70 lines
3.6 KiB
Plaintext
70 lines
3.6 KiB
Plaintext
2025-06-09 10:07:41.441 SDK_VERSION_V2.0.0.29_Release
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2025-06-09 10:07:41.441 robot connected
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2025-06-09 10:07:41.441 26
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2025-06-09 10:07:41.445 current generation=26
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2025-06-09 10:07:41.960 0x1a
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2025-06-09 10:07:41.960 initial return 3 末端关节不在限定范围，可以使用joint_home使关节强制回零
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2025-06-09 10:07:45.828 SDK_VERSION_V2.0.0.29_Release
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2025-06-09 10:07:45.828 robot connected
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2025-06-09 10:07:45.828 26
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2025-06-09 10:07:45.830 current generation=26
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2025-06-09 10:07:46.338 0x1a
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2025-06-09 10:07:47.178 initial joint2 2449950
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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
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2025-06-09 10:07:47.178 robot WritePID
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2025-06-09 10:07:47.482 initial joint1 -160239
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2025-06-09 10:07:47.528 initial joint2 2449949
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2025-06-09 10:07:47.590 initial joint3 -219820
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2025-06-09 10:07:47.636 initial joint4 -25369361
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2025-06-09 10:07:47.651 initial joint1 -160239
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2025-06-09 10:07:47.700 initial joint2 2449951
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2025-06-09 10:07:47.746 initial joint3 -219825
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2025-06-09 10:07:47.806 initial joint4 -25369361
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2025-06-09 10:07:47.837 initial joint1 -160239
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2025-06-09 10:07:47.878 initial joint2 2449952
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2025-06-09 10:07:47.917 initial joint3 -219826
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2025-06-09 10:07:47.960 initial joint4 -25369362
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2025-06-09 10:07:50.065 initial_thread initialized
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2025-06-09 10:07:50.065 servo enable
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2025-06-09 10:07:50.065 brake open
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2025-06-09 10:07:50.065 set_brake_state 0 1
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2025-06-09 10:07:50.267 robot initialized
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2025-06-09 10:07:50.848 get_scara_param -11.002800 84.112503 -75.472298 -1005.720886
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2025-06-09 10:07:50.849 get_scara_real_coor -11.003000 84.112396 -75.472298 -1005.721619
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2025-06-09 10:07:50.849 上位机离散数据
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2025-06-09 10:07:50.849 position -160239.890625 2449954.250000 -219829.000000 -25369362.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-09 10:07:50.849 speed 11002.799805 84112.500000 75472.296875 1045185.500000
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2025-06-09 10:07:50.849 set_first_position_after_initial
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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
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2025-06-09 10:07:51.145 J3 Belt Meilage=40.887051km
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2025-06-09 10:07:56.710 _new_stop_move_thread_0
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2025-06-09 10:07:56.710 j1_slow_down_t = 0
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2025-06-09 10:07:56.710 j2_slow_down_t = 1
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2025-06-09 10:07:56.710 j3_slow_down_t = 0
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2025-06-09 10:07:56.715 j4_slow_down_t = 0
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2025-06-09 10:07:56.715 tmp_t[3] = 1
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2025-06-09 10:07:56.715 _new_stop_move_thread_1
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2025-06-09 10:07:56.797 jog_move_xyzr return 99 急停中
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2025-06-09 10:07:56.854 _new_stop_move_thread_2
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2025-06-09 10:07:56.881 _new_stop_move_thread_3
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2025-06-09 10:07:56.881 get_scara_param -10.345300 81.113098 -75.472603 -1005.722290
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2025-06-09 10:07:56.882 get_scara_real_coor -10.345300 81.113098 -75.472603 -1005.722290
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2025-06-09 10:07:56.882 _new_stop_move_thread_4
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2025-06-09 10:07:56.999 wait_stop in
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2025-06-09 10:07:57.026 wait_stop out_0
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2025-06-09 10:08:00.028 _new_stop_move_thread_0
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2025-06-09 10:08:00.028 j1_slow_down_t = 0
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2025-06-09 10:08:00.029 j2_slow_down_t = 2
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2025-06-09 10:08:00.029 j3_slow_down_t = 0
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2025-06-09 10:08:00.029 j4_slow_down_t = 0
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2025-06-09 10:08:00.030 tmp_t[3] = 2
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2025-06-09 10:08:00.030 _new_stop_move_thread_1
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2025-06-09 10:08:00.149 jog_move_xyzr return 99 急停中
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2025-06-09 10:08:00.209 _new_stop_move_thread_2
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2025-06-09 10:08:00.234 _new_stop_move_thread_3
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2025-06-09 10:08:00.234 get_scara_param -11.359900 85.814903 -75.472298 -1005.748474
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2025-06-09 10:08:00.234 get_scara_real_coor -11.359900 85.814903 -75.472298 -1005.748596
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2025-06-09 10:08:00.234 _new_stop_move_thread_4
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2025-06-09 10:08:00.354 wait_stop in
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2025-06-09 10:08:00.383 wait_stop out_0
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