增加晶体检测
This commit is contained in:
52
HitBotCSharpDemo/ShowForm.Designer.cs
generated
52
HitBotCSharpDemo/ShowForm.Designer.cs
generated
@@ -103,6 +103,8 @@
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this.btn_Pause = new System.Windows.Forms.Button();
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this.btn_Start = new System.Windows.Forms.Button();
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this.tap_Cam = new System.Windows.Forms.TabPage();
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this.pictureBox1 = new System.Windows.Forms.PictureBox();
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this.button1 = new System.Windows.Forms.Button();
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this.cam_feed = new System.Windows.Forms.PictureBox();
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this.cam_shooting = new System.Windows.Forms.Button();
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this.init_pos_btn = new System.Windows.Forms.Button();
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@@ -115,8 +117,6 @@
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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.button1 = new System.Windows.Forms.Button();
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this.pictureBox1 = new System.Windows.Forms.PictureBox();
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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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@@ -130,9 +130,9 @@
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this.grb_joint_origin.SuspendLayout();
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this.tap_Move.SuspendLayout();
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this.tap_Cam.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
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((System.ComponentModel.ISupportInitialize)(this.cam_feed)).BeginInit();
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this.panel1.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
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this.SuspendLayout();
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//
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// btn_Init
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@@ -177,6 +177,7 @@
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this.tap_Axis.TabIndex = 0;
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this.tap_Axis.Text = "轴移动";
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this.tap_Axis.UseVisualStyleBackColor = true;
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this.tap_Axis.Click += new System.EventHandler(this.tap_Axis_Click);
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//
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// lbl_Inching_Tip
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//
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@@ -1010,12 +1011,32 @@
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this.tap_Cam.TabIndex = 4;
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this.tap_Cam.Text = "相机点位";
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this.tap_Cam.UseVisualStyleBackColor = true;
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this.tap_Cam.Click += new System.EventHandler(this.tap_Cam_Click);
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//
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// pictureBox1
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//
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this.pictureBox1.Location = new System.Drawing.Point(797, 143);
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this.pictureBox1.Name = "pictureBox1";
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this.pictureBox1.Size = new System.Drawing.Size(333, 300);
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this.pictureBox1.TabIndex = 10;
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this.pictureBox1.TabStop = false;
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this.pictureBox1.Click += new System.EventHandler(this.pictureBox1_Click);
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//
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// button1
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//
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this.button1.Location = new System.Drawing.Point(892, 492);
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this.button1.Name = "button1";
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this.button1.Size = new System.Drawing.Size(161, 43);
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this.button1.TabIndex = 9;
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this.button1.Text = "开始目标检测";
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this.button1.UseVisualStyleBackColor = true;
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this.button1.Click += new System.EventHandler(this.button1_Click_2);
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//
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// cam_feed
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//
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this.cam_feed.Location = new System.Drawing.Point(422, 143);
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this.cam_feed.Location = new System.Drawing.Point(422, 156);
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this.cam_feed.Name = "cam_feed";
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this.cam_feed.Size = new System.Drawing.Size(333, 300);
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this.cam_feed.Size = new System.Drawing.Size(333, 276);
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this.cam_feed.TabIndex = 8;
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this.cam_feed.TabStop = false;
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this.cam_feed.Click += new System.EventHandler(this.cam_feed_Click);
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@@ -1126,25 +1147,6 @@
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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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// button1
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//
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this.button1.Location = new System.Drawing.Point(892, 492);
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this.button1.Name = "button1";
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this.button1.Size = new System.Drawing.Size(161, 43);
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this.button1.TabIndex = 9;
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this.button1.Text = "开始目标检测";
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this.button1.UseVisualStyleBackColor = true;
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this.button1.Click += new System.EventHandler(this.button1_Click_2);
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//
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// pictureBox1
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//
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this.pictureBox1.Location = new System.Drawing.Point(797, 143);
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this.pictureBox1.Name = "pictureBox1";
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this.pictureBox1.Size = new System.Drawing.Size(333, 300);
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this.pictureBox1.TabIndex = 10;
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this.pictureBox1.TabStop = false;
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this.pictureBox1.Click += new System.EventHandler(this.pictureBox1_Click);
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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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@@ -1184,9 +1186,9 @@
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this.tap_Move.ResumeLayout(false);
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this.tap_Move.PerformLayout();
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this.tap_Cam.ResumeLayout(false);
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((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
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((System.ComponentModel.ISupportInitialize)(this.cam_feed)).EndInit();
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this.panel1.ResumeLayout(false);
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((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
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this.ResumeLayout(false);
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this.PerformLayout();
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@@ -305,7 +305,6 @@ namespace HitBotCSharpDemo
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paramForm.ShowDialog(this);
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}
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}
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private void SetCameraParameters(float exposure, float gain)
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{
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if (device == null) return;
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@@ -981,7 +980,7 @@ namespace HitBotCSharpDemo
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{
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// 停止检测
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StopDetection();
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((Button)sender).Text = "开始目标检测";
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((Button)sender).Text = "开始检测";
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MessageBox.Show("目标检测已停止");
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}
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}
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@@ -1068,7 +1067,13 @@ namespace HitBotCSharpDemo
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try
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{
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string fileName = "temp_detection_" + DateTime.Now.ToString("yyyyMMddHHmmss") + ".jpg";
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string fullPath = Path.Combine(Application.StartupPath, fileName);
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string detectionFolder = Path.Combine(Application.StartupPath, "DetectionImages");
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string fullPath = Path.Combine(detectionFolder, fileName);
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if (!Directory.Exists(detectionFolder))
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{
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Directory.CreateDirectory(detectionFolder);
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}
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ImageFormatInfo imageFormatInfo = new ImageFormatInfo();
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imageFormatInfo.FormatType = ImageFormatType.Jpeg;
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@@ -1085,7 +1090,7 @@ namespace HitBotCSharpDemo
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}
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catch (Exception ex)
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{
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Console.WriteLine("保存图像失败: " + ex.Message);
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MessageBox.Show("保存图像失败: " + ex.Message);
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}
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return null;
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}
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@@ -1206,6 +1211,14 @@ namespace HitBotCSharpDemo
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tcpClient = null;
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}
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private void tap_Axis_Click(object sender, EventArgs e)
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{
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}
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private void tap_Cam_Click(object sender, EventArgs e)
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{
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}
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}
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}
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@@ -1,2 +1,2 @@
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Exposure=60000
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Gain=2
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Exposure=50000
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Gain=0
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Binary file not shown.
Binary file not shown.
Binary file not shown.
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Before Width: | Height: | Size: 1.1 MiB |
Binary file not shown.
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Before Width: | Height: | Size: 1.1 MiB |
@@ -998,3 +998,42 @@
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2025-06-10 20:39:48.155 set_first_position_after_initial
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2025-06-10 20:39:48.156 movej_old start_pos: -11.001500 84.113197 -75.479797 -1005.719482 end_pos: -11.001500 84.113197 -75.479797 -1005.719482 org_sp 10.000000 end_sp 10.000000
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2025-06-10 20:39:48.447 J3 Belt Meilage=40.899525km
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2025-06-10 20:56:11.751 SDK_VERSION_V2.0.0.29_Release
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2025-06-10 20:56:11.751 robot connected
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2025-06-10 20:56:11.751 26
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2025-06-10 20:56:11.751 current generation=26
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2025-06-10 20:56:12.255 0x1a
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2025-06-10 20:56:12.255 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>
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2025-06-10 20:56:13.882 SDK_VERSION_V2.0.0.29_Release
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2025-06-10 20:56:13.882 robot connected
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2025-06-10 20:56:13.882 26
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2025-06-10 20:56:13.882 current generation=26
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2025-06-10 20:56:14.401 0x1a
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2025-06-10 20:56:15.263 initial joint2 2449978
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2025-06-10 20:56:15.263 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-10 20:56:15.263 robot WritePID
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2025-06-10 20:56:15.575 initial joint1 -160221
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2025-06-10 20:56:15.622 initial joint2 2449980
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2025-06-10 20:56:15.659 initial joint3 -219855
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2025-06-10 20:56:15.709 initial joint4 -25369372
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2025-06-10 20:56:15.730 initial joint1 -160218
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2025-06-10 20:56:15.797 initial joint2 2449981
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2025-06-10 20:56:15.845 initial joint3 -219857
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2025-06-10 20:56:15.878 initial joint4 -25369373
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2025-06-10 20:56:15.894 initial joint1 -160218
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2025-06-10 20:56:15.942 initial joint2 2449983
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2025-06-10 20:56:15.981 initial joint3 -219859
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2025-06-10 20:56:16.029 initial joint4 -25369375
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2025-06-10 20:56:18.177 initial_thread initialized
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2025-06-10 20:56:18.177 servo enable
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2025-06-10 20:56:18.177 brake open
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2025-06-10 20:56:18.177 set_brake_state 0 1
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2025-06-10 20:56:18.391 robot initialized
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2025-06-10 20:56:18.982 get_scara_param -11.001200 84.113503 -75.484596 -1005.719299
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2025-06-10 20:56:18.982 get_scara_real_coor -11.001400 84.113503 -75.484299 -1005.719482
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2025-06-10 20:56:18.982 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
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2025-06-10 20:56:18.982 position -160216.578125 2449983.250000 -219864.828125 -25369378.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-10 20:56:18.982 speed 11001.199219 84113.500000 75484.593750 1045186.187500
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2025-06-10 20:56:18.982 set_first_position_after_initial
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2025-06-10 20:56:18.982 movej_old start_pos: -11.001200 84.113503 -75.484596 -1005.719299 end_pos: -11.001200 84.113503 -75.484497 -1005.719299 org_sp 10.000000 end_sp 0.416586
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2025-06-10 20:56:19.289 J3 Belt Meilage=40.899658km
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206
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog
Normal file
206
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-11.hilog
Normal file
@@ -0,0 +1,206 @@
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2025-06-11 10:01:05.852 ROBOT_ERROR_CODE = 1004
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2025-06-11 10:01:05.853
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0 : 0 0 0 0 0 0
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1 : 0 0 0 0 0 0
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2 : 0 0 0 0 0 0
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3 : 0 0 0 0 0 0
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4 : 0 0 0 0 0 0
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5 : 0 0 0 0 0 0
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6 : 0 0 0 0 0 0
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7 : 0 0 0 0 0 0
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8 : 0 0 0 0 0 0
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9 : 0 0 0 0 0 0
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10 : 0 0 0 0 0 0
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11 : 0 0 0 0 0 0
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12 : 0 0 0 0 0 0
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13 : 0 0 0 0 0 0
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14 : 0 0 0 0 0 0
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15 : 3963 4137 3951 4135 4137 0
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2025-06-11 10:01:10.332 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 10:01:10.332 robot connected
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2025-06-11 10:01:10.332 26
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2025-06-11 10:01:10.334 current generation=26
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2025-06-11 10:01:10.909 0x1a
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2025-06-11 10:01:10.909 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>
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2025-06-11 10:01:12.871 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 10:01:12.871 robot connected
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2025-06-11 10:01:12.871 26
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2025-06-11 10:01:12.871 current generation=26
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2025-06-11 10:01:13.382 0x1a
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2025-06-11 10:01:14.313 initial joint2 2451785
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2025-06-11 10:01:14.313 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-11 10:01:14.313 robot WritePID
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2025-06-11 10:01:14.616 initial joint1 -160324
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2025-06-11 10:01:14.653 initial joint2 2451786
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2025-06-11 10:01:14.716 initial joint3 -220099
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2025-06-11 10:01:14.766 initial joint4 -25368944
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2025-06-11 10:01:14.783 initial joint1 -160324
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2025-06-11 10:01:14.831 initial joint2 2451785
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2025-06-11 10:01:14.882 initial joint3 -220099
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2025-06-11 10:01:14.932 initial joint4 -25368944
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2025-06-11 10:01:14.950 initial joint1 -160323
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2025-06-11 10:01:15.017 initial joint2 2451785
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2025-06-11 10:01:15.068 initial joint3 -220100
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2025-06-11 10:01:15.117 initial joint4 -25368944
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2025-06-11 10:01:17.275 initial_thread initialized
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2025-06-11 10:01:17.275 servo enable
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2025-06-11 10:01:17.275 brake open
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2025-06-11 10:01:17.275 set_brake_state 0 1
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2025-06-11 10:01:17.488 robot initialized
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2025-06-11 10:01:18.041 get_scara_param -11.008500 84.175400 -75.565598 -1005.671570
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2025-06-11 10:01:18.041 get_scara_real_coor -11.008400 84.175400 -75.565300 -1005.671570
|
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2025-06-11 10:01:18.041 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
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2025-06-11 10:01:18.043 position -160322.906250 2451786.250000 -220100.750000 -25368942.000000 0.000000 0.000000 0.000000 0.000000
|
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2025-06-11 10:01:18.043 speed 11008.500977 84175.398438 75565.593750 1045168.250000
|
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2025-06-11 10:01:18.043 set_first_position_after_initial
|
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2025-06-11 10:01:18.045 movej_old start_pos: -11.008500 84.175400 -75.565598 -1005.671509 end_pos: -11.008500 84.175400 -75.565598 -1005.671509 org_sp 10.000000 end_sp 10.000000
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2025-06-11 10:01:18.340 J3 Belt Meilage=40.899685km
|
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2025-06-11 10:13:13.041 SDK_VERSION_V2.0.0.29_Release
|
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2025-06-11 10:13:13.041 robot connected
|
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2025-06-11 10:13:13.041 26
|
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2025-06-11 10:13:13.041 current generation=26
|
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2025-06-11 10:13:13.551 0x1a
|
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2025-06-11 10:13:14.388 initial joint2 2451789
|
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2025-06-11 10:13:14.388 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
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2025-06-11 10:13:14.388 robot WritePID
|
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2025-06-11 10:13:14.704 initial joint1 -160322
|
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2025-06-11 10:13:14.751 initial joint2 2451788
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2025-06-11 10:13:14.802 initial joint3 -220104
|
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2025-06-11 10:13:14.854 initial joint4 -25368944
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||||
2025-06-11 10:13:14.870 initial joint1 -160322
|
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2025-06-11 10:13:14.920 initial joint2 2451791
|
||||
2025-06-11 10:13:14.959 initial joint3 -220108
|
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2025-06-11 10:13:15.005 initial joint4 -25368946
|
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2025-06-11 10:13:15.021 initial joint1 -160322
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2025-06-11 10:13:15.070 initial joint2 2451793
|
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2025-06-11 10:13:15.108 initial joint3 -220110
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2025-06-11 10:13:15.156 initial joint4 -25368948
|
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2025-06-11 10:13:17.426 initial_thread initialized
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2025-06-11 10:13:17.426 servo enable
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2025-06-11 10:13:17.427 brake open
|
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2025-06-11 10:13:17.427 set_brake_state 0 1
|
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2025-06-11 10:13:17.628 robot initialized
|
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2025-06-11 10:13:18.194 get_scara_param -11.008400 84.175797 -75.569099 -1005.671387
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2025-06-11 10:13:18.195 get_scara_real_coor -11.008300 84.175697 -75.569801 -1005.671509
|
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2025-06-11 10:13:18.195 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
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2025-06-11 10:13:18.195 position -160321.437500 2451797.750000 -220110.953125 -25368948.000000 0.000000 0.000000 0.000000 0.000000
|
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2025-06-11 10:13:18.195 speed 11008.399414 84175.796875 75569.101563 1045168.562500
|
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2025-06-11 10:13:18.195 set_first_position_after_initial
|
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2025-06-11 10:13:18.197 movej_old start_pos: -11.008400 84.175797 -75.569099 -1005.671448 end_pos: -11.008400 84.175690 -75.569099 -1005.671448 org_sp 10.000000 end_sp 0.793652
|
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2025-06-11 10:13:18.495 J3 Belt Meilage=40.899982km
|
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2025-06-11 10:25:15.957 SDK_VERSION_V2.0.0.29_Release
|
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2025-06-11 10:25:15.958 robot connected
|
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2025-06-11 10:25:15.958 26
|
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2025-06-11 10:25:15.958 current generation=26
|
||||
2025-06-11 10:25:16.482 0x1a
|
||||
2025-06-11 10:25:17.339 initial joint2 2451799
|
||||
2025-06-11 10:25:17.344 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-11 10:25:17.344 robot WritePID
|
||||
2025-06-11 10:25:17.659 initial joint1 -160320
|
||||
2025-06-11 10:25:17.707 initial joint2 2451798
|
||||
2025-06-11 10:25:17.759 initial joint3 -220114
|
||||
2025-06-11 10:25:17.796 initial joint4 -25368949
|
||||
2025-06-11 10:25:17.810 initial joint1 -160320
|
||||
2025-06-11 10:25:17.858 initial joint2 2451800
|
||||
2025-06-11 10:25:17.908 initial joint3 -220117
|
||||
2025-06-11 10:25:17.959 initial joint4 -25368951
|
||||
2025-06-11 10:25:17.975 initial joint1 -160320
|
||||
2025-06-11 10:25:18.014 initial joint2 2451800
|
||||
2025-06-11 10:25:18.060 initial joint3 -220118
|
||||
2025-06-11 10:25:18.110 initial joint4 -25368951
|
||||
2025-06-11 10:25:20.281 initial_thread initialized
|
||||
2025-06-11 10:25:20.282 servo enable
|
||||
2025-06-11 10:25:20.282 brake open
|
||||
2025-06-11 10:25:20.282 set_brake_state 0 1
|
||||
2025-06-11 10:25:20.496 robot initialized
|
||||
2025-06-11 10:25:21.062 get_scara_param -11.008300 84.175903 -75.571800 -1005.671387
|
||||
2025-06-11 10:25:21.062 get_scara_real_coor -11.008300 84.175903 -75.571800 -1005.671387
|
||||
2025-06-11 10:25:21.063 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-11 10:25:21.063 position -160319.984375 2451801.000000 -220118.828125 -25368952.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-11 10:25:21.063 speed 11008.299805 84175.906250 75571.796875 1045168.625000
|
||||
2025-06-11 10:25:21.063 set_first_position_after_initial
|
||||
2025-06-11 10:25:21.065 movej_old start_pos: -11.008300 84.175903 -75.571800 -1005.671448 end_pos: -11.008300 84.175903 -75.571800 -1005.671448 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-11 10:25:21.348 J3 Belt Meilage=40.900135km
|
||||
2025-06-11 10:25:57.915 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-11 10:25:57.915 robot connected
|
||||
2025-06-11 10:25:57.915 26
|
||||
2025-06-11 10:25:57.915 current generation=26
|
||||
2025-06-11 10:25:58.423 0x1a
|
||||
2025-06-11 10:25:59.287 initial joint2 2451807
|
||||
2025-06-11 10:25:59.287 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-11 10:25:59.288 robot WritePID
|
||||
2025-06-11 10:25:59.588 initial joint1 -160319
|
||||
2025-06-11 10:25:59.638 initial joint2 2451808
|
||||
2025-06-11 10:25:59.687 initial joint3 -220123
|
||||
2025-06-11 10:25:59.738 initial joint4 -25368953
|
||||
2025-06-11 10:25:59.753 initial joint1 -160319
|
||||
2025-06-11 10:25:59.806 initial joint2 2451811
|
||||
2025-06-11 10:25:59.854 initial joint3 -220127
|
||||
2025-06-11 10:25:59.904 initial joint4 -25368953
|
||||
2025-06-11 10:25:59.921 initial joint1 -160318
|
||||
2025-06-11 10:25:59.989 initial joint2 2451814
|
||||
2025-06-11 10:26:00.040 initial joint3 -220127
|
||||
2025-06-11 10:26:00.088 initial joint4 -25368954
|
||||
2025-06-11 10:26:02.176 initial_thread initialized
|
||||
2025-06-11 10:26:02.176 servo enable
|
||||
2025-06-11 10:26:02.178 brake open
|
||||
2025-06-11 10:26:02.178 set_brake_state 0 1
|
||||
2025-06-11 10:26:02.392 robot initialized
|
||||
2025-06-11 10:26:02.944 get_scara_param -11.008100 84.176399 -75.574898 -1005.671082
|
||||
2025-06-11 10:26:02.945 get_scara_real_coor -11.008000 84.176399 -75.575600 -1005.671021
|
||||
2025-06-11 10:26:02.945 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-11 10:26:02.945 position -160317.062500 2451815.250000 -220127.843750 -25368954.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-11 10:26:02.945 speed 11008.098633 84176.398438 75574.898438 1045168.687500
|
||||
2025-06-11 10:26:02.946 set_first_position_after_initial
|
||||
2025-06-11 10:26:02.946 movej_old start_pos: -11.008099 84.176399 -75.574898 -1005.671021 end_pos: -11.008000 84.176399 -75.574898 -1005.671021 org_sp 10.000000 end_sp 1.001936
|
||||
2025-06-11 10:26:03.228 J3 Belt Meilage=40.900143km
|
||||
2025-06-11 10:26:19.295 30 30 30 30
|
||||
2025-06-11 10:26:19.295 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-11 10:26:19.295 goal_angle -44.911705 98.661697
|
||||
2025-06-11 10:26:19.295 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-11 10:26:19.295 z1 -75.574898 z2 -75.466103
|
||||
2025-06-11 10:26:19.295 angle1_1 -11.008000 angle2_1 84.176399 z1 -75.574898 r1 -1005.671021
|
||||
2025-06-11 10:26:19.295 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-11 10:26:19.295 speed 100.000000
|
||||
2025-06-11 10:26:19.295 tcp_distance 144.446823
|
||||
2025-06-11 10:26:19.295 new_end_speed 100.000000 j1_acc_t 0.722234 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.343678
|
||||
2025-06-11 10:26:19.295 new_end_speed 100.000000 j2_acc_t 0.722234 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.936497
|
||||
2025-06-11 10:26:19.295 new_end_speed 100.000000 j3_acc_t 0.722234 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.164759
|
||||
2025-06-11 10:26:19.295 new_end_speed 100.000000 j4_acc_t 0.722234 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.075701
|
||||
2025-06-11 10:26:19.295 end_speed 100.000000
|
||||
2025-06-11 10:26:19.295 trail_number1.444468
|
||||
2025-06-11 10:26:19.307 tcp_distance 144.446823
|
||||
2025-06-11 10:26:19.307 angle1_1 = -11.008000 angle2_1 = 84.176399 z1 = -75.574898 r1 = -1005.671021 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-11 10:28:43.944 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-11 10:28:43.944 robot connected
|
||||
2025-06-11 10:28:43.944 26
|
||||
2025-06-11 10:28:43.946 current generation=26
|
||||
2025-06-11 10:28:44.452 0x1a
|
||||
2025-06-11 10:28:45.300 initial joint2 2873736
|
||||
2025-06-11 10:28:45.301 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-11 10:28:45.301 robot WritePID
|
||||
2025-06-11 10:28:45.602 initial joint1 -654074
|
||||
2025-06-11 10:28:45.654 initial joint2 2873733
|
||||
2025-06-11 10:28:45.701 initial joint3 -219824
|
||||
2025-06-11 10:28:45.725 initial joint4 -24758199
|
||||
2025-06-11 10:28:45.755 initial joint1 -654074
|
||||
2025-06-11 10:28:45.803 initial joint2 2873736
|
||||
2025-06-11 10:28:45.870 initial joint3 -219829
|
||||
2025-06-11 10:28:45.919 initial joint4 -24758200
|
||||
2025-06-11 10:28:45.935 initial joint1 -654074
|
||||
2025-06-11 10:28:45.986 initial joint2 2873737
|
||||
2025-06-11 10:28:46.037 initial joint3 -219834
|
||||
2025-06-11 10:28:46.087 initial joint4 -24758201
|
||||
2025-06-11 10:28:48.232 initial_thread initialized
|
||||
2025-06-11 10:28:48.232 servo enable
|
||||
2025-06-11 10:28:48.232 brake open
|
||||
2025-06-11 10:28:48.232 set_brake_state 0 1
|
||||
2025-06-11 10:28:48.434 robot initialized
|
||||
2025-06-11 10:28:48.992 get_scara_param -44.911701 98.662003 -75.475304 -1005.721008
|
||||
2025-06-11 10:28:48.992 get_scara_real_coor -44.911598 98.662003 -75.475304 -1005.721130
|
||||
2025-06-11 10:28:48.992 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-11 10:28:48.992 position -654074.062500 2873739.000000 -219837.750000 -24758200.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-11 10:28:48.993 speed 44911.703125 98662.000000 75475.304688 1020006.437500
|
||||
2025-06-11 10:28:48.993 set_first_position_after_initial
|
||||
2025-06-11 10:28:48.993 movej_old start_pos: -44.911701 98.662003 -75.475304 -1005.720947 end_pos: -44.911701 98.662003 -75.475304 -1005.720886 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-11 10:28:49.275 J3 Belt Meilage=40.900181km
|
||||
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Reference in New Issue
Block a user