
2025-06-19 11:28:42.174 wait_stop out_0
|
||||
2025-06-19 11:28:42.258 30 30 30 30
|
||||
2025-06-19 11:28:42.258 new_movej_xyz_lr 276.260315 144.722900 -158.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:42.258 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:42.259 new_movej_angle -11.996325 84.218636 -158.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:42.259 z1 -160.527695 z2 -158.527695
|
||||
2025-06-19 11:28:42.259 angle1_1 -11.996325 angle2_1 84.218636 z1 -160.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:42.259 angle1_2 -11.996325 angle2_2 84.218636 z2 -158.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:42.259 speed 2.000000
|
||||
2025-06-19 11:28:42.259 tcp_distance 1.988892
|
||||
2025-06-19 11:28:42.260 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
|
||||
2025-06-19 11:28:42.260 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
|
||||
2025-06-19 11:28:42.260 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436
|
||||
2025-06-19 11:28:42.260 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:42.260 end_speed 2.000000
|
||||
2025-06-19 11:28:42.261 trail_number0.994446
|
||||
2025-06-19 11:28:42.261 tcp_distance 1.988892
|
||||
2025-06-19 11:28:42.261 angle1_1 = -11.996325 angle2_1 = 84.218636 z1 = -160.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -158.527695 r2 = -1001.849182
|
||||
2025-06-19 11:28:43.592 wait_stop in
|
||||
2025-06-19 11:28:43.627 wait_stop out_0
|
||||
2025-06-19 11:28:43.713 30 30 30 30
|
||||
2025-06-19 11:28:43.713 new_movej_xyz_lr 276.260315 144.722900 -156.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:43.713 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:43.714 new_movej_angle -11.996325 84.218636 -156.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:43.714 z1 -158.527695 z2 -156.527695
|
||||
2025-06-19 11:28:43.714 angle1_1 -11.996325 angle2_1 84.218636 z1 -158.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:43.714 angle1_2 -11.996325 angle2_2 84.218636 z2 -156.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:43.714 speed 2.000000
|
||||
2025-06-19 11:28:43.714 tcp_distance 1.988892
|
||||
2025-06-19 11:28:43.715 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
|
||||
2025-06-19 11:28:43.715 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
|
||||
2025-06-19 11:28:43.715 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436
|
||||
2025-06-19 11:28:43.715 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:43.715 end_speed 2.000000
|
||||
2025-06-19 11:28:43.716 trail_number0.994446
|
||||
2025-06-19 11:28:43.716 tcp_distance 1.988892
|
||||
2025-06-19 11:28:43.716 angle1_1 = -11.996325 angle2_1 = 84.218636 z1 = -158.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -156.527695 r2 = -1001.849182
|
||||
2025-06-19 11:28:45.257 wait_stop in
|
||||
2025-06-19 11:28:45.289 wait_stop out_0
|
||||
2025-06-19 11:28:45.357 30 30 30 30
|
||||
2025-06-19 11:28:45.358 new_movej_xyz_lr 276.260315 144.722900 -154.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:45.358 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:45.358 new_movej_angle -11.996325 84.218636 -154.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:45.358 z1 -156.527695 z2 -154.527695
|
||||
2025-06-19 11:28:45.358 angle1_1 -11.996325 angle2_1 84.218636 z1 -156.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:45.359 angle1_2 -11.996325 angle2_2 84.218636 z2 -154.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:45.359 speed 2.000000
|
||||
2025-06-19 11:28:45.359 tcp_distance 1.988892
|
||||
2025-06-19 11:28:45.359 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
|
||||
2025-06-19 11:28:45.359 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
|
||||
2025-06-19 11:28:45.360 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436
|
||||
2025-06-19 11:28:45.360 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:45.360 end_speed 2.000000
|
||||
2025-06-19 11:28:45.360 trail_number0.994446
|
||||
2025-06-19 11:28:45.360 tcp_distance 1.988892
|
||||
2025-06-19 11:28:45.361 angle1_1 = -11.996325 angle2_1 = 84.218636 z1 = -156.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -154.527695 r2 = -1001.849182
|
||||
2025-06-19 11:28:46.735 wait_stop in
|
||||
2025-06-19 11:28:46.773 wait_stop out_0
|
||||
2025-06-19 11:28:46.831 30 30 30 30
|
||||
2025-06-19 11:28:46.831 new_movej_xyz_lr 276.260315 144.722900 -152.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:46.831 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:46.831 new_movej_angle -11.996325 84.218636 -152.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:46.832 z1 -154.527695 z2 -152.527695
|
||||
2025-06-19 11:28:46.832 angle1_1 -11.996325 angle2_1 84.218636 z1 -154.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:46.832 angle1_2 -11.996325 angle2_2 84.218636 z2 -152.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:46.832 speed 2.000000
|
||||
2025-06-19 11:28:46.832 tcp_distance 1.988892
|
||||
2025-06-19 11:28:46.832 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
|
||||
2025-06-19 11:28:46.833 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
|
||||
2025-06-19 11:28:46.833 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436
|
||||
2025-06-19 11:28:46.833 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:46.833 end_speed 2.000000
|
||||
2025-06-19 11:28:46.833 trail_number0.994446
|
||||
2025-06-19 11:28:46.833 tcp_distance 1.988892
|
||||
2025-06-19 11:28:46.834 angle1_1 = -11.996325 angle2_1 = 84.218636 z1 = -154.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -152.527695 r2 = -1001.849182
|
||||
2025-06-19 11:28:48.094 wait_stop in
|
||||
2025-06-19 11:28:48.127 wait_stop out_0
|
||||
2025-06-19 11:28:48.206 30 30 30 30
|
||||
2025-06-19 11:28:48.206 new_movej_xyz_lr 276.260315 144.722900 -150.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:48.206 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:48.206 new_movej_angle -11.996325 84.218636 -150.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:48.207 z1 -152.527695 z2 -150.527695
|
||||
2025-06-19 11:28:48.207 angle1_1 -11.996325 angle2_1 84.218636 z1 -152.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:48.207 angle1_2 -11.996325 angle2_2 84.218636 z2 -150.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:48.207 speed 2.000000
|
||||
2025-06-19 11:28:48.207 tcp_distance 1.988892
|
||||
2025-06-19 11:28:48.208 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
|
||||
2025-06-19 11:28:48.208 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
|
||||
2025-06-19 11:28:48.208 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436
|
||||
2025-06-19 11:28:48.208 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:48.208 end_speed 2.000000
|
||||
2025-06-19 11:28:48.208 trail_number0.994446
|
||||
2025-06-19 11:28:48.209 tcp_distance 1.988892
|
||||
2025-06-19 11:28:48.209 angle1_1 = -11.996325 angle2_1 = 84.218636 z1 = -152.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -150.527695 r2 = -1001.849182
|
||||
2025-06-19 11:28:49.651 wait_stop in
|
||||
2025-06-19 11:28:49.684 wait_stop out_0
|
||||
2025-06-19 11:28:49.789 30 30 30 30
|
||||
2025-06-19 11:28:49.789 new_movej_xyz_lr 276.260315 144.722900 -148.527695 -1001.849182 2.000000 0.000000 1
|
||||
2025-06-19 11:28:49.789 goal_angle -11.996325 84.218636
|
||||
2025-06-19 11:28:49.790 new_movej_angle -11.996325 84.218636 -148.527695 -1001.849182 0.000000 2.000000
|
||||
2025-06-19 11:28:49.790 z1 -150.527695 z2 -148.527695
|
||||
2025-06-19 11:28:49.790 angle1_1 -11.996325 angle2_1 84.218636 z1 -150.527695 r1 -1001.849182
|
||||
2025-06-19 11:28:49.790 angle1_2 -11.996325 angle2_2 84.218636 z2 -148.527695 r2 -1001.849182
|
||||
2025-06-19 11:28:49.790 speed 2.000000
|
||||
2025-06-19 11:28:49.791 tcp_distance 1.988892
|
||||
2025-06-19 11:28:49.791 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
|
||||
2025-06-19 11:28:49.791 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
|
||||
2025-06-19 11:28:49.791 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436
|
||||
2025-06-19 11:28:49.791 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-19 11:28:49.791 end_speed 2.000000
|
||||
2025-06-19 11:28:49.792 trail_number0.994446
|
||||
2025-06-19 11:28:49.792 tcp_distance 1.988892
|
||||
2025-06-19 11:28:49.792 angle1_1 = -11.996325 angle2_1 = 84.218636 z1 = -150.527695 r1 = -1001.849182 angle1_2 = -11.996325 angle2_2 = 84.218636 z2 = -148.527695 r2 = -1001.849182
|
||||
2025-06-19 11:29:05.164 _new_stop_move_thread_0
|
||||
2025-06-19 11:29:05.165 j1_slow_down_t = 0
|
||||
2025-06-19 11:29:05.165 j2_slow_down_t = 0
|
||||
2025-06-19 11:29:05.165 j3_slow_down_t = 2
|
||||
2025-06-19 11:29:05.165 j4_slow_down_t = 0
|
||||
2025-06-19 11:29:05.166 tmp_t[3] = 2
|
||||
2025-06-19 11:29:05.166 _new_stop_move_thread_1
|
||||
2025-06-19 11:29:05.180 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-19 11:29:05.319 _new_stop_move_thread_2
|
||||
2025-06-19 11:29:05.351 _new_stop_move_thread_3
|
||||
2025-06-19 11:29:05.351 get_scara_param -11.997200 84.218002 -38.402699 -1001.851013
|
||||
2025-06-19 11:29:05.351 get_scara_real_coor -11.997200 84.218002 -38.402699 -1001.851013
|
||||
2025-06-19 11:29:05.352 _new_stop_move_thread_4
|
||||
2025-06-19 11:29:05.382 wait_stop in
|
||||
2025-06-19 11:29:05.413 wait_stop out_0
|
||||
2025-06-19 11:29:25.480 30 30 30 30
|
||||
2025-06-19 11:29:25.481 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-19 11:29:25.481 goal_angle -44.911705 98.661697
|
||||
2025-06-19 11:29:25.481 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-19 11:29:25.481 z1 -38.402710 z2 -75.466103
|
||||
2025-06-19 11:29:25.482 angle1_1 -11.997276 angle2_1 84.218033 z1 -38.402710 r1 -1001.851013
|
||||
2025-06-19 11:29:25.482 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-19 11:29:25.482 speed 100.000000
|
||||
2025-06-19 11:29:25.482 tcp_distance 144.416092
|
||||
2025-06-19 11:29:25.482 new_end_speed 100.000000 j1_acc_t 0.722080 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 49.856133
|
||||
2025-06-19 11:29:25.482 new_end_speed 100.000000 j2_acc_t 0.722080 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.878103
|
||||
2025-06-19 11:29:25.483 new_end_speed 100.000000 j3_acc_t 0.722080 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 56.140652
|
||||
2025-06-19 11:29:25.483 new_end_speed 100.000000 j4_acc_t 0.722080 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 5.861960
|
||||
2025-06-19 11:29:25.483 end_speed 100.000000
|
||||
2025-06-19 11:29:25.483 trail_number1.444161
|
||||
2025-06-19 11:29:25.483 tcp_distance 144.416092
|
||||
2025-06-19 11:29:25.484 angle1_1 = -11.997276 angle2_1 = 84.218033 z1 = -38.402710 r1 = -1001.851013 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-19 11:31:24.012 30 30 30 30
|
||||
2025-06-19 11:31:24.013 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-19 11:31:24.013 goal_angle -87.199585 152.604431
|
||||
2025-06-19 11:31:24.013 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-19 11:31:24.013 z1 -75.466103 z2 -4.457100
|
||||
2025-06-19 11:31:24.014 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-19 11:31:24.014 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-19 11:31:24.014 speed 100.000000
|
||||
2025-06-19 11:31:24.014 tcp_distance 199.889740
|
||||
2025-06-19 11:31:24.014 new_end_speed 100.000000 j1_acc_t 0.999449 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.277863
|
||||
2025-06-19 11:31:24.014 new_end_speed 100.000000 j2_acc_t 0.999449 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 59.032387
|
||||
2025-06-19 11:31:24.014 new_end_speed 100.000000 j3_acc_t 0.999449 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.708908
|
||||
2025-06-19 11:31:24.014 new_end_speed 100.000000 j4_acc_t 0.999449 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.293588
|
||||
2025-06-19 11:31:24.016 end_speed 100.000000
|
||||
2025-06-19 11:31:24.016 trail_number1.998897
|
||||
2025-06-19 11:31:24.016 tcp_distance 199.889740
|
||||
2025-06-19 11:31:24.016 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-19 11:31:30.590 30 30 30 30
|
||||
2025-06-19 11:31:30.591 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-19 11:31:30.591 goal_angle -44.911705 98.661697
|
||||
2025-06-19 11:31:30.591 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-19 11:31:30.591 z1 -4.457100 z2 -75.466103
|
||||
2025-06-19 11:31:30.591 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-19 11:31:30.592 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-19 11:31:30.592 speed 100.000000
|
||||
2025-06-19 11:31:30.592 tcp_distance 200.024658
|
||||
2025-06-19 11:31:30.592 new_end_speed 100.000000 j1_acc_t 1.000123 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.246628
|
||||
2025-06-19 11:31:30.593 new_end_speed 100.000000 j2_acc_t 1.000123 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 58.992538
|
||||
2025-06-19 11:31:30.593 new_end_speed 100.000000 j3_acc_t 1.000123 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.656456
|
||||
2025-06-19 11:31:30.593 new_end_speed 100.000000 j4_acc_t 1.000123 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.277203
|
||||
2025-06-19 11:31:30.593 end_speed 100.000000
|
||||
2025-06-19 11:31:30.594 trail_number2.000247
|
||||
2025-06-19 11:31:30.594 tcp_distance 200.024658
|
||||
2025-06-19 11:31:30.595 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-19 16:37:21.239 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-19 16:37:21.239 robot connected
|
||||
2025-06-19 16:37:21.239 26
|
||||
2025-06-19 16:37:21.239 current generation=26
|
||||
2025-06-19 16:37:21.747 0x1a
|
||||
2025-06-19 16:37:22.568 initial joint2 2464416
|
||||
2025-06-19 16:37:22.568 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-19 16:37:22.568 robot WritePID
|
||||
2025-06-19 16:37:22.870 initial joint1 -973979
|
||||
2025-06-19 16:37:22.918 initial joint2 2464416
|
||||
2025-06-19 16:37:22.960 initial joint3 -288318
|
||||
2025-06-19 16:37:23.007 initial joint4 -24020361
|
||||
2025-06-19 16:37:23.012 initial joint1 -973979
|
||||
2025-06-19 16:37:23.079 initial joint2 2464416
|
||||
2025-06-19 16:37:23.127 initial joint3 -288319
|
||||
2025-06-19 16:37:23.161 initial joint4 -24020363
|
||||
2025-06-19 16:37:23.177 initial joint1 -973980
|
||||
2025-06-19 16:37:23.214 initial joint2 2464417
|
||||
2025-06-19 16:37:23.279 initial joint3 -288319
|
||||
2025-06-19 16:37:23.329 initial joint4 -24020366
|
||||
2025-06-19 16:37:25.407 initial_thread initialized
|
||||
2025-06-19 16:37:25.407 servo enable
|
||||
2025-06-19 16:37:25.407 brake open
|
||||
2025-06-19 16:37:25.407 set_brake_state 0 1
|
||||
2025-06-19 16:37:25.625 robot initialized
|
||||
2025-06-19 16:37:26.175 get_scara_param -66.877899 84.609100 -98.986801 -1005.721130
|
||||
2025-06-19 16:37:26.175 get_scara_real_coor -66.877899 84.609100 -98.986801 -1005.721191
|
||||
2025-06-19 16:37:26.175 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-19 16:37:26.175 position -973980.000000 2464418.750000 -288319.968750 -24020368.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-19 16:37:26.177 speed 66877.898438 84609.101563 98986.812500 989608.687500
|
||||
2025-06-19 16:37:26.177 set_first_position_after_initial
|
||||
2025-06-19 16:37:26.178 movej_old start_pos: -66.877899 84.609100 -98.986809 -1005.721130 end_pos: -66.877899 84.609100 -98.986809 -1005.721130 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-19 16:37:26.469 J3 Belt Meilage=40.933056km
|
||||
@@ -1 +1 @@
|
||||
2e053c921742f81621ab65b09d7f7c29b32f8c9095d4d6c6b15c9b1eb3d7c317
|
||||
9a15c0881d0b7c96d6b314536d1a93e12eee9eb0d660fbc4d189e46b449fe422
|
||||
|
||||
Binary file not shown.
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Reference in New Issue
Block a user