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2025-06-09 10:19:14 +08:00
parent 8ea2192499
commit f574d9fe3d
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6
HitBotCSharpDemo/App.config Normal file
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<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
</startup>
</configuration>

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HitBotCSharpDemo/CSharpDemo.csproj Normal file
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<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{1793BD51-AF57-4B89-8150-5F9E3392B58F}</ProjectGuid>
<OutputType>WinExe</OutputType>
<RootNamespace>HitBotCSharpDemo</RootNamespace>
<AssemblyName>HitBotCSharpDemo</AssemblyName>
<TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
<Deterministic>true</Deterministic>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
<DebugSymbols>true</DebugSymbols>
<OutputPath>bin\x64\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<DebugType>full</DebugType>
<PlatformTarget>x64</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
<CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
<Prefer32Bit>true</Prefer32Bit>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
<OutputPath>bin\x64\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<Optimize>true</Optimize>
<DebugType>pdbonly</DebugType>
<PlatformTarget>x64</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
<CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
<Prefer32Bit>true</Prefer32Bit>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x86'">
<DebugSymbols>true</DebugSymbols>
<OutputPath>bin\x86\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<DebugType>full</DebugType>
<PlatformTarget>x86</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
<CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
<Prefer32Bit>true</Prefer32Bit>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x86'">
<OutputPath>bin\x86\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<Optimize>true</Optimize>
<DebugType>pdbonly</DebugType>
<PlatformTarget>x86</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
<CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
<Prefer32Bit>true</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="ClassLibrary_ControlBean, Version=1.0.7937.36926, Culture=neutral, processorArchitecture=AMD64">
<SpecificVersion>False</SpecificVersion>
<HintPath>bin\x64\Release\ClassLibrary_ControlBean.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
<Reference Include="System.Data" />
<Reference Include="System.Deployment" />
<Reference Include="System.Drawing" />
<Reference Include="System.Net.Http" />
<Reference Include="System.Windows.Forms" />
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="ShowForm.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="ShowForm.Designer.cs">
<DependentUpon>ShowForm.cs</DependentUpon>
</Compile>
<Compile Include="Program.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<EmbeddedResource Include="ShowForm.resx">
<DependentUpon>ShowForm.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Properties\Resources.resx">
<Generator>ResXFileCodeGenerator</Generator>
<LastGenOutput>Resources.Designer.cs</LastGenOutput>
<SubType>Designer</SubType>
</EmbeddedResource>
<Compile Include="Properties\Resources.Designer.cs">
<AutoGen>True</AutoGen>
<DependentUpon>Resources.resx</DependentUpon>
<DesignTime>True</DesignTime>
</Compile>
<None Include="Properties\Settings.settings">
<Generator>SettingsSingleFileGenerator</Generator>
<LastGenOutput>Settings.Designer.cs</LastGenOutput>
</None>
<Compile Include="Properties\Settings.Designer.cs">
<AutoGen>True</AutoGen>
<DependentUpon>Settings.settings</DependentUpon>
<DesignTimeSharedInput>True</DesignTimeSharedInput>
</Compile>
</ItemGroup>
<ItemGroup>
<None Include="App.config" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>

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HitBotCSharpDemo/Cam_pos_path.txt Normal file
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# X,Y,Z,R
274.065,-302.7438,-75.4661,-1005.721
274.065,-137.1582,-75.4661,-1005.721
274.065,5.9653,-75.4661,-1005.721
274.065,149.3837,-75.4661,-1005.721
93.9893,-37.883,-4.4571,-1027.92

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HitBotCSharpDemo/Program.cs Normal file
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace HitBotCSharpDemo
{
static class Program
{
/// <summary>
/// 应用程序的主入口点。
/// </summary>
[STAThread]
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(new ShowForm());
}
}
}

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HitBotCSharpDemo/Properties/AssemblyInfo.cs Normal file
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using System.Reflection;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
// 有关程序集的一般信息由以下
// 控制。更改这些特性值可修改
// 与程序集关联的信息。
[assembly: AssemblyTitle("HitBotStudioDemo")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("HitBotStudioDemo")]
[assembly: AssemblyCopyright("Copyright © 2021")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
// 将 ComVisible 设置为 false 会使此程序集中的类型
//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
//请将此类型的 ComVisible 特性设置为 true。
[assembly: ComVisible(false)]
// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
[assembly: Guid("1793bd51-af57-4b89-8150-5f9e3392b58f")]
// 程序集的版本信息由下列四个值组成:
//
// 主版本
// 次版本
// 生成号
// 修订号
//
// 可以指定所有值，也可以使用以下所示的 "*" 预置版本号和修订号
// 方法是按如下所示使用“*”: :
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]

63
HitBotCSharpDemo/Properties/Resources.Designer.cs generated Normal file
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//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
// 运行时版本:4.0.30319.42000
//
// 对此文件的更改可能会导致不正确的行为，并且如果
// 重新生成代码，这些更改将会丢失。
// </auto-generated>
//------------------------------------------------------------------------------
namespace HitBotCSharpDemo.Properties {
using System;
/// <summary>
/// 一个强类型的资源类，用于查找本地化的字符串等。
/// </summary>
// 此类是由 StronglyTypedResourceBuilder
// 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
// 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
// (以 /str 作为命令选项)，或重新生成 VS 项目。
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "15.0.0.0")]
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
internal class Resources {
private static global::System.Resources.ResourceManager resourceMan;
private static global::System.Globalization.CultureInfo resourceCulture;
[global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
internal Resources() {
}
/// <summary>
/// 返回此类使用的缓存的 ResourceManager 实例。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Resources.ResourceManager ResourceManager {
get {
if (object.ReferenceEquals(resourceMan, null)) {
global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("HitBotCSharpDemo.Properties.Resources", typeof(Resources).Assembly);
resourceMan = temp;
}
return resourceMan;
}
}
/// <summary>
/// 重写当前线程的 CurrentUICulture 属性
/// 重写当前线程的 CurrentUICulture 属性。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Globalization.CultureInfo Culture {
get {
return resourceCulture;
}
set {
resourceCulture = value;
}
}
}
}

117
HitBotCSharpDemo/Properties/Resources.resx Normal file
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<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
</root>

26
HitBotCSharpDemo/Properties/Settings.Designer.cs generated Normal file
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//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
// 运行时版本:4.0.30319.42000
//
// 对此文件的更改可能会导致不正确的行为，并且如果
// 重新生成代码，这些更改将会丢失。
// </auto-generated>
//------------------------------------------------------------------------------
namespace HitBotCSharpDemo.Properties {
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "15.9.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
public static Settings Default {
get {
return defaultInstance;
}
}
}
}

7
HitBotCSharpDemo/Properties/Settings.settings Normal file
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<?xml version='1.0' encoding='utf-8'?>
<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
<Profiles>
<Profile Name="(Default)" />
</Profiles>
<Settings />
</SettingsFile>

1231
HitBotCSharpDemo/ShowForm.Designer.cs generated Normal file
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507
HitBotCSharpDemo/ShowForm.cs Normal file
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using System;
using System.Drawing;
using System.Threading;
using System.Windows.Forms;
using ControlBeanExDll;
using TcpserverExDll;
namespace HitBotCSharpDemo
{
public partial class ShowForm : Form
{
Thread thread_Jog_Move;//创建按钮长按，连续移动模式的线程。 与点击事件冲突处理
bool moveFlag;//开始结束寸动标志
bool isInit = false;
Button btn;//声明按钮对象。
Label lbl;
int offset = 1;//寸动距离
int offset_jog = 2;//连续移动单次距离
static int io_Count = 6;//IO数量
int[] io_In = new int[io_Count];
int[] io_Out = new int[io_Count];
Label[] lbl_Current_Input;//IO显示控件数组
Label[] lbl_Current_Output;
bool output_State_Flag0 = true;
bool output_State_Flag1 = true;
bool output_State_Flag2 = true;
bool output_State_Flag3 = true;
bool output_State_Flag4 = true;
bool output_State_Flag5 = true;
float[] pos0;//点位1
int posHand0;
float[] pos1;//点位2
int posHand1;
float[] pos2;//点位3
int posHand2;
Thread thread_PosMove;
private ControlBeanEx robot;
public ShowForm()
{
InitializeComponent();
TcpserverEx.net_port_initial();
robot = TcpserverEx.get_robot(74);//替换为自己的机器的id号
}
private void ShowForm_Load(object sender, EventArgs e)
{
lbl_Current_Input = new Label[] { lbl_InputState_0, lbl_InputState_1, lbl_InputState_2, lbl_InputState_3, lbl_InputState_4, lbl_InputState_5 };//输入信号数组
lbl_Current_Output = new Label[] { lbl_OutputState_0, lbl_OutputState_1, lbl_OutputState_2, lbl_OutputState_3, lbl_OutputState_4, lbl_OutputState_5 };//输出信号数组
}
private void cob_Robot_ID_Click(object sender, EventArgs e)
{
cob_Robot_ID.Items.Clear();
for (int i = 0; i < 255; i++)
{
robot = TcpserverEx.get_robot(i);//替换为自己的机器的id号
if (robot.is_connected())
{
cob_Robot_ID.Items.Add(i.ToString());
}
}
}
private void btn_Init_Click(object sender, EventArgs e)
{
rit_Coord.Clear();
if (robot == null) return;
robot = TcpserverEx.get_robot(int.Parse(cob_Robot_ID.Text));
robot.check_joint(4, false);
if (robot.is_connected())
{
int ret = robot.initial(1, 240); //修改自己机器的型号，参数具体意义参考sdk说明文档
if (ret == 1)
{
robot.unlock_position();
isInit = true;
MessageBox.Show("robot" + "初始化完成");
}
else
{
MessageBox.Show("robot" + "初始化失败，返回值 = " + ret.ToString());
}
}
else
{
MessageBox.Show("robot" + "未连接");
}
}
private void btn_Move_Click(object sender, EventArgs e) //点击按钮，寸动事件。
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
#region 按钮移动事件
if (chb_Inching.Checked == true)//寸动
{
robot.get_scara_param();
int hand = robot.get_lr();
float speed = 2;
robot.new_set_acc(30, 30, 30, 30);
#region 轴动
if (btn == btn_XP)//X正向移动
{
robot.new_movej_xyz_lr(robot.x + offset, robot.y, robot.z, robot.rotation, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点
}
else if (btn == btn_XN)//X负向移动
{
robot.new_movej_xyz_lr(robot.x - offset, robot.y, robot.z, robot.rotation, speed, 0, hand);
}
if (btn == btn_YP)//Y正向移动
{
robot.new_movej_xyz_lr(robot.x, robot.y + offset, robot.z, robot.rotation, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点
}
else if (btn == btn_YN)//Y负向移动
{
robot.new_movej_xyz_lr(robot.x, robot.y - offset, robot.z, robot.rotation, speed, 0, hand);
}
if (btn == btn_ZP)//Z正向移动
{
robot.new_movej_xyz_lr(robot.x, robot.y, robot.z + offset, robot.rotation, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点
}
else if (btn == btn_ZN)//Z负向移动
{
robot.new_movej_xyz_lr(robot.x, robot.y, robot.z - offset, robot.rotation, speed, 0, hand);
}
if (btn == btn_RP)//R正向旋转
{
robot.new_movej_xyz_lr(robot.x, robot.y, robot.z, robot.rotation + offset, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点
}
else if (btn == btn_RN)//R负向旋转
{
robot.new_movej_xyz_lr(robot.x, robot.y, robot.z, robot.rotation - offset, speed, 0, hand);
}
#endregion
}
else
{
}
#endregion
}
public void jog_Move()//连续移动方法
{
moveFlag = true;
while (moveFlag && chb_Inching.Checked == false && btn != null)
{
//robot.new_set_acc(100, 100, 100, 100);
if (btn == btn_XP)//X正向移动
{
robot.jog_move2(offset_jog, 0, 0, 0, 1);
//robot.jog_move2(robot.x - 1, robot.y, robot.z, robot.rotation,1);
//type: 1：是以xyz坐标系为准移动固定距离。 2是以关节轴为基准移动固定距离
}
else if (btn == btn_XN)//X负向移动
{
robot.jog_move2(-offset_jog, 0, 0, 0, 1);
}
if (btn == btn_YP)//Y正向移动
{
robot.jog_move2(0, offset_jog, 0, 0, 1);
}
else if (btn == btn_YN)//Y负向移动
{
robot.jog_move2(0, -offset_jog, 0, 0, 1);
}
if (btn == btn_ZP)//Z正向移动
{
robot.jog_move2(0, 0, offset_jog, 0, 1);
}
else if (btn == btn_ZN)//Z负向移动
{
robot.jog_move2(0, 0, -offset_jog, 0, 1);
}
if (btn == btn_RP)//R正向旋转
{
robot.jog_move2(0, 0, 0, offset_jog, 1);
}
else if (btn == btn_RN)//R负向旋转
{
robot.jog_move2(0, 0, 0, offset_jog, 1);
}
Thread.Sleep(200);
}
robot.wait_stop();
}
private void btn_gainJointState_Click(object sender, EventArgs e)//获取关节状态
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
int jointNumber = int.Parse(cob_Joint_Number.SelectedItem.ToString());
int ret = robot.get_joint_state(jointNumber);
switch (ret)
{
case 1:
rit_showJointState.Clear();
rit_showJointState.SelectedText = "关节" + jointNumber + "正常";
break;
default:
rit_showJointState.Clear();
rit_showJointState.SelectedText = "关节" + jointNumber + "异常！异常代码：" + ret + ".（详情请查看API文档）"; //可具体
break;
}
}
private void btn_Jog_MouseDown(object sender, MouseEventArgs e)
{
btn = (Button)sender;
if (btn == null)
{
return;
}
thread_Jog_Move = new Thread(jog_Move);
thread_Jog_Move.IsBackground = true;
thread_Jog_Move.Start();
}
private void tim_IO_Refresh_Tick(object sender, EventArgs e)//刷新IO和坐标定时器
{
robot.get_scara_param();
if (isInit)
{
rit_Coord.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " ";
}
for (int i = 0; i < io_Count; i++)
{
io_In[i] = robot.get_digital_in(i);
io_Out[i] = robot.get_digital_out(i);
}
for (int i = 0; i < io_Count; i++)//输入
{
int ret_Input = io_In[i];
Label lbl_Current_IO = lbl_Current_Input[i];
switch (ret_Input)//• -1：io_number 参数错误 • 0：io 输入点没有被触发 • 1：io 输入点被触发 • 3：未初始化
{
case -1:
if (lbl_Current_Input[i].BackColor != Color.Gray)
lbl_Current_Input[i].BackColor = Color.Gray;
break;
case 0:
if (lbl_Current_Input[i].BackColor != Color.Green)
lbl_Current_Input[i].BackColor = Color.Green;
break;
case 1:
if (lbl_Current_Input[i].BackColor != Color.Red)
lbl_Current_Input[i].BackColor = Color.Red;
break;
case 3:
if (lbl_Current_Input[i].BackColor != Color.Gray)
lbl_Current_Input[i].BackColor = Color.Gray;
break;
}
}
for (int i = 0; i < io_Count; i++)//输出
{
int ret_Output = io_Out[i];
Label lbl_Current_IO = lbl_Current_Output[i];
switch (ret_Output)//• -1：io_number 参数错误 • 0：io 输入点没有被触发 • 1：io 输入点被触发 • 3：未初始化
{
case -1:
if (lbl_Current_Output[i].BackColor != Color.Gray)
lbl_Current_Output[i].BackColor = Color.Gray;
break;
case 0:
if (lbl_Current_Output[i].BackColor != Color.Green)
lbl_Current_Output[i].BackColor = Color.Green;
break;
case 1:
if (lbl_Current_Output[i].BackColor != Color.Red)
lbl_Current_Output[i].BackColor = Color.Red;
break;
case 3:
if (lbl_Current_Output[i].BackColor != Color.Gray)
lbl_Current_Output[i].BackColor = Color.Gray;
break;
}
}
}
private void lbl_Output_Click(object sender, EventArgs e)//设置输出事件
{
#region 判断输出编号
int output_Num = 0;
lbl = (Label)sender;
if (lbl == lbl_OutputState_0)
{
output_Num = 0;
robot.set_digital_out(output_Num, output_State_Flag0);
output_State_Flag0 = !output_State_Flag0;
}
else if (lbl == lbl_OutputState_1)
{
output_Num = 1;
robot.set_digital_out(output_Num, output_State_Flag1);
output_State_Flag1 = !output_State_Flag1;
}
else if (lbl == lbl_OutputState_2)
{
output_Num = 2;
robot.set_digital_out(output_Num, output_State_Flag2);
output_State_Flag2 = !output_State_Flag2;
}
else if (lbl == lbl_OutputState_3)
{
output_Num = 3;
robot.set_digital_out(output_Num, output_State_Flag3);
output_State_Flag3 = !output_State_Flag3;
}
else if (lbl == lbl_OutputState_4)
{
output_Num = 4;
robot.set_digital_out(output_Num, output_State_Flag4);
output_State_Flag4 = !output_State_Flag4;
}
else if (lbl == lbl_OutputState_5)
{
output_Num = 5;
robot.set_digital_out(output_Num, output_State_Flag5);
output_State_Flag5 = !output_State_Flag5;
}
#endregion
}
private void btn_MouseUp(object sender, MouseEventArgs e)//停止连续移动
{
if (robot != null&&!chb_Inching.Checked)
{
robot.new_stop_move();
}
btn = null;
moveFlag = false;
}
private void btn_Position0_Click(object sender, EventArgs e)
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
rit_Position0.Clear();
rit_Position0.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " ";
pos0 = new float[] { robot.x, robot.y, robot.z, robot.rotation };
posHand0 = robot.get_lr()/* == 1 ? "R" : "L"*/;
}
private void btn_Position1_Click(object sender, EventArgs e)
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
rit_Position1.Clear();
rit_Position1.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " ";
pos1 = new float[] { robot.x, robot.y, robot.z, robot.rotation };
posHand1 = robot.get_lr()/* == 1 ? "R" : "L"*/;
}
private void btn_Position2_Click(object sender, EventArgs e)
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
rit_Position2.Clear();
rit_Position2.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " ";
pos2 = new float[] { robot.x, robot.y, robot.z, robot.rotation };
posHand2 = robot.get_lr() /*== 1 ? "R" : "L"*/;
}
private void btn_Start_Click(object sender, EventArgs e)
{
btn_Pause.Enabled = true;
btn_Resume.Enabled = true;
if (pos0==null|| pos1 == null|| pos2 == null)
{
MessageBox.Show("请先设置3个点位！");
return;
}
thread_PosMove = new Thread(PosMove);
thread_PosMove.IsBackground = false;
thread_PosMove.Start();
}
private static object locker_PosMove = new object();
public void PosMove()
{
lock (locker_PosMove)
{
while (true)
{
robot.resume_move();
robot.get_scara_param();
robot.new_movej_xyz_lr(pos0[0], pos0[1], pos0[2], pos0[3], 50, 0, posHand0);
robot.wait_stop();
robot.new_movej_xyz_lr(pos1[0], pos1[1], pos1[2], pos1[3], 50, 0, posHand1);
robot.wait_stop();
robot.new_movej_xyz_lr(pos2[0], pos2[1], pos2[2], pos2[3], 50, 0, posHand2);
robot.wait_stop();
}
}
}
private void btn_Pause_Click(object sender, EventArgs e)
{
btn_Stop.Enabled = false;
robot.pause_move();
}
private void btn_Resume_Click(object sender, EventArgs e)
{
btn_Stop.Enabled = true;
robot.resume_move();
}
private void btn_Stop_Click(object sender, EventArgs e)
{
btn_Pause.Enabled = false;
btn_Resume.Enabled = false;
robot.new_stop_move();
thread_PosMove.Abort();
}
private void btn_Joint_Click(object sender, EventArgs e)
{
if (!isInit)
{
MessageBox.Show("机械臂未初始化");
return;
}
#region 关节回零
btn = (Button)sender;
if (btn == null)
{
return;
}
if (btn == btn_joint1)
{
robot.joint_home(1);//使轴回到零位
}
else if (btn == btn_joint2)
{
robot.joint_home(2);
}
else if (btn == btn_joint3)
{
robot.joint_home(3);
}
else if (btn == btn_joint4)
{
robot.joint_home(4);
}
#endregion
}
private void rit_Coord_TextChanged(object sender, EventArgs e)
{
}
private void cob_Robot_ID_SelectedIndexChanged(object sender, EventArgs e)
{
}
private void tap_Move_Click(object sender, EventArgs e)
{
}
private void button1_Click(object sender, EventArgs e)
{
}
private void button3_Click(object sender, EventArgs e)
{
}
private void button2_Click(object sender, EventArgs e)
{
}
private void button4_Click(object sender, EventArgs e)
{
}
}
}

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<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
</startup>
</configuration>

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<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
</startup>
</configuration>

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2025-06-06 15:14:23.461 wait_stop in
2025-06-06 15:14:23.486 wait_stop exit_2
2025-06-06 15:14:25.033 wait_stop in
2025-06-06 15:14:25.055 wait_stop exit_2

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2025-06-06 15:14:42.738 wait_stop in
2025-06-06 15:14:42.761 wait_stop exit_2
2025-06-06 15:14:44.172 wait_stop in
2025-06-06 15:14:44.194 wait_stop exit_2
2025-06-06 15:14:45.469 wait_stop in
2025-06-06 15:14:45.490 wait_stop exit_2
2025-06-06 15:16:07.054 wait_stop in
2025-06-06 15:16:07.080 wait_stop exit_2
2025-06-06 15:47:20.489 wait_stop in
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2025-06-07 10:04:30.065 SDK_VERSION_V2.0.0.29_Release
2025-06-07 10:04:30.065 robot connected
2025-06-07 10:04:30.065 26
2025-06-07 10:04:30.065 current generation=26
2025-06-07 10:04:30.580 0x1a
2025-06-07 10:04:30.580 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>
2025-06-07 10:04:35.411 SDK_VERSION_V2.0.0.29_Release
2025-06-07 10:04:35.423 robot connected
2025-06-07 10:04:35.423 26
2025-06-07 10:04:35.423 current generation=26
2025-06-07 10:04:35.930 0x1a
2025-06-07 10:04:36.766 initial joint2 2145761
2025-06-07 10:04:36.766 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-07 10:04:36.766 robot WritePID
2025-06-07 10:04:37.073 initial joint1 -41355
2025-06-07 10:04:37.138 initial joint2 2145763
2025-06-07 10:04:37.173 initial joint3 -203564
2025-06-07 10:04:37.235 initial joint4 -27044139
2025-06-07 10:04:37.263 initial joint1 -41356
2025-06-07 10:04:37.317 initial joint2 2145765
2025-06-07 10:04:37.373 initial joint3 -203565
2025-06-07 10:04:37.425 initial joint4 -27044139
2025-06-07 10:04:37.443 initial joint1 -41355
2025-06-07 10:04:37.502 initial joint2 2145767
2025-06-07 10:04:37.545 initial joint3 -203565
2025-06-07 10:04:37.585 initial joint4 -27044141
2025-06-07 10:04:39.832 initial_thread initialized
2025-06-07 10:04:39.832 servo enable
2025-06-07 10:04:39.833 brake open
2025-06-07 10:04:39.833 set_brake_state 0 1
2025-06-07 10:04:40.041 robot initialized
2025-06-07 10:04:40.603 get_scara_param -2.839400 73.669098 -69.888397 -1072.822388
2025-06-07 10:04:40.603 get_scara_real_coor -2.839600 73.669098 -69.888802 -1072.822510
2025-06-07 10:04:40.603 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
2025-06-07 10:04:40.603 position -41351.761719 2145768.000000 -203564.718750 -27044144.000000 0.000000 0.000000 0.000000 0.000000
2025-06-07 10:04:40.603 speed 2839.400146 73669.093750 69888.398438 1114184.500000
2025-06-07 10:04:40.603 set_first_position_after_initial
2025-06-07 10:04:40.603 movej_old start_pos: -2.839400 73.669098 -69.888397 -1072.822388 end_pos: -2.839400 73.669098 -69.888397 -1072.822388 org_sp 10.000000 end_sp 10.000000
2025-06-07 10:04:40.924 J3 Belt Meilage=40.867260km
2025-06-07 10:04:51.646 _new_stop_move_thread_0
2025-06-07 10:04:51.646 j1_slow_down_t = 1
2025-06-07 10:04:51.646 j2_slow_down_t = 2
2025-06-07 10:04:51.646 j3_slow_down_t = 0
2025-06-07 10:04:51.646 j4_slow_down_t = 0
2025-06-07 10:04:51.646 tmp_t[3] = 2
2025-06-07 10:04:51.648 _new_stop_move_thread_1
2025-06-07 10:04:51.676 ROBOT_ERROR_CODE = 1002
2025-06-07 10:04:51.676
0 : 9999 9999 9999 9999 9999 0
1 : 9999 9999 9999 9999 9999 0
2 : 9999 9999 9999 9999 9999 0
3 : 9999 9999 9999 9999 9999 0
4 : 9999 9999 9999 9999 9999 0
5 : 9999 9999 9999 9999 9999 0
6 : 9999 9999 9999 9999 9999 0
7 : 9999 9999 9999 9999 9999 0
8 : 9999 9999 9999 9999 9999 0
9 : 9999 9999 9999 9999 9999 0
10 : 9999 9999 9999 9999 9999 0
11 : 9999 9999 9999 9999 9999 0
12 : 9999 9999 9999 9999 9999 0
13 : 9999 9999 9999 9999 9999 0
14 : 9999 9999 9999 9999 9999 0
15 : 9999 9999 9999 9999 9999 0
2025-06-07 10:04:51.796 _new_stop_move_thread_2
2025-06-07 10:04:51.828 _new_stop_move_thread_3
2025-06-07 10:04:51.828 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:04:51.828 get_scara_param -0.071000 63.085201 -69.888802 -1072.807617
2025-06-07 10:04:51.828 get_scara_real_coor -0.071000 63.085201 -69.888802 -1072.807617
2025-06-07 10:04:51.829 _new_stop_move_thread_4
2025-06-07 10:04:52.032 wait_stop in
2025-06-07 10:04:52.048 wait_stop exit_2
2025-06-07 10:04:53.537 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:53.659 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:53.746 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:53.875 wait_stop in
2025-06-07 10:04:53.891 wait_stop exit_2
2025-06-07 10:04:53.963 wait_stop in
2025-06-07 10:04:53.978 wait_stop exit_2
2025-06-07 10:04:55.897 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:56.101 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:56.308 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:56.512 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:56.721 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:56.928 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:57.130 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:57.332 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:57.542 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:57.758 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:57.960 wait_stop in
2025-06-07 10:04:57.976 wait_stop exit_2
2025-06-07 10:04:57.976 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:58.196 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:58.397 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:58.607 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:58.815 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:59.020 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:59.228 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:04:59.435 wait_stop in
2025-06-07 10:04:59.450 wait_stop exit_2
2025-06-07 10:15:02.792 SDK_VERSION_V2.0.0.29_Release
2025-06-07 10:15:02.792 robot connected
2025-06-07 10:15:02.792 26
2025-06-07 10:15:02.792 current generation=26
2025-06-07 10:15:03.310 0x1a
2025-06-07 10:15:04.120 initial joint2 1837130
2025-06-07 10:15:04.120 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-07 10:15:04.121 robot WritePID
2025-06-07 10:15:04.436 initial joint1 -820
2025-06-07 10:15:04.486 initial joint2 1837130
2025-06-07 10:15:04.551 initial joint3 -203566
2025-06-07 10:15:04.587 initial joint4 -26957379
2025-06-07 10:15:04.624 initial joint1 -819
2025-06-07 10:15:04.657 initial joint2 1837131
2025-06-07 10:15:04.705 initial joint3 -203566
2025-06-07 10:15:04.747 initial joint4 -26957380
2025-06-07 10:15:04.779 initial joint1 -819
2025-06-07 10:15:04.850 initial joint2 1837132
2025-06-07 10:15:04.898 initial joint3 -203566
2025-06-07 10:15:04.959 initial joint4 -26957382
2025-06-07 10:15:07.185 initial_thread initialized
2025-06-07 10:15:07.185 servo enable
2025-06-07 10:15:07.185 brake open
2025-06-07 10:15:07.185 set_brake_state 0 1
2025-06-07 10:15:07.388 robot initialized
2025-06-07 10:15:07.673 initial return 0 <20><>е<EFBFBD>۲<EFBFBD><DBB2><EFBFBD><EFBFBD><EFBFBD>
2025-06-07 10:15:11.550 SDK_VERSION_V2.0.0.29_Release
2025-06-07 10:15:11.550 robot connected
2025-06-07 10:15:11.550 26
2025-06-07 10:15:11.550 current generation=26
2025-06-07 10:15:12.067 0x1a
2025-06-07 10:15:12.951 initial joint2 1837136
2025-06-07 10:15:12.951 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-07 10:15:12.951 robot WritePID
2025-06-07 10:15:13.256 initial joint1 -820
2025-06-07 10:15:13.310 initial joint2 1837135
2025-06-07 10:15:13.358 initial joint3 -203566
2025-06-07 10:15:13.387 initial joint4 -26957383
2025-06-07 10:15:13.419 initial joint1 -820
2025-06-07 10:15:13.470 initial joint2 1837138
2025-06-07 10:15:13.535 initial joint3 -203566
2025-06-07 10:15:13.586 initial joint4 -26957384
2025-06-07 10:15:13.619 initial joint1 -820
2025-06-07 10:15:13.673 initial joint2 1837140
2025-06-07 10:15:13.722 initial joint3 -203567
2025-06-07 10:15:13.771 initial joint4 -26957385
2025-06-07 10:15:15.914 initial_thread initialized
2025-06-07 10:15:15.914 servo enable
2025-06-07 10:15:15.914 brake open
2025-06-07 10:15:15.914 set_brake_state 0 1
2025-06-07 10:15:16.126 robot initialized
2025-06-07 10:15:16.419 initial return 0 <20><>е<EFBFBD>۲<EFBFBD><DBB2><EFBFBD><EFBFBD><EFBFBD>
2025-06-07 10:20:58.691 SDK_VERSION_V2.0.0.29_Release
2025-06-07 10:20:58.691 robot connected
2025-06-07 10:20:58.691 26
2025-06-07 10:20:58.691 current generation=26
2025-06-07 10:20:58.706 ROBOT_ERROR_CODE = 1004
2025-06-07 10:20:58.706
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
2025-06-07 10:20:59.259 0x1a
2025-06-07 10:21:00.099 initial joint2 1840243
2025-06-07 10:21:00.099 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-07 10:21:00.099 robot WritePID
2025-06-07 10:21:00.411 initial joint1 9885
2025-06-07 10:21:00.467 initial joint2 1840242
2025-06-07 10:21:00.517 initial joint3 -203775
2025-06-07 10:21:00.571 initial joint4 -26957253
2025-06-07 10:21:00.587 initial joint1 9886
2025-06-07 10:21:00.636 initial joint2 1840243
2025-06-07 10:21:00.683 initial joint3 -203776
2025-06-07 10:21:00.729 initial joint4 -26957253
2025-06-07 10:21:00.755 initial joint1 9886
2025-06-07 10:21:00.803 initial joint2 1840242
2025-06-07 10:21:00.845 initial joint3 -203776
2025-06-07 10:21:00.899 initial joint4 -26957254
2025-06-07 10:21:03.026 initial_thread initialized
2025-06-07 10:21:03.026 servo enable
2025-06-07 10:21:03.026 brake open
2025-06-07 10:21:03.026 set_brake_state 0 1
2025-06-07 10:21:03.238 robot initialized
2025-06-07 10:21:03.815 get_scara_param 0.678800 63.179699 -69.961197 -1072.018066
2025-06-07 10:21:03.815 get_scara_real_coor 0.678800 63.179699 -69.961197 -1072.018066
2025-06-07 10:21:03.815 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
2025-06-07 10:21:03.815 position 9885.741211 1840242.125000 -203776.750000 -26957254.000000 0.000000 0.000000 0.000000 0.000000
2025-06-07 10:21:03.815 speed 678.799988 63179.703125 69961.195313 1110604.625000
2025-06-07 10:21:03.816 set_first_position_after_initial
2025-06-07 10:21:03.816 movej_old start_pos: 0.678800 63.179699 -69.961197 -1072.018066 end_pos: 0.678800 63.179699 -69.961197 -1072.018066 org_sp 10.000000 end_sp 10.000000
2025-06-07 10:21:04.091 J3 Belt Meilage=40.867378km
2025-06-07 10:21:17.610 _new_stop_move_thread_0
2025-06-07 10:21:17.610 j1_slow_down_t = 0
2025-06-07 10:21:17.624 j2_slow_down_t = 1
2025-06-07 10:21:17.624 j3_slow_down_t = 0
2025-06-07 10:21:17.624 j4_slow_down_t = 0
2025-06-07 10:21:17.624 tmp_t[3] = 1
2025-06-07 10:21:17.624 _new_stop_move_thread_1
2025-06-07 10:21:17.674 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:21:17.690 ROBOT_ERROR_CODE = 1002
2025-06-07 10:21:17.690
0 : 9999 9999 9999 9999 9999 0
1 : 9999 9999 9999 9999 9999 0
2 : 9999 9999 9999 9999 9999 0
3 : 9999 9999 9999 9999 9999 0
4 : 9999 9999 9999 9999 9999 0
5 : 9999 9999 9999 9999 9999 0
6 : 9999 9999 9999 9999 9999 0
7 : 9999 9999 9999 9999 9999 0
8 : 9999 9999 9999 9999 9999 0
9 : 9999 9999 9999 9999 9999 0
10 : 9999 9999 9999 9999 9999 0
11 : 9999 9999 9999 9999 9999 0
12 : 9999 9999 9999 9999 9999 0
13 : 9999 9999 9999 9999 9999 0
14 : 9999 9999 9999 9999 9999 0
15 : 9999 9999 9999 10000 10000 0
2025-06-07 10:21:17.790 _new_stop_move_thread_2
2025-06-07 10:21:17.810 _new_stop_move_thread_3
2025-06-07 10:21:17.810 get_scara_param -4.522900 90.507103 -69.961197 -1072.033813
2025-06-07 10:21:17.810 get_scara_real_coor -4.522900 90.507103 -69.961197 -1072.033813
2025-06-07 10:21:17.811 _new_stop_move_thread_4
2025-06-07 10:21:17.883 wait_stop in
2025-06-07 10:21:17.906 wait_stop exit_2
2025-06-07 10:21:19.535 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:19.742 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:19.949 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:20.164 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:20.367 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:20.575 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:20.788 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:21.005 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:21.208 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:21.422 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:21.629 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:21.844 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:22.058 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:22.261 wait_stop in
2025-06-07 10:21:22.277 wait_stop exit_2
2025-06-07 10:21:23.918 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:24.135 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:24.338 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:24.549 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:24.759 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:24.963 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:25.165 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:25.367 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:25.571 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:25.780 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:25.981 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:26.188 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:26.396 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:26.603 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:26.816 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:27.022 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:27.237 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:27.439 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:27.643 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:27.851 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:28.054 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:28.256 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:28.472 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:28.681 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:28.893 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:29.106 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:29.309 wait_stop in
2025-06-07 10:21:29.330 wait_stop exit_2
2025-06-07 10:21:29.596 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:29.803 wait_stop in
2025-06-07 10:21:29.817 wait_stop exit_2
2025-06-07 10:21:31.074 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:31.294 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:31.504 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:31.713 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:31.918 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:32.132 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:32.345 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:32.546 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:32.755 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:32.976 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:33.195 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:33.397 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:33.605 wait_stop in
2025-06-07 10:21:33.616 wait_stop exit_2
2025-06-07 10:21:35.896 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:36.113 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:36.325 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:36.530 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:36.742 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:36.954 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:37.156 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:37.370 wait_stop in
2025-06-07 10:21:37.386 wait_stop exit_2
2025-06-07 10:21:39.010 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:39.213 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:39.431 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:39.645 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:39.855 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:40.063 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:40.271 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:40.472 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:40.684 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:40.896 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:41.109 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:41.310 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:41.523 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:41.728 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:41.938 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:42.143 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:42.353 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:42.568 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:42.771 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:42.980 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:43.186 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:43.394 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:43.600 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:43.801 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:44.011 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:44.222 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:44.428 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:44.638 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:44.852 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:45.060 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:45.276 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:45.484 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:45.687 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:45.894 wait_stop in
2025-06-07 10:21:45.916 wait_stop exit_2
2025-06-07 10:21:48.298 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:48.505 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:48.712 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:48.918 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:49.123 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:49.336 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:49.539 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:49.749 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:49.955 jog_move_xyzr return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:50.163 wait_stop in
2025-06-07 10:21:50.181 wait_stop exit_2
2025-06-07 10:21:57.431 wait_stop in
2025-06-07 10:21:57.446 wait_stop exit_2
2025-06-07 10:21:57.546 30 30 30 30
2025-06-07 10:21:57.546 new_movej_xyz_lr 232.287292 182.148102 -69.960899 -1072.017944 2.000000 0.000000 1
2025-06-07 10:21:57.546 goal_angle -4.544236 90.823456
2025-06-07 10:21:57.546 new_movej_angle -4.544236 90.823456 -69.960899 -1072.017944 0.000000 2.000000
2025-06-07 10:21:57.546 new_movej_angle return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:58.095 wait_stop in
2025-06-07 10:21:58.106 wait_stop exit_2
2025-06-07 10:21:58.229 30 30 30 30
2025-06-07 10:21:58.229 new_movej_xyz_lr 232.287399 182.148102 -69.961197 -1072.017944 2.000000 0.000000 1
2025-06-07 10:21:58.229 goal_angle -4.544234 90.823410
2025-06-07 10:21:58.229 new_movej_angle -4.544234 90.823410 -69.961197 -1072.017944 0.000000 2.000000
2025-06-07 10:21:58.229 new_movej_angle return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:58.435 wait_stop in
2025-06-07 10:21:58.460 wait_stop exit_2
2025-06-07 10:21:58.541 30 30 30 30
2025-06-07 10:21:58.541 new_movej_xyz_lr 232.287292 182.148102 -69.961197 -1072.017944 2.000000 0.000000 1
2025-06-07 10:21:58.541 goal_angle -4.544236 90.823456
2025-06-07 10:21:58.541 new_movej_angle -4.544236 90.823456 -69.961197 -1072.017944 0.000000 2.000000
2025-06-07 10:21:58.541 new_movej_angle return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:58.769 wait_stop in
2025-06-07 10:21:58.785 wait_stop exit_2
2025-06-07 10:21:58.872 30 30 30 30
2025-06-07 10:21:58.872 new_movej_xyz_lr 232.287399 182.148102 -69.961197 -1072.018066 2.000000 0.000000 1
2025-06-07 10:21:58.872 goal_angle -4.544234 90.823410
2025-06-07 10:21:58.872 new_movej_angle -4.544234 90.823410 -69.961197 -1072.018066 0.000000 2.000000
2025-06-07 10:21:58.872 new_movej_angle return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:58.937 wait_stop in
2025-06-07 10:21:58.967 wait_stop exit_2
2025-06-07 10:21:59.044 30 30 30 30
2025-06-07 10:21:59.044 new_movej_xyz_lr 232.287598 182.147903 -69.961197 -1072.018066 2.000000 0.000000 1
2025-06-07 10:21:59.044 goal_angle -4.544282 90.823402
2025-06-07 10:21:59.044 new_movej_angle -4.544282 90.823402 -69.961197 -1072.018066 0.000000 2.000000
2025-06-07 10:21:59.044 new_movej_angle return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:21:59.179 wait_stop in
2025-06-07 10:21:59.195 wait_stop exit_2
2025-06-07 10:21:59.289 30 30 30 30
2025-06-07 10:21:59.289 new_movej_xyz_lr 232.287201 182.148102 -69.961197 -1072.017822 2.000000 0.000000 1
2025-06-07 10:21:59.289 goal_angle -4.544238 90.823479
2025-06-07 10:21:59.289 new_movej_angle -4.544238 90.823479 -69.961197 -1072.017822 0.000000 2.000000
2025-06-07 10:21:59.289 new_movej_angle return 3 δ<><CEB4>ʼ<EFBFBD><CABC>
2025-06-07 10:22:01.289 SDK_VERSION_V2.0.0.29_Release
2025-06-07 10:22:01.289 robot connected
2025-06-07 10:22:01.289 26
2025-06-07 10:22:01.289 current generation=26
2025-06-07 10:22:01.795 0x1a
2025-06-07 10:22:02.651 initial joint2 2636592
2025-06-07 10:22:02.651 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-07 10:22:02.652 robot WritePID
2025-06-07 10:22:02.966 initial joint1 -65925
2025-06-07 10:22:03.016 initial joint2 2636591
2025-06-07 10:22:03.063 initial joint3 -203777
2025-06-07 10:22:03.100 initial joint4 -27229077
2025-06-07 10:22:03.116 initial joint1 -65924
2025-06-07 10:22:03.153 initial joint2 2636593
2025-06-07 10:22:03.209 initial joint3 -203777
2025-06-07 10:22:03.263 initial joint4 -27229079
2025-06-07 10:22:03.279 initial joint1 -65924
2025-06-07 10:22:03.325 initial joint2 2636594
2025-06-07 10:22:03.367 initial joint3 -203778
2025-06-07 10:22:03.413 initial joint4 -27229079
2025-06-07 10:22:05.574 initial_thread initialized
2025-06-07 10:22:05.574 servo enable
2025-06-07 10:22:05.574 brake open
2025-06-07 10:22:05.574 set_brake_state 0 1
2025-06-07 10:22:05.777 robot initialized
2025-06-07 10:22:06.067 initial return 0 <20><>е<EFBFBD>۲<EFBFBD><DBB2><EFBFBD><EFBFBD><EFBFBD>
2025-06-07 10:22:16.240 SDK_VERSION_V2.0.0.29_Release
2025-06-07 10:22:16.240 robot connected
2025-06-07 10:22:16.240 26
2025-06-07 10:22:16.240 current generation=26
2025-06-07 10:22:16.752 0x1a
2025-06-07 10:22:17.595 initial joint2 2636594
2025-06-07 10:22:17.595 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-07 10:22:17.595 robot WritePID
2025-06-07 10:22:17.906 initial joint1 -65924
2025-06-07 10:22:17.946 initial joint2 2636598
2025-06-07 10:22:18.009 initial joint3 -203779
2025-06-07 10:22:18.050 initial joint4 -27229082
2025-06-07 10:22:18.065 initial joint1 -65924
2025-06-07 10:22:18.119 initial joint2 2636598
2025-06-07 10:22:18.152 initial joint3 -203779
2025-06-07 10:22:18.200 initial joint4 -27229084
2025-06-07 10:22:18.216 initial joint1 -65924
2025-06-07 10:22:18.269 initial joint2 2636600
2025-06-07 10:22:18.317 initial joint3 -203779
2025-06-07 10:22:18.353 initial joint4 -27229086
2025-06-07 10:22:20.587 initial_thread initialized
2025-06-07 10:22:20.587 servo enable
2025-06-07 10:22:20.587 brake open
2025-06-07 10:22:20.589 set_brake_state 0 1
2025-06-07 10:22:20.790 robot initialized
2025-06-07 10:22:21.080 initial return 0 <20><>е<EFBFBD>۲<EFBFBD><DBB2><EFBFBD><EFBFBD><EFBFBD>
2025-06-07 10:22:26.484 SDK_VERSION_V2.0.0.29_Release
2025-06-07 10:22:26.484 robot connected
2025-06-07 10:22:26.484 26
2025-06-07 10:22:26.484 current generation=26
2025-06-07 10:22:26.515 ROBOT_ERROR_CODE = 1002
2025-06-07 10:22:26.515
0 : 9999 9999 9999 9999 9999 0
1 : 9999 9999 9999 9999 9999 0
2 : 9999 9999 9999 9999 9999 0
3 : 9999 9999 9999 9999 9999 0
4 : 9999 9999 9999 9999 9999 0
5 : 9999 9999 9999 9999 9999 0
6 : 9999 9999 9999 9999 9999 0
7 : 9999 9999 9999 9999 9999 0
8 : 9999 9999 9999 9999 9999 0
9 : 9999 9999 9999 9999 9999 0
10 : 9999 9999 9999 9999 9999 0
11 : 9999 9999 9999 9999 9999 0
12 : 9999 9999 9999 9999 9999 0
13 : 9999 9999 9999 9999 9999 0
14 : 9999 9999 9999 9999 9999 0
15 : 9999 9999 9999 9999 9999 0
2025-06-07 10:22:26.990 0x1a
2025-06-07 10:22:27.862 initial joint2 2636605
2025-06-07 10:22:27.862 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-07 10:22:27.862 robot WritePID
2025-06-07 10:22:28.172 initial joint1 -65924
2025-06-07 10:22:28.219 initial joint2 2636603
2025-06-07 10:22:28.275 initial joint3 -203779
2025-06-07 10:22:28.322 initial joint4 -27229088
2025-06-07 10:22:28.337 initial joint1 -65924
2025-06-07 10:22:28.367 initial joint2 2636604
2025-06-07 10:22:28.415 initial joint3 -203779
2025-06-07 10:22:28.463 initial joint4 -27229089
2025-06-07 10:22:28.467 initial joint1 -65924
2025-06-07 10:22:28.516 initial joint2 2636605
2025-06-07 10:22:28.563 initial joint3 -203780
2025-06-07 10:22:28.602 initial joint4 -27229090
2025-06-07 10:22:30.795 initial_thread initialized
2025-06-07 10:22:30.795 servo enable
2025-06-07 10:22:30.795 brake open
2025-06-07 10:22:30.795 set_brake_state 0 1
2025-06-07 10:22:31.013 robot initialized
2025-06-07 10:22:31.303 initial return 0 <20><>е<EFBFBD>۲<EFBFBD><DBB2><EFBFBD><EFBFBD><EFBFBD>
2025-06-07 10:24:08.560 SDK_VERSION_V2.0.0.29_Release
2025-06-07 10:24:08.563 robot connected
2025-06-07 10:24:08.563 26
2025-06-07 10:24:08.563 current generation=26
2025-06-07 10:24:08.576 ROBOT_ERROR_CODE = 1004
2025-06-07 10:24:08.576
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
2025-06-07 10:24:09.137 0x1a
2025-06-07 10:24:09.984 initial joint2 4420333
2025-06-07 10:24:09.984 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-07 10:24:09.984 robot WritePID
2025-06-07 10:24:10.295 initial joint1 -802385
2025-06-07 10:24:10.331 initial joint2 4420333
2025-06-07 10:24:10.383 initial joint3 -203994
2025-06-07 10:24:10.431 initial joint4 -25196203
2025-06-07 10:24:10.447 initial joint1 -802390
2025-06-07 10:24:10.497 initial joint2 4420334
2025-06-07 10:24:10.544 initial joint3 -203994
2025-06-07 10:24:10.586 initial joint4 -25196203
2025-06-07 10:24:10.620 initial joint1 -802392
2025-06-07 10:24:10.658 initial joint2 4420332
2025-06-07 10:24:10.718 initial joint3 -203994
2025-06-07 10:24:10.766 initial joint4 -25196202
2025-06-07 10:24:12.947 initial_thread initialized
2025-06-07 10:24:12.947 servo enable
2025-06-07 10:24:12.947 brake open
2025-06-07 10:24:12.947 set_brake_state 0 1
2025-06-07 10:24:13.153 robot initialized
2025-06-07 10:24:13.722 get_scara_param -55.095798 151.759995 -70.036102 -1002.091370
2025-06-07 10:24:13.722 get_scara_real_coor -55.095402 151.760101 -70.036102 -1002.090881
2025-06-07 10:24:13.722 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
2025-06-07 10:24:13.722 position -802390.750000 4420330.500000 -203994.937500 -25196202.000000 -64014.496094 2583271.500000 -203776.750000 -27205600.000000
2025-06-07 10:24:13.722 speed 50700.273438 63070.417969 74.908737 82784.648438
2025-06-07 10:24:13.722 set_first_position_after_initial
2025-06-07 10:24:13.722 movej_old start_pos: -55.095802 151.760010 -70.036102 -1002.091370 end_pos: -55.095802 151.760010 -70.036102 -1002.091370 org_sp 10.000000 end_sp 10.000000
2025-06-07 10:24:14.044 J3 Belt Meilage=40.867413km
2025-06-07 10:24:21.030 _new_stop_move_thread_0
2025-06-07 10:24:21.030 j1_slow_down_t = 5
2025-06-07 10:24:21.030 j2_slow_down_t = 0
2025-06-07 10:24:21.030 j3_slow_down_t = 0
2025-06-07 10:24:21.030 j4_slow_down_t = 1
2025-06-07 10:24:21.030 tmp_t[3] = 5
2025-06-07 10:24:21.030 _new_stop_move_thread_1
2025-06-07 10:24:21.094 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:24:21.198 _new_stop_move_thread_2
2025-06-07 10:24:21.230 _new_stop_move_thread_3
2025-06-07 10:24:21.230 get_scara_param -51.476898 151.360901 -70.036102 -1002.197388
2025-06-07 10:24:21.230 get_scara_real_coor -51.476898 151.360901 -70.036102 -1002.197388
2025-06-07 10:24:21.230 _new_stop_move_thread_4
2025-06-07 10:24:21.298 wait_stop in
2025-06-07 10:24:21.327 wait_stop out_0
2025-06-07 10:24:23.911 _new_stop_move_thread_0
2025-06-07 10:24:23.911 j1_slow_down_t = 5
2025-06-07 10:24:23.911 j2_slow_down_t = 0
2025-06-07 10:24:23.911 j3_slow_down_t = 0
2025-06-07 10:24:23.911 j4_slow_down_t = 2
2025-06-07 10:24:23.911 tmp_t[3] = 5
2025-06-07 10:24:23.911 _new_stop_move_thread_1
2025-06-07 10:24:24.017 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:24:24.080 _new_stop_move_thread_2
2025-06-07 10:24:24.111 _new_stop_move_thread_3
2025-06-07 10:24:24.111 get_scara_param -55.798599 151.822205 -70.035698 -1002.062073
2025-06-07 10:24:24.111 get_scara_real_coor -55.798599 151.822205 -70.035698 -1002.062073
2025-06-07 10:24:24.111 _new_stop_move_thread_4
2025-06-07 10:24:24.229 wait_stop in
2025-06-07 10:24:24.257 wait_stop out_0
2025-06-07 10:24:26.804 _new_stop_move_thread_0
2025-06-07 10:24:26.804 j1_slow_down_t = 0
2025-06-07 10:24:26.804 j2_slow_down_t = 1
2025-06-07 10:24:26.804 j3_slow_down_t = 0
2025-06-07 10:24:26.804 j4_slow_down_t = 0
2025-06-07 10:24:26.804 tmp_t[3] = 1
2025-06-07 10:24:26.804 _new_stop_move_thread_1
2025-06-07 10:24:26.871 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:24:26.972 _new_stop_move_thread_2
2025-06-07 10:24:27.004 _new_stop_move_thread_3
2025-06-07 10:24:27.004 get_scara_param -56.198200 149.010498 -70.036102 -1002.018677
2025-06-07 10:24:27.004 get_scara_real_coor -56.198200 149.010498 -70.036102 -1002.018677
2025-06-07 10:24:27.004 _new_stop_move_thread_4
2025-06-07 10:24:27.087 wait_stop in
2025-06-07 10:24:27.119 wait_stop out_0
2025-06-07 10:24:29.240 _new_stop_move_thread_0
2025-06-07 10:24:29.240 j1_slow_down_t = 0
2025-06-07 10:24:29.240 j2_slow_down_t = 1
2025-06-07 10:24:29.240 j3_slow_down_t = 0
2025-06-07 10:24:29.240 j4_slow_down_t = 0
2025-06-07 10:24:29.240 tmp_t[3] = 1
2025-06-07 10:24:29.240 _new_stop_move_thread_1
2025-06-07 10:24:29.348 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:24:29.385 _new_stop_move_thread_2
2025-06-07 10:24:29.407 _new_stop_move_thread_3
2025-06-07 10:24:29.407 get_scara_param -55.988602 150.770004 -70.036102 -1002.056824
2025-06-07 10:24:29.407 get_scara_real_coor -55.988602 150.770004 -70.036102 -1002.056824
2025-06-07 10:24:29.407 _new_stop_move_thread_4
2025-06-07 10:24:29.550 wait_stop in
2025-06-07 10:24:29.576 wait_stop out_0
2025-06-07 10:24:34.996 _new_stop_move_thread_0
2025-06-07 10:24:34.996 j1_slow_down_t = 0
2025-06-07 10:24:34.996 j2_slow_down_t = 0
2025-06-07 10:24:34.996 j3_slow_down_t = 3
2025-06-07 10:24:34.996 j4_slow_down_t = 0
2025-06-07 10:24:34.996 tmp_t[3] = 3
2025-06-07 10:24:34.996 _new_stop_move_thread_1
2025-06-07 10:24:35.105 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:24:35.155 _new_stop_move_thread_2
2025-06-07 10:24:35.191 _new_stop_move_thread_3
2025-06-07 10:24:35.191 get_scara_param -55.988602 150.770203 -32.480000 -1002.057007
2025-06-07 10:24:35.191 get_scara_real_coor -55.988602 150.770203 -32.480000 -1002.056885
2025-06-07 10:24:35.191 _new_stop_move_thread_4
2025-06-07 10:24:35.311 wait_stop in
2025-06-07 10:24:35.343 wait_stop out_0
2025-06-07 10:24:42.402 _new_stop_move_thread_0
2025-06-07 10:24:42.402 j1_slow_down_t = 0
2025-06-07 10:24:42.402 j2_slow_down_t = 0
2025-06-07 10:24:42.402 j3_slow_down_t = 2
2025-06-07 10:24:42.402 j4_slow_down_t = 0
2025-06-07 10:24:42.403 tmp_t[3] = 2
2025-06-07 10:24:42.403 _new_stop_move_thread_1
2025-06-07 10:24:42.486 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:24:42.573 _new_stop_move_thread_2
2025-06-07 10:24:42.603 _new_stop_move_thread_3
2025-06-07 10:24:42.603 get_scara_param -55.988602 150.770401 -60.393501 -1002.057129
2025-06-07 10:24:42.603 get_scara_real_coor -55.988602 150.770401 -60.393501 -1002.057129
2025-06-07 10:24:42.603 _new_stop_move_thread_4
2025-06-07 10:24:42.689 wait_stop in
2025-06-07 10:24:42.727 wait_stop out_0
2025-06-07 10:24:44.935 _new_stop_move_thread_0
2025-06-07 10:24:44.935 j1_slow_down_t = 0
2025-06-07 10:24:44.936 j2_slow_down_t = 0
2025-06-07 10:24:44.936 j3_slow_down_t = 0
2025-06-07 10:24:44.936 j4_slow_down_t = 2
2025-06-07 10:24:44.936 tmp_t[3] = 2
2025-06-07 10:24:44.936 _new_stop_move_thread_1
2025-06-07 10:24:45.069 _new_stop_move_thread_2
2025-06-07 10:24:45.094 _new_stop_move_thread_3
2025-06-07 10:24:45.094 get_scara_param -55.988800 150.770706 -60.398998 -997.534424
2025-06-07 10:24:45.094 get_scara_real_coor -55.988800 150.770706 -60.398998 -997.534485
2025-06-07 10:24:45.094 _new_stop_move_thread_4
2025-06-07 10:24:45.110 wait_stop in
2025-06-07 10:24:45.161 wait_stop out_0
2025-06-07 10:24:45.369 _new_stop_move_thread_0
2025-06-07 10:24:45.369 j1_slow_down_t = 0
2025-06-07 10:24:45.369 j2_slow_down_t = 0
2025-06-07 10:24:45.369 j3_slow_down_t = 0
2025-06-07 10:24:45.369 j4_slow_down_t = 0
2025-06-07 10:24:45.369 tmp_t[3] = 0
2025-06-07 10:24:45.369 _new_stop_move_thread_1
2025-06-07 10:24:45.430 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:24:45.528 _new_stop_move_thread_2
2025-06-07 10:24:45.550 _new_stop_move_thread_3
2025-06-07 10:24:45.550 get_scara_param -55.987701 150.770798 -60.398701 -997.077026
2025-06-07 10:24:45.550 get_scara_real_coor -55.987701 150.770798 -60.398701 -997.077087
2025-06-07 10:24:45.550 _new_stop_move_thread_4
2025-06-07 10:24:45.637 wait_stop in
2025-06-07 10:24:45.664 wait_stop out_0
2025-06-07 10:24:47.431 wait_stop in
2025-06-07 10:24:47.471 wait_stop out_0
2025-06-07 10:24:47.543 30 30 30 30
2025-06-07 10:24:47.543 new_movej_xyz_lr 106.384499 16.941401 -60.398701 -998.077026 2.000000 0.000000 1
2025-06-07 10:24:47.543 goal_angle -55.987816 150.770889
2025-06-07 10:24:47.543 new_movej_angle -55.987816 150.770889 -60.398701 -998.077026 0.000000 2.000000
2025-06-07 10:24:47.545 z1 -60.398712 z2 -60.398701
2025-06-07 10:24:47.545 angle1_1 -55.987770 angle2_1 150.770874 z1 -60.398712 r1 -997.077026
2025-06-07 10:24:47.546 angle1_2 -55.987816 angle2_2 150.770889 z2 -60.398701 r2 -998.077026
2025-06-07 10:24:47.546 speed 2.000000
2025-06-07 10:24:47.546 tcp_distance 0.000011
2025-06-07 10:24:47.547 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000200
2025-06-07 10:24:47.547 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000067
2025-06-07 10:24:47.547 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000050
2025-06-07 10:24:47.547 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000
2025-06-07 10:24:47.547 end_speed 2.000000
2025-06-07 10:24:47.547 trail_number0.500000
2025-06-07 10:24:47.547 tcp_distance 0.000011
2025-06-07 10:24:47.547 angle1_1 = -55.987770 angle2_1 = 150.770874 z1 = -60.398712 r1 = -997.077026 angle1_2 = -55.987816 angle2_2 = 150.770889 z2 = -60.398701 r2 = -998.077026
2025-06-07 10:24:48.208 wait_stop in
2025-06-07 10:24:48.240 wait_stop out_0
2025-06-07 10:24:48.316 30 30 30 30
2025-06-07 10:24:48.316 new_movej_xyz_lr 106.384499 16.941401 -60.398701 -999.077026 2.000000 0.000000 1
2025-06-07 10:24:48.316 goal_angle -55.987816 150.770889
2025-06-07 10:24:48.316 new_movej_angle -55.987816 150.770889 -60.398701 -999.077026 0.000000 2.000000
2025-06-07 10:24:48.316 z1 -60.398701 z2 -60.398701
2025-06-07 10:24:48.316 angle1_1 -55.987816 angle2_1 150.770889 z1 -60.398701 r1 -998.077026
2025-06-07 10:24:48.316 angle1_2 -55.987816 angle2_2 150.770889 z2 -60.398701 r2 -999.077026
2025-06-07 10:24:48.317 speed 2.000000
2025-06-07 10:24:48.317 tcp_distance 0.000000
2025-06-07 10:24:48.317 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000
2025-06-07 10:24:48.317 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000
2025-06-07 10:24:48.317 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
2025-06-07 10:24:48.317 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000
2025-06-07 10:24:48.317 end_speed 2.000000
2025-06-07 10:24:48.317 trail_number0.500000
2025-06-07 10:24:48.317 tcp_distance 0.000000
2025-06-07 10:24:48.317 angle1_1 = -55.987816 angle2_1 = 150.770889 z1 = -60.398701 r1 = -998.077026 angle1_2 = -55.987816 angle2_2 = 150.770889 z2 = -60.398701 r2 = -999.077026
2025-06-07 10:25:01.304 _new_stop_move_thread_0
2025-06-07 10:25:01.304 j1_slow_down_t = 0
2025-06-07 10:25:01.304 j2_slow_down_t = 1
2025-06-07 10:25:01.304 j3_slow_down_t = 0
2025-06-07 10:25:01.304 j4_slow_down_t = 0
2025-06-07 10:25:01.304 tmp_t[3] = 1
2025-06-07 10:25:01.304 _new_stop_move_thread_1
2025-06-07 10:25:01.307 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:25:01.458 _new_stop_move_thread_2
2025-06-07 10:25:01.488 _new_stop_move_thread_3
2025-06-07 10:25:01.489 get_scara_param -55.927700 140.694107 -60.398701 -999.049622
2025-06-07 10:25:01.489 get_scara_real_coor -55.927700 140.694107 -60.398701 -999.049622
2025-06-07 10:25:01.489 _new_stop_move_thread_4
2025-06-07 10:25:01.519 wait_stop in
2025-06-07 10:25:01.545 wait_stop out_0
2025-06-07 10:25:08.527 _new_stop_move_thread_0
2025-06-07 10:25:08.529 j1_slow_down_t = 4
2025-06-07 10:25:08.529 j2_slow_down_t = 0
2025-06-07 10:25:08.529 j3_slow_down_t = 0
2025-06-07 10:25:08.529 j4_slow_down_t = 1
2025-06-07 10:25:08.529 tmp_t[3] = 4
2025-06-07 10:25:08.529 _new_stop_move_thread_1
2025-06-07 10:25:08.545 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:25:08.702 _new_stop_move_thread_2
2025-06-07 10:25:08.742 _new_stop_move_thread_3
2025-06-07 10:25:08.742 get_scara_param -35.016899 136.153000 -60.398998 -999.102478
2025-06-07 10:25:08.742 get_scara_real_coor -35.016899 136.153000 -60.398998 -999.102417
2025-06-07 10:25:08.742 _new_stop_move_thread_4
2025-06-07 10:25:08.757 wait_stop in
2025-06-07 10:25:08.787 wait_stop out_0
2025-06-07 10:25:13.512 _new_stop_move_thread_0
2025-06-07 10:25:13.512 j1_slow_down_t = 0
2025-06-07 10:25:13.512 j2_slow_down_t = 1
2025-06-07 10:25:13.512 j3_slow_down_t = 0
2025-06-07 10:25:13.512 j4_slow_down_t = 0
2025-06-07 10:25:13.512 tmp_t[3] = 1
2025-06-07 10:25:13.512 _new_stop_move_thread_1
2025-06-07 10:25:13.560 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:25:13.663 _new_stop_move_thread_2
2025-06-07 10:25:13.687 _new_stop_move_thread_3
2025-06-07 10:25:13.687 get_scara_param -36.198200 127.745399 -60.399399 -999.056885
2025-06-07 10:25:13.687 get_scara_real_coor -36.198200 127.745399 -60.399399 -999.056824
2025-06-07 10:25:13.687 _new_stop_move_thread_4
2025-06-07 10:25:13.771 wait_stop in
2025-06-07 10:25:13.802 wait_stop out_0
2025-06-07 10:25:19.275 _new_stop_move_thread_0
2025-06-07 10:25:19.275 j1_slow_down_t = 0
2025-06-07 10:25:19.275 j2_slow_down_t = 0
2025-06-07 10:25:19.275 j3_slow_down_t = 2
2025-06-07 10:25:19.275 j4_slow_down_t = 0
2025-06-07 10:25:19.275 tmp_t[3] = 2
2025-06-07 10:25:19.275 _new_stop_move_thread_1
2025-06-07 10:25:19.432 _new_stop_move_thread_2
2025-06-07 10:25:19.467 _new_stop_move_thread_3
2025-06-07 10:25:19.467 get_scara_param -36.198200 127.745499 -23.785000 -999.056885
2025-06-07 10:25:19.467 get_scara_real_coor -36.198200 127.745499 -23.785000 -999.056885
2025-06-07 10:25:19.467 _new_stop_move_thread_4
2025-06-07 10:25:19.482 wait_stop in
2025-06-07 10:25:19.522 wait_stop out_0
2025-06-07 10:25:22.392 _new_stop_move_thread_0
2025-06-07 10:25:22.392 j1_slow_down_t = 0
2025-06-07 10:25:22.393 j2_slow_down_t = 0
2025-06-07 10:25:22.393 j3_slow_down_t = 2
2025-06-07 10:25:22.393 j4_slow_down_t = 0
2025-06-07 10:25:22.393 tmp_t[3] = 2
2025-06-07 10:25:22.393 _new_stop_move_thread_1
2025-06-07 10:25:22.447 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:25:22.550 _new_stop_move_thread_2
2025-06-07 10:25:22.587 _new_stop_move_thread_3
2025-06-07 10:25:22.587 get_scara_param -36.198101 127.745796 -30.248400 -999.056580
2025-06-07 10:25:22.587 get_scara_real_coor -36.198101 127.745796 -30.248400 -999.056580
2025-06-07 10:25:22.587 _new_stop_move_thread_4
2025-06-07 10:25:22.654 wait_stop in
2025-06-07 10:25:22.689 wait_stop out_0
2025-06-07 10:25:26.281 _new_stop_move_thread_0
2025-06-07 10:25:26.281 j1_slow_down_t = 0
2025-06-07 10:25:26.281 j2_slow_down_t = 0
2025-06-07 10:25:26.281 j3_slow_down_t = 0
2025-06-07 10:25:26.281 j4_slow_down_t = 2
2025-06-07 10:25:26.281 tmp_t[3] = 2
2025-06-07 10:25:26.281 _new_stop_move_thread_1
2025-06-07 10:25:26.358 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 10:25:26.421 _new_stop_move_thread_2
2025-06-07 10:25:26.460 _new_stop_move_thread_3
2025-06-07 10:25:26.460 get_scara_param -36.198101 127.746002 -30.253201 -996.304504
2025-06-07 10:25:26.460 get_scara_real_coor -36.198101 127.746002 -30.253201 -996.304382
2025-06-07 10:25:26.460 _new_stop_move_thread_4
2025-06-07 10:25:26.574 wait_stop in
2025-06-07 10:25:26.605 wait_stop out_0
2025-06-07 11:11:18.903 SDK_VERSION_V2.0.0.29_Release
2025-06-07 11:11:18.903 robot connected
2025-06-07 11:11:18.903 26
2025-06-07 11:11:18.903 current generation=26
2025-06-07 11:11:19.421 0x1a
2025-06-07 11:11:20.368 initial joint2 3720871
2025-06-07 11:11:20.369 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-07 11:11:20.369 robot WritePID
2025-06-07 11:11:20.674 initial joint1 -527173
2025-06-07 11:11:20.721 initial joint2 3720871
2025-06-07 11:11:20.759 initial joint3 -88111
2025-06-07 11:11:20.808 initial joint4 -25166716
2025-06-07 11:11:20.840 initial joint1 -527173
2025-06-07 11:11:20.893 initial joint2 3720872
2025-06-07 11:11:20.944 initial joint3 -88113
2025-06-07 11:11:20.997 initial joint4 -25166718
2025-06-07 11:11:21.015 initial joint1 -527173
2025-06-07 11:11:21.062 initial joint2 3720873
2025-06-07 11:11:21.120 initial joint3 -88114
2025-06-07 11:11:21.159 initial joint4 -25166719
2025-06-07 11:11:23.393 initial_thread initialized
2025-06-07 11:11:23.393 servo enable
2025-06-07 11:11:23.393 brake open
2025-06-07 11:11:23.394 set_brake_state 0 1
2025-06-07 11:11:23.606 robot initialized
2025-06-07 11:11:24.160 get_scara_param -36.198002 127.746101 -30.251801 -996.387512
2025-06-07 11:11:24.160 get_scara_real_coor -36.198101 127.746002 -30.252501 -996.387573
2025-06-07 11:11:24.160 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
2025-06-07 11:11:24.161 position -527171.625000 3720875.000000 -88114.757813 -25166724.000000 -527175.062500 3720857.250000 -100901.507813 -25231504.000000
2025-06-07 11:11:24.161 speed 0.236034 0.609398 4389.982422 2668.853760
2025-06-07 11:11:24.161 set_first_position_after_initial
2025-06-07 11:11:24.162 movej_old start_pos: -36.198002 127.746109 -30.251801 -996.387451 end_pos: -36.198002 127.746109 -30.251801 -996.387451 org_sp 10.000000 end_sp 10.000000
2025-06-07 11:11:24.464 J3 Belt Meilage=40.868080km
2025-06-07 11:11:26.881 wait_stop in
2025-06-07 11:11:26.927 wait_stop out_0
2025-06-07 11:11:32.276 _new_stop_move_thread_0
2025-06-07 11:11:32.276 j1_slow_down_t = 0
2025-06-07 11:11:32.277 j2_slow_down_t = 1
2025-06-07 11:11:32.277 j3_slow_down_t = 0
2025-06-07 11:11:32.277 j4_slow_down_t = 0
2025-06-07 11:11:32.277 tmp_t[3] = 1
2025-06-07 11:11:32.277 _new_stop_move_thread_1
2025-06-07 11:11:32.422 _new_stop_move_thread_2
2025-06-07 11:11:32.454 _new_stop_move_thread_3
2025-06-07 11:11:32.454 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 11:11:32.455 get_scara_param -36.219700 125.657700 -30.252899 -996.358398
2025-06-07 11:11:32.455 get_scara_real_coor -36.219700 125.657700 -30.252899 -996.358398
2025-06-07 11:11:32.455 _new_stop_move_thread_4
2025-06-07 11:11:32.660 wait_stop in
2025-06-07 11:11:32.700 wait_stop out_0
2025-06-07 11:11:34.554 _new_stop_move_thread_0
2025-06-07 11:11:34.554 j1_slow_down_t = 0
2025-06-07 11:11:34.554 j2_slow_down_t = 1
2025-06-07 11:11:34.554 j3_slow_down_t = 0
2025-06-07 11:11:34.554 j4_slow_down_t = 0
2025-06-07 11:11:34.554 tmp_t[3] = 1
2025-06-07 11:11:34.554 _new_stop_move_thread_1
2025-06-07 11:11:34.718 _new_stop_move_thread_2
2025-06-07 11:11:34.751 _new_stop_move_thread_3
2025-06-07 11:11:34.751 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 11:11:34.752 get_scara_param -36.200500 127.760902 -30.252899 -996.390930
2025-06-07 11:11:34.752 get_scara_real_coor -36.200500 127.760902 -30.252899 -996.390930
2025-06-07 11:11:34.752 _new_stop_move_thread_4
2025-06-07 11:11:34.954 wait_stop in
2025-06-07 11:11:34.991 wait_stop out_0
2025-06-07 11:11:36.609 _new_stop_move_thread_0
2025-06-07 11:11:36.609 j1_slow_down_t = 2
2025-06-07 11:11:36.609 j2_slow_down_t = 0
2025-06-07 11:11:36.609 j3_slow_down_t = 0
2025-06-07 11:11:36.610 j4_slow_down_t = 0
2025-06-07 11:11:36.610 tmp_t[3] = 2
2025-06-07 11:11:36.610 _new_stop_move_thread_1
2025-06-07 11:11:36.770 _new_stop_move_thread_2
2025-06-07 11:11:36.792 _new_stop_move_thread_3
2025-06-07 11:11:36.792 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 11:11:36.792 get_scara_param -33.820202 126.873703 -30.254200 -996.460022
2025-06-07 11:11:36.792 get_scara_real_coor -33.820202 126.873703 -30.254200 -996.460022
2025-06-07 11:11:36.792 _new_stop_move_thread_4
2025-06-07 11:11:37.007 wait_stop in
2025-06-07 11:11:37.059 wait_stop out_0
2025-06-07 11:11:39.984 _new_stop_move_thread_0
2025-06-07 11:11:39.984 j1_slow_down_t = 2
2025-06-07 11:11:39.984 j2_slow_down_t = 0
2025-06-07 11:11:39.984 j3_slow_down_t = 0
2025-06-07 11:11:39.984 j4_slow_down_t = 0
2025-06-07 11:11:39.984 tmp_t[3] = 2
2025-06-07 11:11:39.985 _new_stop_move_thread_1
2025-06-07 11:11:40.126 _new_stop_move_thread_2
2025-06-07 11:11:40.142 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 11:11:40.159 _new_stop_move_thread_3
2025-06-07 11:11:40.159 get_scara_param -36.194099 127.757896 -30.254601 -996.389282
2025-06-07 11:11:40.159 get_scara_real_coor -36.194099 127.757896 -30.254601 -996.389282
2025-06-07 11:11:40.159 _new_stop_move_thread_4
2025-06-07 11:11:40.356 wait_stop in
2025-06-07 11:11:40.383 wait_stop out_0
2025-06-07 11:11:42.154 _new_stop_move_thread_0
2025-06-07 11:11:42.154 j1_slow_down_t = 0
2025-06-07 11:11:42.154 j2_slow_down_t = 0
2025-06-07 11:11:42.154 j3_slow_down_t = 2
2025-06-07 11:11:42.155 j4_slow_down_t = 0
2025-06-07 11:11:42.155 tmp_t[3] = 2
2025-06-07 11:11:42.155 _new_stop_move_thread_1
2025-06-07 11:11:42.289 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 11:11:42.305 _new_stop_move_thread_2
2025-06-07 11:11:42.335 _new_stop_move_thread_3
2025-06-07 11:11:42.335 get_scara_param -36.194099 127.758102 -22.885500 -996.389282
2025-06-07 11:11:42.335 get_scara_real_coor -36.194099 127.758102 -22.885500 -996.389282
2025-06-07 11:11:42.336 _new_stop_move_thread_4
2025-06-07 11:11:42.502 wait_stop in
2025-06-07 11:11:42.538 wait_stop out_0
2025-06-07 11:11:42.746 _new_stop_move_thread_0
2025-06-07 11:11:42.746 j1_slow_down_t = 0
2025-06-07 11:11:42.746 j2_slow_down_t = 0
2025-06-07 11:11:42.746 j3_slow_down_t = 0
2025-06-07 11:11:42.746 j4_slow_down_t = 0
2025-06-07 11:11:42.746 tmp_t[3] = 0
2025-06-07 11:11:42.746 _new_stop_move_thread_1
2025-06-07 11:11:42.821 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 11:11:42.920 _new_stop_move_thread_2
2025-06-07 11:11:42.951 _new_stop_move_thread_3
2025-06-07 11:11:42.951 get_scara_param -36.194099 127.758301 -23.185900 -996.389282
2025-06-07 11:11:42.951 get_scara_real_coor -36.194099 127.758301 -23.185900 -996.389526
2025-06-07 11:11:42.951 _new_stop_move_thread_4
2025-06-07 11:11:43.805 _new_stop_move_thread_0
2025-06-07 11:11:43.805 j1_slow_down_t = 0
2025-06-07 11:11:43.805 j2_slow_down_t = 0
2025-06-07 11:11:43.805 j3_slow_down_t = 3
2025-06-07 11:11:43.805 j4_slow_down_t = 0
2025-06-07 11:11:43.805 tmp_t[3] = 3
2025-06-07 11:11:43.815 _new_stop_move_thread_1
2025-06-07 11:11:43.852 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 11:11:43.975 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 11:11:43.991 _new_stop_move_thread_2
2025-06-07 11:11:44.014 _new_stop_move_thread_3
2025-06-07 11:11:44.014 get_scara_param -36.194000 127.758598 -28.610100 -996.389221
2025-06-07 11:11:44.014 get_scara_real_coor -36.194000 127.758598 -28.610100 -996.389221
2025-06-07 11:11:44.014 _new_stop_move_thread_4
2025-06-07 11:11:44.066 wait_stop in
2025-06-07 11:11:44.096 wait_stop out_0
2025-06-07 11:11:44.176 wait_stop in
2025-06-07 11:11:44.208 wait_stop out_0
2025-06-07 11:11:45.515 _new_stop_move_thread_0
2025-06-07 11:11:45.515 j1_slow_down_t = 0
2025-06-07 11:11:45.515 j2_slow_down_t = 0
2025-06-07 11:11:45.515 j3_slow_down_t = 0
2025-06-07 11:11:45.515 j4_slow_down_t = 2
2025-06-07 11:11:45.515 tmp_t[3] = 2
2025-06-07 11:11:45.515 _new_stop_move_thread_1
2025-06-07 11:11:45.593 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 11:11:45.696 _new_stop_move_thread_2
2025-06-07 11:11:45.731 _new_stop_move_thread_3
2025-06-07 11:11:45.731 get_scara_param -36.194000 127.758797 -28.614500 -993.608704
2025-06-07 11:11:45.731 get_scara_real_coor -36.194000 127.758797 -28.614500 -993.608582
2025-06-07 11:11:45.731 _new_stop_move_thread_4
2025-06-07 11:11:45.796 wait_stop in
2025-06-07 11:11:45.843 wait_stop out_0
2025-06-07 11:11:46.835 _new_stop_move_thread_0
2025-06-07 11:11:46.835 j1_slow_down_t = 0
2025-06-07 11:11:46.835 j2_slow_down_t = 0
2025-06-07 11:11:46.835 j3_slow_down_t = 0
2025-06-07 11:11:46.835 j4_slow_down_t = 2
2025-06-07 11:11:46.835 tmp_t[3] = 2
2025-06-07 11:11:46.835 _new_stop_move_thread_1
2025-06-07 11:11:46.982 _new_stop_move_thread_2
2025-06-07 11:11:47.012 _new_stop_move_thread_3
2025-06-07 11:11:47.012 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-07 11:11:47.012 get_scara_param -36.194000 127.758904 -28.614201 -990.337402
2025-06-07 11:11:47.012 get_scara_real_coor -36.194000 127.758904 -28.614201 -990.337402
2025-06-07 11:11:47.012 _new_stop_move_thread_4
2025-06-07 11:11:47.227 wait_stop in
2025-06-07 11:11:47.258 wait_stop out_0

69
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog Normal file
View File

@@ -0,0 +1,69 @@
2025-06-09 10:07:41.441 SDK_VERSION_V2.0.0.29_Release
2025-06-09 10:07:41.441 robot connected
2025-06-09 10:07:41.441 26
2025-06-09 10:07:41.445 current generation=26
2025-06-09 10:07:41.960 0x1a
2025-06-09 10:07:41.960 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>
2025-06-09 10:07:45.828 SDK_VERSION_V2.0.0.29_Release
2025-06-09 10:07:45.828 robot connected
2025-06-09 10:07:45.828 26
2025-06-09 10:07:45.830 current generation=26
2025-06-09 10:07:46.338 0x1a
2025-06-09 10:07:47.178 initial joint2 2449950
2025-06-09 10:07:47.178 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-09 10:07:47.178 robot WritePID
2025-06-09 10:07:47.482 initial joint1 -160239
2025-06-09 10:07:47.528 initial joint2 2449949
2025-06-09 10:07:47.590 initial joint3 -219820
2025-06-09 10:07:47.636 initial joint4 -25369361
2025-06-09 10:07:47.651 initial joint1 -160239
2025-06-09 10:07:47.700 initial joint2 2449951
2025-06-09 10:07:47.746 initial joint3 -219825
2025-06-09 10:07:47.806 initial joint4 -25369361
2025-06-09 10:07:47.837 initial joint1 -160239
2025-06-09 10:07:47.878 initial joint2 2449952
2025-06-09 10:07:47.917 initial joint3 -219826
2025-06-09 10:07:47.960 initial joint4 -25369362
2025-06-09 10:07:50.065 initial_thread initialized
2025-06-09 10:07:50.065 servo enable
2025-06-09 10:07:50.065 brake open
2025-06-09 10:07:50.065 set_brake_state 0 1
2025-06-09 10:07:50.267 robot initialized
2025-06-09 10:07:50.848 get_scara_param -11.002800 84.112503 -75.472298 -1005.720886
2025-06-09 10:07:50.849 get_scara_real_coor -11.003000 84.112396 -75.472298 -1005.721619
2025-06-09 10:07:50.849 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
2025-06-09 10:07:50.849 position -160239.890625 2449954.250000 -219829.000000 -25369362.000000 0.000000 0.000000 0.000000 0.000000
2025-06-09 10:07:50.849 speed 11002.799805 84112.500000 75472.296875 1045185.500000
2025-06-09 10:07:50.849 set_first_position_after_initial
2025-06-09 10:07:50.849 movej_old start_pos: -11.002800 84.112503 -75.472298 -1005.720886 end_pos: -11.002800 84.112503 -75.472298 -1005.720886 org_sp 10.000000 end_sp 10.000000
2025-06-09 10:07:51.145 J3 Belt Meilage=40.887051km
2025-06-09 10:07:56.710 _new_stop_move_thread_0
2025-06-09 10:07:56.710 j1_slow_down_t = 0
2025-06-09 10:07:56.710 j2_slow_down_t = 1
2025-06-09 10:07:56.710 j3_slow_down_t = 0
2025-06-09 10:07:56.715 j4_slow_down_t = 0
2025-06-09 10:07:56.715 tmp_t[3] = 1
2025-06-09 10:07:56.715 _new_stop_move_thread_1
2025-06-09 10:07:56.797 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-09 10:07:56.854 _new_stop_move_thread_2
2025-06-09 10:07:56.881 _new_stop_move_thread_3
2025-06-09 10:07:56.881 get_scara_param -10.345300 81.113098 -75.472603 -1005.722290
2025-06-09 10:07:56.882 get_scara_real_coor -10.345300 81.113098 -75.472603 -1005.722290
2025-06-09 10:07:56.882 _new_stop_move_thread_4
2025-06-09 10:07:56.999 wait_stop in
2025-06-09 10:07:57.026 wait_stop out_0
2025-06-09 10:08:00.028 _new_stop_move_thread_0
2025-06-09 10:08:00.028 j1_slow_down_t = 0
2025-06-09 10:08:00.029 j2_slow_down_t = 2
2025-06-09 10:08:00.029 j3_slow_down_t = 0
2025-06-09 10:08:00.029 j4_slow_down_t = 0
2025-06-09 10:08:00.030 tmp_t[3] = 2
2025-06-09 10:08:00.030 _new_stop_move_thread_1
2025-06-09 10:08:00.149 jog_move_xyzr return 99 <20><>ͣ<EFBFBD><CDA3>
2025-06-09 10:08:00.209 _new_stop_move_thread_2
2025-06-09 10:08:00.234 _new_stop_move_thread_3
2025-06-09 10:08:00.234 get_scara_param -11.359900 85.814903 -75.472298 -1005.748474
2025-06-09 10:08:00.234 get_scara_real_coor -11.359900 85.814903 -75.472298 -1005.748596
2025-06-09 10:08:00.234 _new_stop_move_thread_4
2025-06-09 10:08:00.354 wait_stop in
2025-06-09 10:08:00.383 wait_stop out_0

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<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
</startup>
</configuration>

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Windows通用核心库更新说明
版本:release_202100804
发布时间：20210804
更新内容：
1.修复new_movej_angle/new_movej_xyz_lr因手臂缓存区buf判断长度过出现偶发性抖动的问题；

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2025-06-06 17:39:52.553 ROBOT_ERROR_CODE = 1101
2025-06-06 17:39:52.554
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 : 0 0 0 0 0 0
2025-06-06 17:39:56.186 SDK_VERSION_2021_09_18_Release
2025-06-06 17:39:56.186 robot connected
2025-06-06 17:39:56.187 1
2025-06-06 17:45:52.691 ROBOT_ERROR_CODE = 1101
2025-06-06 17:45:52.691
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 : 0 0 0 0 0 0
2025-06-06 17:49:11.500 SDK_VERSION_2021_09_18_Release
2025-06-06 17:49:11.500 robot connected
2025-06-06 17:49:11.500 1
2025-06-06 17:50:07.886 SDK_VERSION_2021_09_18_Release
2025-06-06 17:50:07.886 robot connected
2025-06-06 17:50:07.886 1

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<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
</startup>
</configuration>

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<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
</startup>
</configuration>

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// <autogenerated />
using System;
using System.Reflection;
[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = "")]

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// <autogenerated />
using System;
using System.Reflection;
[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = "")]

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