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AutoControlSystem-G/log/log.log

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合并35kg
2025-09-30 14:44:12 +08:00
2025-09-29 15:43:48 - INFO- 进入系统
2025-09-29 15:43:50 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2025-09-29 15:43:50 - INFO- 切换到工具坐标
2025-09-29 15:43:51 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-09-29 15:43:51 - INFO- 切换到自动运行状态
2025-09-29 15:43:51 - INFO- 第一层确认生产
2025-09-29 15:43:52 - INFO- 1号线:投料开始
2025-09-29 15:43:52 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
2025-09-29 15:43:52 - INFO- 发送IO控制: 2，1
2025-09-29 15:43:57 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
2025-09-29 15:43:57 - INFO- 发送IO控制: 2，0
2025-09-29 15:43:57 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-29 15:43:57 - INFO- 投料开始
2025-09-29 15:43:58 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-29 15:43:58 - INFO- 投料开始
2025-09-29 15:43:58 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-29 15:43:58 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-29 15:43:58 - INFO- 移动到中位位置
2025-09-29 15:43:58 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-29 15:43:58 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-29 15:43:58 - INFO- 检测是否安全投料
2025-09-29 15:43:58 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-29 15:43:59 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-29 15:43:59 - INFO- 检测是否安全投料
2025-09-29 15:43:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-29 15:43:59 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-29 15:43:59 - INFO- 拍照
2025-09-29 15:43:59 - INFO- 识别图像成功
2025-09-29 15:43:59 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-29 15:43:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-29 15:43:59 - INFO- 拍照
2025-09-29 15:44:00 - ERROR- 夹爪打开失败
2025-09-29 15:44:00 - INFO- 拍照
2025-09-29 15:44:01 - ERROR- 夹爪打开失败
2025-09-29 15:44:03 - INFO- 拍照
2025-09-29 15:44:04 - ERROR- 夹爪打开失败
2025-09-29 15:44:06 - INFO- 拍照
2025-09-29 15:44:06 - ERROR- 夹爪打开失败
2025-09-29 15:44:08 - INFO- 拍照
2025-09-29 15:44:09 - ERROR- 夹爪打开失败
2025-09-29 15:44:10 - INFO- 清除报警
2025-09-29 15:44:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
2025-09-29 15:44:10 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]}
2025-09-29 15:44:10 - INFO- 按下急停
2025-09-29 16:07:31 - INFO- 退出系统
2025-09-29 17:13:28 - INFO- 进入系统
2025-09-29 18:10:00 - INFO- 进入系统
2025-09-29 18:13:45 - ERROR- 'DropLine1'
2025-09-29 18:13:53 - ERROR- 'DropLine1'
2025-09-29 18:15:12 - ERROR- 'DropLine1'
2025-09-29 18:41:25 - INFO- 进入系统
2025-09-29 18:51:11 - INFO- 退出系统
2025-09-29 19:14:54 - INFO- 进入系统
2025-09-29 19:15:19 - INFO- 设置拍照点2:0.0,0.0,0.0
2025-09-29 19:15:29 - INFO- 设置拍照点2:0.0,0.0,0.0
2025-09-29 19:15:35 - INFO- 退出系统
2025-09-29 19:15:47 - INFO- 进入系统
2025-09-29 19:16:23 - INFO- 退出系统
2025-09-29 19:21:40 - INFO- 进入系统
2025-09-29 19:31:06 - INFO- 退出系统
2025-09-30 09:46:32 - INFO- 进入系统
2025-09-30 09:47:01 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2025-09-30 09:47:01 - INFO- 切换到工具坐标
2025-09-30 09:47:01 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-09-30 09:47:01 - INFO- 切换到自动运行状态
2025-09-30 09:47:02 - INFO- 第一层确认生产
2025-09-30 09:47:03 - INFO- 1号线:投料开始
2025-09-30 09:47:03 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
2025-09-30 09:47:03 - INFO- 发送IO控制: 2，1
2025-09-30 09:47:08 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
2025-09-30 09:47:08 - INFO- 发送IO控制: 2，0
2025-09-30 09:47:08 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:47:08 - INFO- 投料开始
2025-09-30 09:47:09 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:47:09 - INFO- 投料开始
2025-09-30 09:47:09 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:47:09 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:47:09 - INFO- 移动到中位位置
2025-09-30 09:47:09 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:47:09 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:47:09 - INFO- 检测是否安全投料
2025-09-30 09:47:09 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:47:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:47:10 - INFO- 检测是否安全投料
2025-09-30 09:47:10 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:47:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:47:10 - INFO- 拍照
2025-09-30 09:47:10 - INFO- 识别图像成功
2025-09-30 09:47:10 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:47:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:47:10 - INFO- 拍照
2025-09-30 09:47:11 - ERROR- 夹爪打开失败
2025-09-30 09:47:11 - INFO- 拍照
2025-09-30 09:47:12 - ERROR- 夹爪打开失败
2025-09-30 09:47:14 - INFO- 拍照
2025-09-30 09:47:15 - ERROR- 夹爪打开失败
2025-09-30 09:47:17 - INFO- 拍照
2025-09-30 09:47:17 - ERROR- 夹爪打开失败
2025-09-30 09:47:19 - INFO- 拍照
2025-09-30 09:47:20 - ERROR- 夹爪打开失败
2025-09-30 09:47:22 - INFO- 拍照
2025-09-30 09:47:22 - ERROR- 夹爪打开失败
2025-09-30 09:47:25 - INFO- 拍照
2025-09-30 09:47:25 - ERROR- 夹爪打开失败
2025-09-30 09:47:27 - INFO- 清除报警
2025-09-30 09:47:27 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
2025-09-30 09:47:27 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]}
2025-09-30 09:47:27 - INFO- 按下急停
2025-09-30 09:47:30 - INFO- 退出系统
2025-09-30 09:53:07 - INFO- 进入系统
2025-09-30 09:53:09 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2025-09-30 09:53:09 - INFO- 切换到工具坐标
2025-09-30 09:53:10 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-09-30 09:53:10 - INFO- 切换到自动运行状态
2025-09-30 09:53:10 - INFO- 第一层确认生产
2025-09-30 09:53:13 - INFO- 1号线:投料开始
2025-09-30 09:53:14 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
2025-09-30 09:53:14 - INFO- 发送IO控制: 2，1
2025-09-30 09:53:19 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
2025-09-30 09:53:19 - INFO- 发送IO控制: 2，0
2025-09-30 09:53:19 - INFO- 投料开始
2025-09-30 09:53:19 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:53:19 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:53:19 - INFO- 投料开始
2025-09-30 09:53:19 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:53:19 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:53:19 - INFO- 移动到中位位置
2025-09-30 09:53:20 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:53:20 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:53:24 - INFO- 检测是否安全投料
2025-09-30 09:53:25 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:53:27 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:53:27 - INFO- 检测是否安全投料
2025-09-30 09:53:28 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:53:28 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:53:35 - INFO- 拍照
2025-09-30 09:53:35 - INFO- 识别图像成功
2025-09-30 09:53:36 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:53:36 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 09:53:36 - INFO- 拍照
2025-09-30 09:54:42 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 09:57:59 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 09:57:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:57:59 - INFO- 执行完成FPhoto
2025-09-30 09:57:59 - INFO- 移动到中位位置
2025-09-30 09:57:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:57:59 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 09:57:59 - INFO- 移动到中位位置
2025-09-30 09:57:59 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 09:58:00 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 09:58:00 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:00 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:00 - ERROR- 夹爪关闭失败
2025-09-30 09:58:01 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:01 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:01 - ERROR- 夹爪关闭失败
2025-09-30 09:58:03 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:03 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:03 - ERROR- 夹爪关闭失败
2025-09-30 09:58:05 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:05 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:06 - ERROR- 夹爪关闭失败
2025-09-30 09:58:07 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:08 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:08 - ERROR- 夹爪关闭失败
2025-09-30 09:58:10 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:10 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:10 - ERROR- 夹爪关闭失败
2025-09-30 09:58:12 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:12 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:12 - ERROR- 夹爪关闭失败
2025-09-30 09:58:14 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:14 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:14 - ERROR- 夹爪关闭失败
2025-09-30 09:58:16 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:16 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:16 - ERROR- 夹爪关闭失败
2025-09-30 09:58:18 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:18 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:18 - ERROR- 夹爪关闭失败
2025-09-30 09:58:20 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:20 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:20 - ERROR- 夹爪关闭失败
2025-09-30 09:58:22 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:22 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:23 - ERROR- 夹爪关闭失败
2025-09-30 09:58:24 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:25 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:25 - ERROR- 夹爪关闭失败
2025-09-30 09:58:27 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:27 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:27 - ERROR- 夹爪关闭失败
2025-09-30 09:58:29 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:29 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:29 - ERROR- 夹爪关闭失败
2025-09-30 09:58:31 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:31 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:31 - ERROR- 夹爪关闭失败
2025-09-30 09:58:33 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:33 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:33 - ERROR- 夹爪关闭失败
2025-09-30 09:58:35 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:35 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:35 - ERROR- 夹爪关闭失败
2025-09-30 09:58:37 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:37 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:37 - ERROR- 夹爪关闭失败
2025-09-30 09:58:39 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:39 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:39 - ERROR- 夹爪关闭失败
2025-09-30 09:58:41 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:41 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:42 - ERROR- 夹爪关闭失败
2025-09-30 09:58:43 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:44 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:44 - ERROR- 夹爪关闭失败
2025-09-30 09:58:46 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:46 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:46 - ERROR- 夹爪关闭失败
2025-09-30 09:58:48 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:48 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:48 - ERROR- 夹爪关闭失败
2025-09-30 09:58:50 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:50 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:50 - ERROR- 夹爪关闭失败
2025-09-30 09:58:52 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:52 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:52 - ERROR- 夹爪关闭失败
2025-09-30 09:58:54 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:54 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:54 - ERROR- 夹爪关闭失败
2025-09-30 09:58:56 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:56 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:56 - ERROR- 夹爪关闭失败
2025-09-30 09:58:58 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:58:58 - INFO- 机器人已到达抓料点位
2025-09-30 09:58:59 - ERROR- 夹爪关闭失败
2025-09-30 09:59:00 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:59:01 - INFO- 机器人已到达抓料点位
2025-09-30 09:59:01 - ERROR- 夹爪关闭失败
2025-09-30 09:59:03 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:59:03 - INFO- 机器人已到达抓料点位
2025-09-30 09:59:03 - ERROR- 夹爪关闭失败
2025-09-30 09:59:07 - INFO- str_feed_take移动到抓料位置
2025-09-30 09:59:07 - INFO- 机器人已到达抓料点位
2025-09-30 10:00:01 - INFO- 进入系统
2025-09-30 10:00:04 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2025-09-30 10:00:05 - INFO- 切换到工具坐标
2025-09-30 10:00:05 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-09-30 10:00:05 - INFO- 切换到自动运行状态
2025-09-30 10:00:05 - INFO- 第一层确认生产
2025-09-30 10:00:06 - INFO- 1号线:投料开始
2025-09-30 10:00:06 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
2025-09-30 10:00:06 - INFO- 发送IO控制: 2，1
2025-09-30 10:00:11 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
2025-09-30 10:00:11 - INFO- 发送IO控制: 2，0
2025-09-30 10:00:11 - INFO- 投料开始
2025-09-30 10:00:12 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 10:00:12 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:12 - INFO- 投料开始
2025-09-30 10:00:12 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 10:00:12 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:12 - INFO- 移动到中位位置
2025-09-30 10:00:12 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 10:00:12 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:24 - INFO- 检测是否安全投料
2025-09-30 10:00:24 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 10:00:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:25 - INFO- 检测是否安全投料
2025-09-30 10:00:28 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 10:00:28 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:29 - INFO- 拍照
2025-09-30 10:00:29 - INFO- 识别图像成功
2025-09-30 10:00:30 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 10:00:32 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:32 - INFO- 拍照
2025-09-30 10:00:34 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 10:00:34 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:00:35 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:35 - INFO- 执行完成FPhoto
2025-09-30 10:00:36 - INFO- 移动到中位位置
2025-09-30 10:00:36 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:00:37 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:38 - INFO- 移动到中位位置
2025-09-30 10:00:38 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:00:38 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:38 - INFO- str_feed_take移动到抓料位置
2025-09-30 10:00:38 - INFO- 机器人已到达抓料点位
2025-09-30 10:00:46 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:00:46 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:47 - INFO- 移动到中位位置
2025-09-30 10:00:47 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:47 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:00:47 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:47 - INFO- 移动到中位位置
2025-09-30 10:00:47 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 10:00:47 - INFO- 移动到中位位置
2025-09-30 10:00:47 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
2025-09-30 10:00:47 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:48 - INFO- 移动到码垛中间点位置
2025-09-30 10:00:48 - INFO- 移动到位置:姿势直线：X:842.553-Y:-185.692-Z:-1052.361-U:-58.482-V:9.0-W:0.0
2025-09-30 10:00:48 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"842.553","m1":"-185.692","m2":"-1052.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:48 - INFO- 移动到扔袋位置
2025-09-30 10:00:48 - INFO- 移动到扔袋位置
2025-09-30 10:00:48 - INFO- 移动到扔袋位置
2025-09-30 10:00:49 - INFO- 移动到扔袋位置
2025-09-30 10:00:49 - INFO- 已码垛数量：9
2025-09-30 10:00:49 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
2025-09-30 10:00:50 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:00:50 - INFO- 移动到码垛复位位置
2025-09-30 10:00:50 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 10:00:50 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:01:23 - INFO- 拍照
2025-09-30 10:01:23 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 10:01:23 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:01:23 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:01:23 - INFO- 执行完成FPhoto
2025-09-30 10:01:24 - INFO- 移动到中位位置
2025-09-30 10:01:25 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:01:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:01:25 - INFO- 移动到中位位置
2025-09-30 10:01:25 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:01:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:01:25 - INFO- str_feed_take移动到抓料位置
2025-09-30 10:01:25 - INFO- 机器人已到达抓料点位
2025-09-30 10:01:25 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:01:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:01:26 - INFO- 移动到中位位置
2025-09-30 10:01:26 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:01:26 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:01:26 - INFO- 移动到中位位置
2025-09-30 10:01:26 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 10:01:26 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:01:26 - INFO- 移动到中位位置
2025-09-30 10:01:26 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
2025-09-30 10:01:26 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:01:27 - INFO- 移动到码垛中间点位置
2025-09-30 10:01:27 - INFO- 移动到位置:姿势直线：X:842.553-Y:544.308-Z:-1052.361-U:-238.482-V:10.0-W:0.0
2025-09-30 10:01:27 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"842.553","m1":"544.308","m2":"-1052.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:01:27 - INFO- 移动到扔袋位置
2025-09-30 10:01:27 - INFO- 移动到扔袋位置
2025-09-30 10:01:27 - INFO- 移动到扔袋位置
2025-09-30 10:01:28 - INFO- 移动到扔袋位置
2025-09-30 10:01:28 - INFO- 已码垛数量：10
2025-09-30 10:01:28 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
2025-09-30 10:01:28 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:01:28 - INFO- 移动到码垛复位位置
2025-09-30 10:01:28 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 10:01:28 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:03 - INFO- 拍照
2025-09-30 10:02:03 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 10:02:03 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:03 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:06 - INFO- 执行完成FPhoto
2025-09-30 10:02:06 - INFO- 移动到中位位置
2025-09-30 10:02:06 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:06 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:07 - INFO- 移动到中位位置
2025-09-30 10:02:07 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:07 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:07 - INFO- str_feed_take移动到抓料位置
2025-09-30 10:02:07 - INFO- 机器人已到达抓料点位
2025-09-30 10:02:07 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:07 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:07 - INFO- 移动到中位位置
2025-09-30 10:02:07 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:08 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:08 - INFO- 移动到中位位置
2025-09-30 10:02:08 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 10:02:08 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:08 - INFO- 移动到中位位置
2025-09-30 10:02:08 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
2025-09-30 10:02:08 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:08 - INFO- 移动到码垛中间点位置
2025-09-30 10:02:08 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1052.553","m1":"-395.692","m2":"-902.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:09 - INFO- 移动到位置:姿势直线：X:1052.553-Y:-395.692-Z:-902.361-U:-148.482-V:11.0-W:0.0
2025-09-30 10:02:09 - INFO- 移动到扔袋位置
2025-09-30 10:02:09 - INFO- 移动到扔袋位置
2025-09-30 10:02:09 - INFO- 移动到扔袋位置
2025-09-30 10:02:09 - INFO- 移动到扔袋位置
2025-09-30 10:02:10 - INFO- 已码垛数量：11
2025-09-30 10:02:10 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
2025-09-30 10:02:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:10 - INFO- 移动到码垛复位位置
2025-09-30 10:02:10 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 10:02:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:10 - INFO- 拍照
2025-09-30 10:02:10 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 10:02:10 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:11 - INFO- 执行完成FPhoto
2025-09-30 10:02:11 - INFO- 移动到中位位置
2025-09-30 10:02:11 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:11 - INFO- 移动到中位位置
2025-09-30 10:02:11 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:12 - INFO- str_feed_take移动到抓料位置
2025-09-30 10:02:12 - INFO- 机器人已到达抓料点位
2025-09-30 10:02:12 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:12 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:12 - INFO- 移动到中位位置
2025-09-30 10:02:12 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:12 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:12 - INFO- 移动到中位位置
2025-09-30 10:02:12 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 10:02:13 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:13 - INFO- 移动到中位位置
2025-09-30 10:02:13 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
2025-09-30 10:02:13 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:13 - INFO- 移动到码垛中间点位置
2025-09-30 10:02:13 - INFO- 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-902.361-U:-148.482-V:12.0-W:0.0
2025-09-30 10:02:13 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1052.553","m1":"704.308","m2":"-902.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:13 - INFO- 移动到扔袋位置
2025-09-30 10:02:13 - INFO- 移动到扔袋位置
2025-09-30 10:02:14 - INFO- 移动到扔袋位置
2025-09-30 10:02:14 - INFO- 移动到扔袋位置
2025-09-30 10:02:14 - INFO- 已码垛数量：12
2025-09-30 10:02:14 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
2025-09-30 10:02:14 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:14 - INFO- 移动到码垛复位位置
2025-09-30 10:02:14 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 10:02:15 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:15 - INFO- 拍照
2025-09-30 10:02:15 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 10:02:15 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:15 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:15 - INFO- 执行完成FPhoto
2025-09-30 10:02:15 - INFO- 移动到中位位置
2025-09-30 10:02:15 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:15 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:16 - INFO- 移动到中位位置
2025-09-30 10:02:16 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:16 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:16 - INFO- str_feed_take移动到抓料位置
2025-09-30 10:02:16 - INFO- 机器人已到达抓料点位
2025-09-30 10:02:16 - INFO- 清除报警
2025-09-30 10:02:16 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
2025-09-30 10:02:16 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]}
2025-09-30 10:02:16 - INFO- 按下急停
2025-09-30 10:02:17 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 10:02:17 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 10:02:50 - INFO- 退出系统
2025-09-30 11:32:39 - INFO- 进入系统
2025-09-30 11:37:31 - INFO- 退出系统
2025-09-30 11:37:41 - INFO- 进入系统
2025-09-30 11:37:48 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2025-09-30 11:37:48 - INFO- 切换到工具坐标
2025-09-30 11:37:48 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-09-30 11:37:48 - INFO- 切换到自动运行状态
2025-09-30 11:37:51 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2025-09-30 11:37:51 - INFO- 切换到工具坐标
2025-09-30 11:37:51 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-09-30 11:37:51 - INFO- 切换到自动运行状态
2025-09-30 11:37:55 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2025-09-30 11:37:55 - INFO- 切换到工具坐标
2025-09-30 11:37:55 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-09-30 11:37:55 - INFO- 切换到自动运行状态
2025-09-30 11:37:59 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2025-09-30 11:37:59 - INFO- 切换到工具坐标
2025-09-30 11:37:59 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-09-30 11:37:59 - INFO- 切换到自动运行状态
2025-09-30 11:39:42 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2025-09-30 11:39:42 - INFO- 切换到工具坐标
2025-09-30 11:39:42 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-09-30 11:39:42 - INFO- 切换到自动运行状态
2025-09-30 11:39:43 - INFO- 第一层确认生产
2025-09-30 11:39:44 - INFO- 1号线:投料开始
2025-09-30 11:39:44 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
2025-09-30 11:39:44 - INFO- 发送IO控制: 2，1
2025-09-30 11:39:49 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
2025-09-30 11:39:49 - INFO- 发送IO控制: 2，0
2025-09-30 11:39:49 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:49 - INFO- 投料开始
2025-09-30 11:39:49 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:39:49 - INFO- 投料开始
2025-09-30 11:39:49 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:39:49 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:50 - INFO- 移动到中位位置
2025-09-30 11:39:50 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:39:50 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:50 - INFO- 检测是否安全投料
2025-09-30 11:39:50 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:39:50 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:50 - INFO- 检测是否安全投料
2025-09-30 11:39:50 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:39:51 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:51 - INFO- 拍照
2025-09-30 11:39:51 - INFO- 识别图像成功
2025-09-30 11:39:51 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:51 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:39:51 - INFO- 拍照
2025-09-30 11:39:51 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 11:39:51 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:39:51 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:52 - INFO- 执行完成FPhoto
2025-09-30 11:39:52 - INFO- 移动到中位位置
2025-09-30 11:39:52 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:39:52 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:52 - INFO- 移动到中位位置
2025-09-30 11:39:52 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:39:52 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:52 - INFO- str_feed_take移动到抓料位置
2025-09-30 11:39:52 - INFO- 机器人已到达抓料点位
2025-09-30 11:39:52 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:39:53 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:53 - INFO- 移动到中位位置
2025-09-30 11:39:53 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:39:53 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:53 - INFO- 移动到中位位置
2025-09-30 11:39:53 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 11:39:53 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:53 - INFO- 移动到中位位置
2025-09-30 11:39:53 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
2025-09-30 11:39:54 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:54 - INFO- 移动到码垛中间点位置
2025-09-30 11:39:54 - INFO- 移动到位置:姿势直线：X:1052.553-Y:179.308-Z:-902.361-U:-148.482-V:13.0-W:0.0
2025-09-30 11:39:54 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1052.553","m1":"179.308","m2":"-902.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:54 - INFO- 移动到扔袋位置
2025-09-30 11:39:54 - INFO- 移动到扔袋位置
2025-09-30 11:39:54 - INFO- 移动到扔袋位置
2025-09-30 11:39:54 - INFO- 移动到扔袋位置
2025-09-30 11:39:54 - INFO- 已码垛数量：13
2025-09-30 11:39:55 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
2025-09-30 11:39:55 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:55 - INFO- 移动到码垛复位位置
2025-09-30 11:39:55 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:39:55 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:55 - INFO- 拍照
2025-09-30 11:39:55 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 11:39:55 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:39:55 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:56 - INFO- 执行完成FPhoto
2025-09-30 11:39:56 - INFO- 移动到中位位置
2025-09-30 11:39:56 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:39:56 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:56 - INFO- 移动到中位位置
2025-09-30 11:39:56 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:39:56 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:56 - INFO- str_feed_take移动到抓料位置
2025-09-30 11:39:56 - INFO- 机器人已到达抓料点位
2025-09-30 11:39:57 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:39:57 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:57 - INFO- 移动到中位位置
2025-09-30 11:39:57 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:39:57 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:57 - INFO- 移动到中位位置
2025-09-30 11:39:57 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 11:39:57 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:57 - INFO- 移动到中位位置
2025-09-30 11:39:58 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
2025-09-30 11:39:58 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:58 - INFO- 移动到码垛中间点位置
2025-09-30 11:39:58 - INFO- 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-902.361-U:-58.482-V:14.0-W:0.0
2025-09-30 11:39:58 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1792.553","m1":"-185.692","m2":"-902.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:58 - INFO- 移动到扔袋位置
2025-09-30 11:39:58 - INFO- 移动到扔袋位置
2025-09-30 11:39:58 - INFO- 移动到扔袋位置
2025-09-30 11:39:58 - INFO- 移动到扔袋位置
2025-09-30 11:39:59 - INFO- 已码垛数量：14
2025-09-30 11:39:59 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
2025-09-30 11:39:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:59 - INFO- 移动到码垛复位位置
2025-09-30 11:39:59 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:39:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:39:59 - INFO- 拍照
2025-09-30 11:39:59 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 11:39:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:00 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:00 - INFO- 执行完成FPhoto
2025-09-30 11:40:00 - INFO- 移动到中位位置
2025-09-30 11:40:00 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:00 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:00 - INFO- 移动到中位位置
2025-09-30 11:40:00 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:00 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:00 - INFO- str_feed_take移动到抓料位置
2025-09-30 11:40:00 - INFO- 机器人已到达抓料点位
2025-09-30 11:40:01 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:01 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:01 - INFO- 移动到中位位置
2025-09-30 11:40:01 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:01 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:01 - INFO- 移动到中位位置
2025-09-30 11:40:01 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 11:40:01 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:01 - INFO- 移动到中位位置
2025-09-30 11:40:02 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
2025-09-30 11:40:02 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:02 - INFO- 移动到码垛中间点位置
2025-09-30 11:40:02 - INFO- 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-902.361-U:-238.482-V:15.0-W:0.0
2025-09-30 11:40:02 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1792.553","m1":"544.308","m2":"-902.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:02 - INFO- 移动到扔袋位置
2025-09-30 11:40:02 - INFO- 移动到扔袋位置
2025-09-30 11:40:02 - INFO- 移动到扔袋位置
2025-09-30 11:40:02 - INFO- 移动到扔袋位置
2025-09-30 11:40:03 - INFO- 已码垛数量：15
2025-09-30 11:40:03 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
2025-09-30 11:40:03 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:03 - INFO- 移动到码垛复位位置
2025-09-30 11:40:03 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:40:03 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:03 - INFO- 拍照
2025-09-30 11:40:03 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 11:40:03 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:04 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:04 - INFO- 执行完成FPhoto
2025-09-30 11:40:04 - INFO- 移动到中位位置
2025-09-30 11:40:04 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:04 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:04 - INFO- 移动到中位位置
2025-09-30 11:40:04 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:04 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:07 - INFO- str_feed_take移动到抓料位置
2025-09-30 11:40:07 - INFO- 机器人已到达抓料点位
2025-09-30 11:40:09 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:10 - INFO- 移动到中位位置
2025-09-30 11:40:10 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:11 - INFO- 移动到中位位置
2025-09-30 11:40:11 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 11:40:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:11 - INFO- 移动到中位位置
2025-09-30 11:40:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:11 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
2025-09-30 11:40:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1582.553","m1":"-395.692","m2":"-752.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:13 - INFO- 移动到码垛中间点位置
2025-09-30 11:40:15 - INFO- 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-752.361-U:31.518-V:16.0-W:0.0
2025-09-30 11:40:16 - INFO- 移动到扔袋位置
2025-09-30 11:40:18 - INFO- 移动到扔袋位置
2025-09-30 11:40:18 - INFO- 移动到扔袋位置
2025-09-30 11:40:18 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:19 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:19 - INFO- 移动到扔袋位置
2025-09-30 11:40:19 - INFO- 已码垛数量：16
2025-09-30 11:40:19 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
2025-09-30 11:40:19 - INFO- 移动到码垛复位位置
2025-09-30 11:40:19 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:40:19 - INFO- 拍照
2025-09-30 11:40:19 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:19 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 11:40:20 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:20 - INFO- 执行完成FPhoto
2025-09-30 11:40:20 - INFO- 移动到中位位置
2025-09-30 11:40:20 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:20 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:20 - INFO- 移动到中位位置
2025-09-30 11:40:20 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:20 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:21 - INFO- str_feed_take移动到抓料位置
2025-09-30 11:40:22 - INFO- 机器人已到达抓料点位
2025-09-30 11:40:22 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:24 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:24 - INFO- 移动到中位位置
2025-09-30 11:40:24 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:24 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:24 - INFO- 移动到中位位置
2025-09-30 11:40:25 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 11:40:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:25 - INFO- 移动到中位位置
2025-09-30 11:40:25 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
2025-09-30 11:40:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:25 - INFO- 移动到码垛中间点位置
2025-09-30 11:40:26 - INFO- 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-752.361-U:31.518-V:17.0-W:0.0
2025-09-30 11:40:26 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1582.553","m1":"704.308","m2":"-752.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:27 - INFO- 移动到扔袋位置
2025-09-30 11:40:27 - INFO- 移动到扔袋位置
2025-09-30 11:40:28 - INFO- 移动到扔袋位置
2025-09-30 11:40:28 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:28 - INFO- 移动到扔袋位置
2025-09-30 11:40:28 - INFO- 已码垛数量：17
2025-09-30 11:40:28 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
2025-09-30 11:40:29 - INFO- 移动到码垛复位位置
2025-09-30 11:40:29 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:40:29 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:29 - INFO- 拍照
2025-09-30 11:40:29 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 11:40:29 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:29 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:29 - INFO- 执行完成FPhoto
2025-09-30 11:40:29 - INFO- 移动到中位位置
2025-09-30 11:40:30 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:30 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:30 - INFO- 移动到中位位置
2025-09-30 11:40:30 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:30 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:31 - INFO- str_feed_take移动到抓料位置
2025-09-30 11:40:32 - INFO- 机器人已到达抓料点位
2025-09-30 11:40:32 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:33 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:33 - INFO- 移动到中位位置
2025-09-30 11:40:33 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:34 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:37 - INFO- 移动到中位位置
2025-09-30 11:40:37 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 11:40:38 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:38 - INFO- 移动到中位位置
2025-09-30 11:40:38 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
2025-09-30 11:40:38 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:38 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1582.553","m1":"179.308","m2":"-752.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:38 - INFO- 移动到码垛中间点位置
2025-09-30 11:40:38 - INFO- 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-752.361-U:31.518-V:18.0-W:0.0
2025-09-30 11:40:38 - INFO- 移动到扔袋位置
2025-09-30 11:40:38 - INFO- 移动到扔袋位置
2025-09-30 11:40:39 - INFO- 移动到扔袋位置
2025-09-30 11:40:39 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:39 - INFO- 移动到扔袋位置
2025-09-30 11:40:39 - INFO- 已码垛数量：18
2025-09-30 11:40:39 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
2025-09-30 11:40:39 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:39 - INFO- 移动到码垛复位位置
2025-09-30 11:40:39 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
2025-09-30 11:40:39 - INFO- 拍照
2025-09-30 11:40:40 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:40 - INFO- 传感器2检测到料包到位开始执行抓取
2025-09-30 11:40:40 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:40 - INFO- 执行完成FPhoto
2025-09-30 11:40:40 - INFO- 移动到中位位置
2025-09-30 11:40:40 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:40 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:40 - INFO- 移动到中位位置
2025-09-30 11:40:40 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:41 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:41 - INFO- str_feed_take移动到抓料位置
2025-09-30 11:40:41 - INFO- 机器人已到达抓料点位
2025-09-30 11:40:41 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:41 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:41 - INFO- 移动到中位位置
2025-09-30 11:40:41 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
2025-09-30 11:40:41 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:41 - INFO- 移动到中位位置
2025-09-30 11:40:42 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
2025-09-30 11:40:42 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-09-30 11:40:42 - INFO- 移动到中位位置
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