chuyiwen/AutoControlSystem-G
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

remove-log

Browse Source
This commit is contained in:
fujinliang
2025-09-30 15:38:07 +08:00
parent 71360a47e4
commit 3a7a205e57
5 changed files with 0 additions and 590984 deletions
Download Patch File Download Diff File Expand all files Collapse all files

735
log/log.log
View File

@ -1,735 +0,0 @@
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

40
log/log.log.2024-12-14
View File

@ -1,40 +0,0 @@
2024-12-14 16:10:42 - INFO - <20><><EFBFBD><EFBFBD>ϵͳ
2024-12-14 16:11:15 - ERROR - <20>޻ظ<DEBB>
2024-12-14 16:14:02 - INFO - <20>ƶ<EFBFBD><C6B6><EFBFBD>λ<EFBFBD><CEBB>:<3A><><EFBFBD><EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD>m0:1.0-m2:0.0-m3:0.0-m4:0.0-m5:0.0-m6:0.0
2024-12-14 16:14:06 - ERROR - <20>޻ظ<DEBB>
2024-12-14 16:14:10 - INFO - <20><><EFBFBD><EFBFBD>Ͷ<EFBFBD>ϴ<EFBFBD><CFB4><EFBFBD>:1
2024-12-14 16:14:11 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2024-12-14 16:14:11 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>״̬
2024-12-14 16:14:12 - INFO - <20><>һ<EFBFBD><D2BB>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2024-12-14 16:14:12 - INFO - <20><>Ӧ<EFBFBD><D3A6>1:Ͷ<>Ͽ<EFBFBD>ʼ
2024-12-14 16:14:12 - INFO - <20><><EFBFBD><EFBFBD>IO<49><4F><EFBFBD><EFBFBD>: 3<><33>1
2024-12-14 16:14:14 - ERROR - <20>޻ظ<DEBB>
2024-12-14 16:14:17 - INFO - <20><><EFBFBD><EFBFBD>IO<49><4F><EFBFBD><EFBFBD>: 3<><33>0
2024-12-14 16:14:17 - INFO - Ͷ<>Ͽ<EFBFBD>ʼ
2024-12-14 16:14:21 - ERROR - <20>޻ظ<DEBB>
2024-12-14 16:21:15 - INFO - <20>˳<EFBFBD>ϵͳ
2024-12-14 16:21:15 - ERROR - <20>޻ظ<DEBB>
2024-12-14 16:21:15 - ERROR - model
2024-12-14 16:21:27 - INFO - <20><><EFBFBD><EFBFBD>ϵͳ
2024-12-14 16:21:59 - ERROR - <20>޻ظ<DEBB>
2024-12-14 16:37:33 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2024-12-14 16:37:33 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>״̬
2024-12-14 16:37:34 - INFO - <20><>һ<EFBFBD><D2BB>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2024-12-14 16:37:34 - INFO - <20><>Ӧ<EFBFBD><D3A6>1:Ͷ<>Ͽ<EFBFBD>ʼ
2024-12-14 16:37:34 - INFO - <20><><EFBFBD><EFBFBD>IO<49><4F><EFBFBD><EFBFBD>: 3<><33>1
2024-12-14 16:37:38 - ERROR - <20>޻ظ<DEBB>
2024-12-14 16:37:39 - INFO - <20><><EFBFBD><EFBFBD>Ͷ<EFBFBD>ϴ<EFBFBD><CFB4><EFBFBD>:10
2024-12-14 16:37:39 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2024-12-14 16:37:39 - INFO - <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>״̬
2024-12-14 16:37:39 - INFO - <20><><EFBFBD><EFBFBD>IO<49><4F><EFBFBD><EFBFBD>: 3<><33>0
2024-12-14 16:37:39 - INFO - Ͷ<>Ͽ<EFBFBD>ʼ
2024-12-14 16:37:46 - ERROR - <20>޻ظ<DEBB>
2024-12-14 16:39:27 - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2024-12-14 16:39:27 - INFO - Ͷ<><CDB6>ֹͣ
2024-12-14 16:39:28 - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2024-12-14 16:39:28 - INFO - Ͷ<><CDB6>ֹͣ
2024-12-14 16:39:30 - INFO - Ͷ<><CDB6><EFBFBD><EFBFBD>ͣ
2024-12-14 16:39:30 - ERROR - <20>޻ظ<DEBB>
2024-12-14 16:39:30 - INFO - Ͷ<><CDB6><EFBFBD><EFBFBD>ͣ
2024-12-14 16:39:38 - ERROR - <20>޻ظ<DEBB>
2024-12-14 16:41:47 - INFO - <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˳<EFBFBD><CBB3><EFBFBD><EFBFBD><EFBFBD>

581330
log/log.log.2025-07-30
View File

File diff suppressed because it is too large Load Diff

8075
log/log.log.bak
View File

File diff suppressed because it is too large Load Diff

804
log/log.logbak
View File

@ -1,804 +0,0 @@
2025-08-12 10:22:17 - INFO - 进入系统
2025-08-12 10:22:25 - INFO - 第一层确认生产
2025-08-12 10:22:25 - INFO - 反应釜1:投料开始
2025-08-12 10:22:25 - 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"}]}
2025-08-12 10:22:25 - INFO - 发送IO控制: 2，1
2025-08-12 10:22:30 - INFO - 第一层确认生产
2025-08-12 10:22:30 - INFO - 反应釜1:投料开始
2025-08-12 10:22:30 - 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"}]}
2025-08-12 10:22:30 - INFO - 发送IO控制: 2，0
2025-08-12 10:22:30 - INFO - 投料开始
2025-08-12 10:22:31 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:22:31 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:31 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
2025-08-12 10:22:32 - INFO - 投料开始
2025-08-12 10:22:33 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:33 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:22:33 - INFO - 移动到中位位置
2025-08-12 10:22:33 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:22:33 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:33 - INFO - [调试计数] 已进入 FMid 分支 1 次
2025-08-12 10:22:33 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:33 - INFO - 检测是否安全投料
2025-08-12 10:22:33 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:22:33 - INFO - 检测是否安全投料
2025-08-12 10:22:34 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:34 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:22:34 - INFO - 拍照
2025-08-12 10:22:34 - INFO - 识别图像成功
2025-08-12 10:22:34 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:22:34 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:22:35 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:22:36 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:22:37 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:22:38 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:22:39 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:22:40 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:22:41 - INFO - 清除报警
2025-08-12 10:22:41 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
2025-08-12 10:22:41 - INFO - 投料停止
2025-08-12 10:22:41 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:22:42 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
2025-08-12 10:22:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:43 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:22:43 - INFO - 执行完成FPhoto
2025-08-12 10:22:43 - INFO - 拍照
2025-08-12 10:22:43 - INFO - 识别图像成功
2025-08-12 10:22:43 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
2025-08-12 10:22:43 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
2025-08-12 10:22:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:43 - INFO - 执行完成FPhoto
2025-08-12 10:22:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:44 - INFO - 移动到中位位置
2025-08-12 10:22:44 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
2025-08-12 10:22:44 - INFO - [调试计数] 已进入 FMid 分支 2 次
2025-08-12 10:22:47 - INFO - 移动到中位位置
2025-08-12 10:22:47 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:22:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:47 - INFO - [调试计数] 已进入 FMid 分支 3 次
2025-08-12 10:22:49 - INFO - 移动到中位位置
2025-08-12 10:22:49 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:22:49 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:49 - INFO - [调试计数] 已进入 FMid 分支 4 次
2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:50 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:50 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:50 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:50 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:22:55 - INFO - 🟢 机器人已到达抓料点位
2025-08-12 10:22:56 - INFO - 已设置放置点: X=-187.12
2025-08-12 10:22:56 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:22:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:56 - INFO - 移动到中位位置
2025-08-12 10:22:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:56 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
2025-08-12 10:22:56 - INFO - [调试计数] 已进入 FMid 分支 5 次
2025-08-12 10:22:56 - INFO - 移动到中位位置
2025-08-12 10:22:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:22:57 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
2025-08-12 10:22:57 - INFO - [调试计数] 已进入 FMid 分支 6 次
2025-08-12 10:22:57 - INFO - 移动到中位位置
2025-08-12 10:22:57 - 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"}]}
2025-08-12 10:22:57 - 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
2025-08-12 10:22:57 - INFO - [调试计数] 已进入 FMid 分支 7 次
2025-08-12 10:23:05 - INFO - 移动到中位位置
2025-08-12 10:23:05 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
2025-08-12 10:23:05 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:23:05 - INFO - [调试计数] 已进入 FMid 分支 8 次
2025-08-12 10:23:09 - INFO - 移动到破袋位置
2025-08-12 10:23:09 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:23:09 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:23:09 - INFO - 拍照
2025-08-12 10:23:10 - INFO - 识别图像成功
2025-08-12 10:23:10 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:10 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:11 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:12 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:13 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:14 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:16 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:17 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:18 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:19 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:20 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:21 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:22 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:23 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:24 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:25 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:26 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:27 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:28 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:29 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:30 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:31 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:32 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:33 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:23:34 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
2025-08-12 10:23:34 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:23:35 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
2025-08-12 10:23:35 - INFO - 执行完成FPhoto
2025-08-12 10:23:35 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:23:35 - INFO - 移动到中位位置
2025-08-12 10:23:35 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
2025-08-12 10:23:35 - INFO - [调试计数] 已进入 FMid 分支 9 次
2025-08-12 10:23:38 - INFO - 移动到中位位置
2025-08-12 10:23:38 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:23:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:23:38 - INFO - [调试计数] 已进入 FMid 分支 10 次
2025-08-12 10:23:40 - INFO - 移动到中位位置
2025-08-12 10:23:40 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:23:41 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:23:41 - INFO - [调试计数] 已进入 FMid 分支 11 次
2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:41 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:41 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:41 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:23:47 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:23:47 - INFO - 🟢 机器人已到达抓料点位
2025-08-12 10:23:47 - INFO - 已设置放置点: X=1069.08
2025-08-12 10:23:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:23:47 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:23:47 - INFO - 移动到中位位置
2025-08-12 10:23:47 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
2025-08-12 10:23:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:23:47 - INFO - [调试计数] 已进入 FMid 分支 12 次
2025-08-12 10:23:48 - INFO - 移动到中位位置
2025-08-12 10:23:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:23:48 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
2025-08-12 10:23:48 - INFO - [调试计数] 已进入 FMid 分支 13 次
2025-08-12 10:23:48 - INFO - 移动到中位位置
2025-08-12 10:23:48 - 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
2025-08-12 10:23:48 - 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"}]}
2025-08-12 10:23:48 - INFO - [调试计数] 已进入 FMid 分支 14 次
2025-08-12 10:23:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:23:56 - INFO - 移动到中位位置
2025-08-12 10:23:56 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
2025-08-12 10:23:56 - INFO - [调试计数] 已进入 FMid 分支 15 次
2025-08-12 10:24:00 - INFO - 移动到破袋位置
2025-08-12 10:24:00 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:24:00 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:24:00 - INFO - 拍照
2025-08-12 10:24:00 - INFO - 识别图像成功
2025-08-12 10:24:01 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:01 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:02 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:03 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:04 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:05 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:06 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:07 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:08 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:10 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:11 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:12 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:13 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:14 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:15 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:16 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:17 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:18 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:19 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:20 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:21 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:22 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:23 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:23 - ERROR - 'str' object has no attribute 'release'
2025-08-12 10:24:24 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:25 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:26 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:26 - ERROR - 'str' object has no attribute 'release'
2025-08-12 10:24:27 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:28 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:29 - ERROR - 'str' object has no attribute 'release'
2025-08-12 10:24:29 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:30 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:31 - ERROR - 'str' object has no attribute 'release'
2025-08-12 10:24:31 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:32 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:24:33 - ERROR - 'str' object has no attribute 'release'
2025-08-12 10:30:07 - INFO - 进入系统
2025-08-12 10:30:12 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
2025-08-12 10:30:12 - INFO - 切换到工具坐标
2025-08-12 10:30:12 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-08-12 10:30:12 - INFO - 切换到自动运行状态
2025-08-12 10:30:13 - ERROR - 发生报警：42
2025-08-12 10:30:13 - ERROR - 发生报警：42
2025-08-12 10:30:13 - ERROR - 发生报警：42
2025-08-12 10:30:13 - ERROR - 发生报警：42
2025-08-12 10:30:14 - ERROR - 发生报警：42
2025-08-12 10:30:14 - ERROR - 发生报警：42
2025-08-12 10:30:14 - INFO - 第一层确认生产
2025-08-12 10:30:14 - INFO - 反应釜1:投料开始
2025-08-12 10:30:14 - 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"}]}
2025-08-12 10:30:14 - INFO - 发送IO控制: 2，1
2025-08-12 10:30:14 - ERROR - 发生报警：42
2025-08-12 10:30:15 - ERROR - 发生报警：42
2025-08-12 10:30:15 - ERROR - 发生报警：42
2025-08-12 10:30:15 - ERROR - 发生报警：42
2025-08-12 10:30:15 - ERROR - 发生报警：42
2025-08-12 10:30:15 - ERROR - 发生报警：42
2025-08-12 10:30:15 - ERROR - 发生报警：42
2025-08-12 10:30:15 - ERROR - 发生报警：42
2025-08-12 10:30:16 - ERROR - 发生报警：42
2025-08-12 10:30:16 - ERROR - 发生报警：42
2025-08-12 10:30:16 - ERROR - 发生报警：42
2025-08-12 10:30:16 - ERROR - 发生报警：42
2025-08-12 10:30:16 - ERROR - 发生报警：42
2025-08-12 10:30:17 - ERROR - 发生报警：42
2025-08-12 10:30:17 - ERROR - 发生报警：42
2025-08-12 10:30:17 - ERROR - 发生报警：42
2025-08-12 10:30:17 - ERROR - 发生报警：42
2025-08-12 10:30:17 - ERROR - 发生报警：42
2025-08-12 10:30:18 - ERROR - 发生报警：42
2025-08-12 10:30:18 - ERROR - 发生报警：42
2025-08-12 10:30:18 - ERROR - 发生报警：42
2025-08-12 10:30:18 - ERROR - 发生报警：42
2025-08-12 10:30:18 - ERROR - 发生报警：42
2025-08-12 10:30:19 - ERROR - 发生报警：42
2025-08-12 10:30:19 - ERROR - 发生报警：42
2025-08-12 10:30:19 - ERROR - 发生报警：42
2025-08-12 10:30:19 - 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"}]}
2025-08-12 10:30:19 - INFO - 发送IO控制: 2，0
2025-08-12 10:30:19 - ERROR - 发生报警：42
2025-08-12 10:30:19 - INFO - 清除报警
2025-08-12 10:30:20 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
2025-08-12 10:30:20 - INFO - 投料停止
2025-08-12 10:30:20 - ERROR - 发生报警：42
2025-08-12 10:30:20 - ERROR - 发生报警：42
2025-08-12 10:30:20 - ERROR - 发生报警：42
2025-08-12 10:30:20 - ERROR - 发生报警：42
2025-08-12 10:30:20 - ERROR - 发生报警：42
2025-08-12 10:30:20 - ERROR - 发生报警：42
2025-08-12 10:30:21 - ERROR - 发生报警：42
2025-08-12 10:30:21 - ERROR - 发生报警：42
2025-08-12 10:30:21 - ERROR - 发生报警：42
2025-08-12 10:30:21 - ERROR - 发生报警：42
2025-08-12 10:30:22 - ERROR - 发生报警：42
2025-08-12 10:30:22 - ERROR - 发生报警：42
2025-08-12 10:30:22 - ERROR - 发生报警：42
2025-08-12 10:30:22 - ERROR - 发生报警：42
2025-08-12 10:30:24 - INFO - 清除报警
2025-08-12 10:30:24 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
2025-08-12 10:30:24 - INFO - 投料停止
2025-08-12 10:30:27 - INFO - 清除报警
2025-08-12 10:30:27 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
2025-08-12 10:30:27 - INFO - 开始复位
2025-08-12 10:30:27 - 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"}]}
2025-08-12 10:30:28 - ERROR - 机械臂未按照实际路线点移动，未能寻找到适配路径点位
2025-08-12 10:30:28 - INFO - 发送IO控制: 2，1
2025-08-12 10:30:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:30:28 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
2025-08-12 10:30:34 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
2025-08-12 10:30:35 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:30:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:30:38 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
2025-08-12 10:30:38 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
2025-08-12 10:30:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:30:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:30:42 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:30:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:30:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:30:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:30:48 - 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"}]}
2025-08-12 10:30:48 - INFO - 发送IO控制: 2，0
2025-08-12 10:30:57 - INFO - 投料暂停
2025-08-12 10:30:57 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]}
2025-08-12 10:30:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]}
2025-08-12 10:30:58 - INFO - 投料继续
2025-08-12 10:30:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
2025-08-12 10:30:58 - INFO - 切换到自动运行状态
2025-08-12 10:30:58 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
2025-08-12 10:30:58 - INFO - 投料开始
2025-08-12 10:30:59 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:30:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:30:59 - INFO - 投料开始
2025-08-12 10:31:00 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:01 - INFO - 移动到中位位置
2025-08-12 10:31:01 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:01 - INFO - [调试计数] 已进入 FMid 分支 1 次
2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:01 - INFO - 检测是否安全投料
2025-08-12 10:31:01 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:02 - INFO - 检测是否安全投料
2025-08-12 10:31:02 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:02 - INFO - 投料结束
2025-08-12 10:31:02 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:02 - INFO - 移动到拍照位置
2025-08-12 10:31:02 - INFO - 复位成功
2025-08-12 10:31:02 - ERROR - 关闭传感器线程异常: log_message() missing 1 required positional argument: 'message'
2025-08-12 10:31:04 - INFO - 第一层确认生产
2025-08-12 10:31:04 - INFO - 反应釜1:投料开始
2025-08-12 10:31:04 - 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"}]}
2025-08-12 10:31:05 - INFO - 发送IO控制: 2，1
2025-08-12 10:31:09 - 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"}]}
2025-08-12 10:31:10 - INFO - 发送IO控制: 2，0
2025-08-12 10:31:10 - INFO - 投料开始
2025-08-12 10:31:11 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:11 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
2025-08-12 10:31:11 - INFO - 投料开始
2025-08-12 10:31:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:12 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:12 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:12 - INFO - 移动到中位位置
2025-08-12 10:31:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:12 - INFO - [调试计数] 已进入 FMid 分支 2 次
2025-08-12 10:31:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:13 - INFO - 检测是否安全投料
2025-08-12 10:31:13 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:13 - INFO - 检测是否安全投料
2025-08-12 10:31:13 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:13 - INFO - 拍照
2025-08-12 10:31:13 - INFO - 识别图像成功
2025-08-12 10:31:13 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:13 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:14 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:16 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
2025-08-12 10:31:16 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:16 - INFO - 执行完成FPhoto
2025-08-12 10:31:16 - INFO - 拍照
2025-08-12 10:31:16 - INFO - 识别图像成功
2025-08-12 10:31:16 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
2025-08-12 10:31:16 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
2025-08-12 10:31:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:17 - INFO - 执行完成FPhoto
2025-08-12 10:31:17 - INFO - 移动到中位位置
2025-08-12 10:31:17 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
2025-08-12 10:31:17 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:17 - INFO - [调试计数] 已进入 FMid 分支 3 次
2025-08-12 10:31:20 - INFO - 移动到中位位置
2025-08-12 10:31:20 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:20 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:31:20 - INFO - [调试计数] 已进入 FMid 分支 4 次
2025-08-12 10:31:22 - INFO - 移动到中位位置
2025-08-12 10:31:22 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:22 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:31:23 - INFO - [调试计数] 已进入 FMid 分支 5 次
2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:31:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:29 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:31:29 - INFO - 🟢 机器人已到达抓料点位
2025-08-12 10:31:29 - INFO - 已设置放置点: X=-187.12
2025-08-12 10:31:29 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:31:29 - INFO - 移动到中位位置
2025-08-12 10:31:29 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
2025-08-12 10:31:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:29 - INFO - [调试计数] 已进入 FMid 分支 6 次
2025-08-12 10:31:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:29 - INFO - 移动到中位位置
2025-08-12 10:31:30 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
2025-08-12 10:31:30 - INFO - [调试计数] 已进入 FMid 分支 7 次
2025-08-12 10:31:30 - INFO - 移动到中位位置
2025-08-12 10:31:30 - 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"}]}
2025-08-12 10:31:30 - 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
2025-08-12 10:31:30 - INFO - [调试计数] 已进入 FMid 分支 8 次
2025-08-12 10:31:38 - INFO - 移动到中位位置
2025-08-12 10:31:38 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
2025-08-12 10:31:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:38 - INFO - [调试计数] 已进入 FMid 分支 9 次
2025-08-12 10:31:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:31:42 - INFO - 移动到破袋位置
2025-08-12 10:31:42 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:31:42 - INFO - 拍照
2025-08-12 10:31:42 - INFO - 识别图像成功
2025-08-12 10:31:42 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:43 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:44 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:45 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:46 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:47 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:48 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:49 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:50 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:51 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:52 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:53 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:54 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:55 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:57 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:58 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:31:59 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:00 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:01 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:02 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
2025-08-12 10:32:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:02 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
2025-08-12 10:32:02 - INFO - 执行完成FPhoto
2025-08-12 10:32:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:02 - INFO - 移动到中位位置
2025-08-12 10:32:02 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
2025-08-12 10:32:03 - INFO - [调试计数] 已进入 FMid 分支 10 次
2025-08-12 10:32:06 - INFO - 移动到中位位置
2025-08-12 10:32:06 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:06 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:32:06 - INFO - [调试计数] 已进入 FMid 分支 11 次
2025-08-12 10:32:08 - INFO - 移动到中位位置
2025-08-12 10:32:08 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:08 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:32:08 - INFO - [调试计数] 已进入 FMid 分支 12 次
2025-08-12 10:32:08 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:14 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:14 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:14 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:14 - INFO - 🟢 机器人已到达抓料点位
2025-08-12 10:32:14 - INFO - 已设置放置点: X=1067.08
2025-08-12 10:32:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:15 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:32:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:15 - INFO - 移动到中位位置
2025-08-12 10:32:15 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
2025-08-12 10:32:15 - INFO - [调试计数] 已进入 FMid 分支 13 次
2025-08-12 10:32:15 - INFO - 移动到中位位置
2025-08-12 10:32:15 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
2025-08-12 10:32:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:15 - INFO - [调试计数] 已进入 FMid 分支 14 次
2025-08-12 10:32:16 - INFO - 移动到中位位置
2025-08-12 10:32:16 - 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
2025-08-12 10:32:16 - 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"}]}
2025-08-12 10:32:16 - INFO - [调试计数] 已进入 FMid 分支 15 次
2025-08-12 10:32:23 - INFO - 移动到中位位置
2025-08-12 10:32:24 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:24 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
2025-08-12 10:32:24 - INFO - [调试计数] 已进入 FMid 分支 16 次
2025-08-12 10:32:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:28 - INFO - 移动到破袋位置
2025-08-12 10:32:28 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:32:28 - INFO - 拍照
2025-08-12 10:32:28 - INFO - 识别图像成功
2025-08-12 10:32:28 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:29 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:30 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:31 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:32 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:33 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:34 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:35 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:36 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:37 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:38 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:39 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:40 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:41 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:42 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:43 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:44 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:32:45 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
2025-08-12 10:32:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:46 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
2025-08-12 10:32:46 - INFO - 执行完成FPhoto
2025-08-12 10:32:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:46 - INFO - 移动到中位位置
2025-08-12 10:32:46 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
2025-08-12 10:32:46 - INFO - [调试计数] 已进入 FMid 分支 17 次
2025-08-12 10:32:49 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:49 - INFO - 移动到中位位置
2025-08-12 10:32:49 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:32:50 - INFO - [调试计数] 已进入 FMid 分支 18 次
2025-08-12 10:32:52 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:52 - INFO - 移动到中位位置
2025-08-12 10:32:52 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:32:52 - INFO - [调试计数] 已进入 FMid 分支 19 次
2025-08-12 10:32:52 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:52 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:52 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:52 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:58 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:58 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:58 - INFO - 🟡 机器人尚未到达抓料点位
2025-08-12 10:32:58 - INFO - str_feed_take移动到抓料位置
2025-08-12 10:32:58 - INFO - 🟢 机器人已到达抓料点位
2025-08-12 10:32:58 - INFO - 已设置放置点: X=-187.12
2025-08-12 10:32:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:58 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
2025-08-12 10:32:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:59 - INFO - 移动到中位位置
2025-08-12 10:32:59 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
2025-08-12 10:32:59 - INFO - [调试计数] 已进入 FMid 分支 20 次
2025-08-12 10:32:59 - INFO - 移动到中位位置
2025-08-12 10:32:59 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
2025-08-12 10:32:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:32:59 - INFO - [调试计数] 已进入 FMid 分支 21 次
2025-08-12 10:32:59 - 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"}]}
2025-08-12 10:32:59 - INFO - 移动到中位位置
2025-08-12 10:33:00 - 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
2025-08-12 10:33:00 - INFO - [调试计数] 已进入 FMid 分支 22 次
2025-08-12 10:33:07 - INFO - 移动到中位位置
2025-08-12 10:33:07 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
2025-08-12 10:33:07 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:33:08 - INFO - [调试计数] 已进入 FMid 分支 23 次
2025-08-12 10:33:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
2025-08-12 10:33:12 - INFO - 移动到破袋位置
2025-08-12 10:33:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
2025-08-12 10:33:12 - INFO - 拍照
2025-08-12 10:33:12 - INFO - 识别图像成功
2025-08-12 10:33:12 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:13 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:14 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:15 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:16 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:17 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:18 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:19 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:20 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:21 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:22 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:23 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:24 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:25 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:26 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:27 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:28 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:29 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:30 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:31 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:32 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:33 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:35 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:36 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:37 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:38 - INFO - ⏳ 等待传感器2料包信号...
2025-08-12 10:33:39 - ERROR - 'str' object has no attribute 'release'
2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.
2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.
2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.