119 lines
7.0 KiB
Plaintext
119 lines
7.0 KiB
Plaintext
2025-06-16 16:46:43.024 ROBOT_ERROR_CODE = 1004
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2025-06-16 16:46:43.024
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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 : 9999 9999 9999 9999 9999 0
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2025-06-16 16:47:00.542 SDK_VERSION_V2.0.0.29_Release
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2025-06-16 16:47:00.542 robot connected
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2025-06-16 16:47:00.542 26
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2025-06-16 16:47:00.542 current generation=26
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2025-06-16 16:47:01.125 0x1a
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2025-06-16 16:47:01.968 initial joint2 4432239
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2025-06-16 16:47:01.969 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-16 16:47:01.969 robot WritePID
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2025-06-16 16:47:02.275 initial joint1 -1248502
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2025-06-16 16:47:02.323 initial joint2 4432240
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2025-06-16 16:47:02.379 initial joint3 -13281
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2025-06-16 16:47:02.423 initial joint4 -25060087
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2025-06-16 16:47:02.440 initial joint1 -1248503
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2025-06-16 16:47:02.492 initial joint2 4432238
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2025-06-16 16:47:02.539 initial joint3 -13281
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2025-06-16 16:47:02.588 initial joint4 -25060089
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2025-06-16 16:47:02.622 initial joint1 -1248502
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2025-06-16 16:47:02.663 initial joint2 4432239
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2025-06-16 16:47:02.706 initial joint3 -13281
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2025-06-16 16:47:02.754 initial joint4 -25060089
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2025-06-16 16:47:04.876 initial_thread initialized
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2025-06-16 16:47:04.876 servo enable
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2025-06-16 16:47:04.877 brake open
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2025-06-16 16:47:04.880 set_brake_state 0 1
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2025-06-16 16:47:05.093 robot initialized
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2025-06-16 16:47:05.652 get_scara_param -85.727798 152.168793 -4.559600 -1026.870483
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2025-06-16 16:47:05.652 get_scara_real_coor -85.727898 152.168900 -4.559600 -1026.870483
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2025-06-16 16:47:05.652 ÉÏλ»úÀëÉ¢Êý¾Ý
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2025-06-16 16:47:05.654 position -1248501.500000 4432237.500000 -13280.796875 -25060090.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-16 16:47:05.654 speed 85727.796875 152168.796875 4559.600098 1032443.937500
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2025-06-16 16:47:05.654 set_first_position_after_initial
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2025-06-16 16:47:05.654 movej_old start_pos: -85.727798 152.168793 -4.559600 -1026.870483 end_pos: -85.727798 152.168701 -4.559600 -1026.870483 org_sp 10.000000 end_sp 0.660932
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2025-06-16 16:47:05.951 J3 Belt Meilage=40.917797km
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2025-06-16 16:49:10.728 SDK_VERSION_V2.0.0.29_Release
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2025-06-16 16:49:10.728 robot connected
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2025-06-16 16:49:10.728 26
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2025-06-16 16:49:10.728 current generation=26
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2025-06-16 16:49:11.237 0x1a
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2025-06-16 16:49:12.043 initial joint2 4432242
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2025-06-16 16:49:12.044 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-16 16:49:12.044 robot WritePID
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2025-06-16 16:49:12.347 initial joint1 -1248500
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2025-06-16 16:49:12.393 initial joint2 4432242
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2025-06-16 16:49:12.440 initial joint3 -13281
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2025-06-16 16:49:12.485 initial joint4 -25060091
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2025-06-16 16:49:12.501 initial joint1 -1248500
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2025-06-16 16:49:12.548 initial joint2 4432243
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2025-06-16 16:49:12.588 initial joint3 -13281
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2025-06-16 16:49:12.636 initial joint4 -25060092
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2025-06-16 16:49:12.651 initial joint1 -1248500
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2025-06-16 16:49:12.708 initial joint2 4432245
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2025-06-16 16:49:12.755 initial joint3 -13281
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2025-06-16 16:49:12.793 initial joint4 -25060093
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2025-06-16 16:49:14.903 initial_thread initialized
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2025-06-16 16:49:14.903 servo enable
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2025-06-16 16:49:14.903 brake open
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2025-06-16 16:49:14.903 set_brake_state 0 1
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2025-06-16 16:49:15.126 robot initialized
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2025-06-16 16:49:15.705 get_scara_param -85.727600 152.169098 -4.559600 -1026.870361
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2025-06-16 16:49:15.705 get_scara_real_coor -85.727699 152.169098 -4.559600 -1026.870483
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2025-06-16 16:49:15.705 ÉÏλ»úÀëÉ¢Êý¾Ý
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2025-06-16 16:49:15.706 position -1248498.625000 4432246.000000 -13280.796875 -25060098.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-16 16:49:15.706 speed 85727.593750 152169.093750 4559.600098 1032444.250000
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2025-06-16 16:49:15.706 set_first_position_after_initial
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2025-06-16 16:49:15.707 movej_old start_pos: -85.727600 152.169098 -4.559600 -1026.870361 end_pos: -85.727600 152.169098 -4.559600 -1026.870361 org_sp 10.000000 end_sp 10.000000
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2025-06-16 16:49:16.015 J3 Belt Meilage=40.917816km
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2025-06-16 16:49:25.932 30 30 30 30
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2025-06-16 16:49:25.934 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-16 16:49:25.934 goal_angle -67.226128 86.401024
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2025-06-16 16:49:25.935 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-16 16:49:25.935 z1 -4.559600 z2 -75.466103
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2025-06-16 16:49:25.935 angle1_1 -85.727600 angle2_1 152.169098 z1 -4.559600 r1 -1026.870361
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2025-06-16 16:49:25.935 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
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2025-06-16 16:49:25.935 speed 100.000000
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2025-06-16 16:49:25.935 tcp_distance 217.840149
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2025-06-16 16:49:25.937 new_end_speed 100.000000 j1_acc_t 1.089201 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 18.578747
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2025-06-16 16:49:25.937 new_end_speed 100.000000 j2_acc_t 1.089201 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.042763
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2025-06-16 16:49:25.937 new_end_speed 100.000000 j3_acc_t 1.089201 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.202652
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2025-06-16 16:49:25.937 new_end_speed 100.000000 j4_acc_t 1.089201 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 21.237688
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2025-06-16 16:49:25.937 end_speed 100.000000
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2025-06-16 16:49:25.938 trail_number2.178401
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2025-06-16 16:49:25.938 tcp_distance 217.840149
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2025-06-16 16:49:25.938 angle1_1 = -85.727600 angle2_1 = 152.169098 z1 = -4.559600 r1 = -1026.870361 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
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2025-06-16 16:49:37.836 30 30 30 30
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2025-06-16 16:49:37.836 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
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2025-06-16 16:49:37.837 goal_angle -87.199585 152.604431
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2025-06-16 16:49:37.837 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
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2025-06-16 16:49:37.837 z1 -75.466103 z2 -4.457100
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2025-06-16 16:49:37.837 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
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2025-06-16 16:49:37.837 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
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2025-06-16 16:49:37.837 speed 100.000000
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2025-06-16 16:49:37.837 tcp_distance 218.265945
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2025-06-16 16:49:37.838 new_end_speed 100.000000 j1_acc_t 1.091330 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 20.017746
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2025-06-16 16:49:37.838 new_end_speed 100.000000 j2_acc_t 1.091330 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.350204
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2025-06-16 16:49:37.838 new_end_speed 100.000000 j3_acc_t 1.091330 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.166458
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2025-06-16 16:49:37.838 new_end_speed 100.000000 j4_acc_t 1.091330 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.248268
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2025-06-16 16:49:37.838 end_speed 100.000000
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2025-06-16 16:49:37.838 trail_number2.182659
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2025-06-16 16:49:37.839 tcp_distance 218.265945
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2025-06-16 16:49:37.839 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
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