diff --git a/.gitignore b/.gitignore index f635c2f..033d6de 100644 --- a/.gitignore +++ b/.gitignore @@ -273,3 +273,4 @@ PySide2_Fluent_Widgets.egg-info/ /Trace/__pycache__ /Util/__pycache__ /view/__pycache__ +/log/log.log diff --git a/.idea/.gitignore b/.idea/.gitignore deleted file mode 100644 index 26d3352..0000000 --- a/.idea/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -# Default ignored files -/shelf/ -/workspace.xml diff --git a/.idea/ailai.iml b/.idea/ailai.iml deleted file mode 100644 index 8b8c395..0000000 --- a/.idea/ailai.iml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - \ No newline at end of file diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml deleted file mode 100644 index 105ce2d..0000000 --- a/.idea/inspectionProfiles/profiles_settings.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml deleted file mode 100644 index c4dec99..0000000 --- a/.idea/misc.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml deleted file mode 100644 index 16ef043..0000000 --- a/.idea/modules.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml deleted file mode 100644 index 35eb1dd..0000000 --- a/.idea/vcs.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/CU/Feed_save.py b/CU/Feed_save.py index f7adaf7..0e50e44 100644 --- a/CU/Feed_save.py +++ b/CU/Feed_save.py @@ -268,7 +268,7 @@ class Feeding(QObject): # --- 新增: 用于码垛模式的投料点索引 --- self.current_drop_index = 0 - self.drop_manager = DropPositionManager() + # self.drop_manager = DropPositionManager() pass def close_feed(self): diff --git a/CU/Feeding.py b/CU/Feeding.py index 3062ed3..c2ca104 100644 --- a/CU/Feeding.py +++ b/CU/Feeding.py @@ -75,7 +75,7 @@ class FeedPosition: self.position = position class FeedLine: - def __init__(self, id, name, feed_positions:list,remain_count:int): + def __init__(self, id, name, feed_positions:list,remain_count:int,drop_manage:DropPositionManager): self.feed_positions = copy.deepcopy(feed_positions) self.feeding2end_pos_index = 0 @@ -83,7 +83,7 @@ class FeedLine: self.start2take_pos_index = 0 self.name = name self.id = id - self.drop_manager = DropPositionManager() + self.drop_manager = drop_manage # 初始化各个阶段的位置列表 self.feeding_to_end = [] @@ -479,34 +479,37 @@ class Feeding(QObject): self.next_position() return #初始点无论如何先打开夹爪 - self.relay_controller.close(clamp=True) - #重新抓去信号料带 - self.take_sensor_signal=False - self.relay_controller.sensor2_ready=True - #去除list.ini读取抓取点20250915 - #self.feedConfig.feedLine.set_take_position(self.detect.detect_position, 0) - #self.feedConfig.feedLine.set_take_position(real_position, 0)#必须设置 - # 一直等待传感器2信号，永不超时 - # TODO:逻辑需改变，不能用while循环 - if Constant.DebugPosition: - self.take_sensor_signal=True - while True: - # sensors = self.relay_controller.get_all_device_status('sensors') - # sensor2_value = sensors.get(self.relay_controller.SENSOR2, False) - if self.take_sensor_signal: - self.log_signal.emit(logging.INFO, "传感器2检测到料包到位开始执行抓取") - break # ✅ 条件满足，跳出循环，继续执行下面的代码 - else: - if self.feedStatus == FeedStatus.FNone: - return - time.sleep(1) # 每秒检查一次 - - #第二次执行FeedStatus.FPhoto时，改变码垛点 - # self.camera_img.save_frame_path() - self.feedConfig.feedLine.set_feeding_to_end() - # self.take_photo_sigal.emit() - self.next_position() - self.log_signal.emit(logging.INFO, Constant.str_sys_runing2) + if self.relay_controller.close(clamp=True): + #重新抓去信号料带 + self.take_sensor_signal=False + self.relay_controller.sensor2_ready=True + #去除list.ini读取抓取点20250915 + #self.feedConfig.feedLine.set_take_position(self.detect.detect_position, 0) + #self.feedConfig.feedLine.set_take_position(real_position, 0)#必须设置 + # 一直等待传感器2信号，永不超时 + # TODO:逻辑需改变，不能用while循环 + if Constant.DebugPosition: + self.take_sensor_signal=True + while True: + # sensors = self.relay_controller.get_all_device_status('sensors') + # sensor2_value = sensors.get(self.relay_controller.SENSOR2, False) + if self.take_sensor_signal: + self.log_signal.emit(logging.INFO, "传感器2检测到料包到位开始执行抓取") + break # ✅ 条件满足，跳出循环，继续执行下面的代码 + else: + if self.feedStatus == FeedStatus.FNone: + return + time.sleep(1) # 每秒检查一次 + + #第二次执行FeedStatus.FPhoto时，改变码垛点 + # self.camera_img.save_frame_path() + self.feedConfig.feedLine.set_feeding_to_end() + # self.take_photo_sigal.emit() + self.next_position() + self.log_signal.emit(logging.INFO, Constant.str_sys_runing2) + else: + self.log_signal.emit(logging.ERROR, Constant.str_clamp_open_error) + time.sleep(2) # self.feedStatus = FeedStatus.FTake elif self.feedStatus == FeedStatus.FTake: @@ -534,8 +537,11 @@ class Feeding(QObject): # 移动到下一个抓取点 # 更新丢包点: 如果需要根据放置情况调整下次抓取 - self.relay_controller.open(clamp=True) - self.next_position(self.is_reverse) + if self.relay_controller.open(clamp=True): + self.next_position(self.is_reverse) + else: + self.log_signal.emit(logging.ERROR, Constant.str_clamp_close_error) + time.sleep(2) #self.feedConfig.feedLine.set_drop_position(real_position)#我想在这里读取我的一个ini文件值里面有很多个drop点，每一次索引递增的点 diff --git a/CU/drop.py b/CU/drop.py index 7f914b8..9701f4a 100644 --- a/CU/drop.py +++ b/CU/drop.py @@ -8,7 +8,7 @@ import Constant class DropPositionManager: - def __init__(self, config_path=Constant.dropLine_set_file): + def __init__(self, config_path): self.config_path = config_path self.config = configparser.ConfigParser() self._load_config() @@ -167,11 +167,14 @@ class DropPositionManager: return None - + #region 前端UI编辑码垛点位调用方法 def load_path_points(self,lineid: int) ->Optional[LineModel]: """根据lineid加载所有码垛的路径信息""" #默认码垛的lineid从10开始 - _lineid=lineid+10 + if self.config_path==Constant.dropLine_set_file_35: + _lineid=lineid+11 + else: + _lineid=lineid+10 line_model = LineModel(_lineid) line_model.line_category = 2 line_model.id = _lineid @@ -255,10 +258,13 @@ class DropPositionManager: def save_path_points(self, line_model: LineModel): """根据lineid保存所有码垛的路径信息""" #默认码垛的lineid从10开始,保存的时候减一 - _lineid=line_model.id-10 + if self.config_path==Constant.dropLine_set_file_35: + _lineid=line_model.id-11 + else: + _lineid=line_model.id-10 if _lineid<=0: return - self.config.read(Constant.dropLine_set_file, encoding='utf-8') + self.config.read(self.config_path, encoding='utf-8') # 查找主表 DropLineX main_section = f"{Constant.dropLine_set_section}{_lineid}" if not self.config.has_section(main_section): @@ -267,7 +273,7 @@ class DropPositionManager: self.config.set(main_section, "id", str(_lineid)) _current_reset_index=1 _current_mid_index=1 - _current_drop_section_val=self._current_drop_section[main_section] + _current_drop_section_val=self._get_max_drop_section() # 保存每个DropPoints for i, pos in enumerate(line_model.positions): if pos.lineId == _lineid or pos.lineId == line_model.id: @@ -300,49 +306,25 @@ class DropPositionManager: #保存数据 pos.save_position_model(self.config) - with open(Constant.dropLine_set_file, 'w', encoding='utf-8') as f: + with open(self.config_path, 'w', encoding='utf-8') as f: self.config.write(f) def del_drop_point(self,section): - self.config.read(Constant.dropLine_set_file, encoding = 'utf-8') + self.config.read(self.config_path, encoding = 'utf-8') self.config.remove_section(section) - with open(Constant.dropLine_set_file, 'w', encoding='utf-8') as f: + with open(self.config_path, 'w', encoding='utf-8') as f: self.config.write(f) -def _get_point_debug_info(manager, pos, model): - config = manager.config - for sec in config.sections(): - if sec.startswith("DropPoints"): - try: - x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z") - if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001: - point_id = config.getint(sec, "id") - return f"📌 DropPoints{point_id} | id={point_id}" - except: pass - - elif sec.startswith("DropMidPoint"): - try: - parts = sec.split('-') - if len(parts) != 2: continue - point_id = int(''.join(filter(str.isdigit, parts[0]))) - level = int(parts[1]) - x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z") - if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001: - return f"📍 DropMidPoint{point_id}-{level} | id={point_id}, level={level}" - except: pass - - elif sec.startswith("ResetPoint"): - try: - parts = sec.split('-') - if len(parts) != 2: continue - point_id = int(''.join(filter(str.isdigit, parts[0]))) - level = int(parts[1]) - x, y, z = config.getfloat(sec, "x"), config.getfloat(sec, "y"), config.getfloat(sec, "z") - if abs(x - pos.X) < 0.001 and abs(y - pos.Y) < 0.001 and abs(z - pos.Z) < 0.001: - return f"🔙 ResetPoint{point_id}-{level} | id={point_id}, level={level}" - except: pass - return "❓ 未知点位" - + def _get_max_drop_section(self): + """获取最大的DropPoints序号""" + max_section = 1 + for section in self.config.sections(): + if section.startswith("DropPoints"): + num_part = int(section.replace("DropPoints", "0")) + if num_part > max_section: + max_section = num_part + return max_section + #endregion # 测试 if __name__ == "__main__": # manager = DropPositionManager("drop.ini") diff --git a/Config/.output_lineid2.txt.swp b/Config/.output_lineid2.txt.swp deleted file mode 100644 index 26e885d..0000000 Binary files a/Config/.output_lineid2.txt.swp and /dev/null differ diff --git a/Constant.py b/Constant.py index cfbccfa..32fe301 100644 --- a/Constant.py +++ b/Constant.py @@ -22,6 +22,7 @@ dropLine_set_section = 'DropLine' position_set_section = 'Position' feedLine_set_file = f'.{os.sep}Config{os.sep}FeedLine.ini' dropLine_set_file = f'.{os.sep}Config{os.sep}drop.ini' +dropLine_set_file_35 = f'.{os.sep}Config{os.sep}drop-35.ini' MAX_Position_num = 40 MAX_Line_num = 10 set_ini = 'Seting.ini' @@ -104,7 +105,8 @@ str_tcp_connect_no_reply = '无回复' str_tcp_connect_error = 'tcp连接错误' str_tcp_reconnect = '重连中' str_sys_json_error = 'json解析错误' - +str_clamp_open_error = '夹爪打开失败' +str_clamp_close_error = '夹爪关闭失败' str_sys_runing = '运行到这里了！' str_sys_runing1 = '运行到这里2！ ' diff --git a/EMV/EMV.py b/EMV/EMV.py index acd5c75..b89a7c8 100644 --- a/EMV/EMV.py +++ b/EMV/EMV.py @@ -36,6 +36,7 @@ class RelayController(QObject): self.sensor_stable_duration = 1.0 # 传感器状态稳定检测时间（秒） self.sensor_max_attempts = 3 # 连续检测次数达到此值判定有效 self.sensor1_debounce_time = 1.0 # 传感器1防抖时间（秒） + self.sensor2_debounce_time = 3.0 # 袋尾检测3秒有效信号 # ===================== 网络与设备映射 ===================== self.host = host @@ -113,6 +114,7 @@ class RelayController(QObject): self.sensor2_ready = False #默认不打开 self.motor_stopped_by_sensor2 = True + self.is_drop_35=False #是否是35码 # ===================== 基础通信方法 ===================== def send_command(self, command_hex, retry_count=2, source='unknown'): @@ -127,7 +129,7 @@ class RelayController(QObject): sock.connect((self.host, self.port)) sock.send(byte_data) response = sock.recv(1024) - hex_response = binascii.hexlify(response).decode('utf-8') + # hex_response = binascii.hexlify(response).decode('utf-8') #if source == 'sensor': #print(f"[传感器响应] {hex_response}") #elif source == 'device': @@ -136,13 +138,14 @@ class RelayController(QObject): #print(f"[通信响应] {hex_response}") return response except Exception as e: - print(f"网络继电器通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})") + # print(f"网络继电器通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})") + self.log_signal.emit(logging.INFO,f"网络继电器通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})") time.sleep(5) self.trigger_alarm() return None def trigger_alarm(self): - print("警告：网络继电器连续多次通信失败，请检查设备连接！") + self.log_signal.emit(logging.ERROR,"警告：网络继电器连续多次通信失败，请检查设备连接！") # ===================== 状态读取方法 ===================== def get_all_device_status(self, command_type='devices'): @@ -186,6 +189,7 @@ class RelayController(QObject): if response and len(response) >= 10: hex_response = binascii.hexlify(response).decode('utf-8') + # print(f"[原始响应][{command_type}] {hex_response}") # 假设传感器数据从第 9 字节开始，长度为 2 字节 @@ -247,7 +251,63 @@ class RelayController(QObject): time.sleep(self.sensor2_loop_delay) return False + def is_valid_sensor(self,sensor_name): + """ + 检查传感器状态是否有效 + 参数: + sensor_name: 传感器名称 + 返回: + True: 传感器状态有效 + False: 传感器状态无效 + """ + responses = self.get_all_sensor_responses('sensors') + response = responses.get(sensor_name) + + if not response: + print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...") + return False + else: + temp_status_code = self.parse_status_code(response) + if temp_status_code in self.required_codes_1: + return True + else: + return False + + def is_valid_sensor_signal_stable(self, sensor_name, detection_duration=3.0, stability_duration=2.5, check_interval=0.1): + """ + 检测在指定时间窗口内是否存在持续稳定的有效信号 + 参数: + sensor_name: 传感器名称 + detection_duration: 总检测时间窗口(秒)，默认为3秒 + stability_duration: 信号需要持续稳定的时间(秒)，默认为2.5秒 + check_interval: 检测间隔(秒)，默认为0.1秒 + + 返回: + True: 在时间窗口内检测到持续稳定的有效信号 + False: 未检测到持续稳定的有效信号 + """ + stable_start_time = None # 记录首次检测到有效信号的时间 + start_time = time.time() + if not self.is_valid_sensor(sensor_name): + return False # 传感器状态无效,返回 + else: + stable_start_time = time.time() # 首次检测到有效信号 + time.sleep(check_interval) + + while time.time() - start_time < detection_duration: + temp_is_valid = self.is_valid_sensor(sensor_name) + if temp_is_valid: + if time.time() - stable_start_time >= stability_duration: + return True # 信号持续稳定达到要求时间 + else: + stable_start_time = None # 信号不稳定，重置计时 + time.sleep(check_interval) + return False + def is_valid_sensor2_status_lost(self, sensor_name): + """ + 检查传感器2是否丢失信号 + """ stable_count = 0 _try_nums=5 # 尝试次数 for _ in range(_try_nums): @@ -269,49 +329,104 @@ class RelayController(QObject): return False # ===================== 动作控制方法 ===================== - def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False): - if Constant.DebugPosition: - return + def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False)->bool: + """将if改成elif,一次只能打开一个设备，否则会造成延时sleep时间不一致问题。并返回成功核验""" + loc_ret=False + loc_reponse=None + loc_send_command=None status = self.get_all_device_status() - if conveyor1 and not status.get(self.CONVEYOR1, False): - self.send_command(self.valve_commands[self.CONVEYOR1]['open']) - time.sleep(self.delay_conveyor) - if pusher and not status.get(self.PUSHER, False): - self.send_command(self.valve_commands[self.PUSHER]['open']) - time.sleep(self.delay_pusher) - if conveyor2 and not status.get(self.CONVEYOR2, False): - self.send_command(self.valve_commands[self.CONVEYOR2]['open']) - time.sleep(self.delay_conveyor) - if clamp and not status.get(self.CLAMP, False): - self.send_command(self.valve_commands[self.CLAMP]['open']) - time.sleep(self.delay_clamp) - if pusher1 and not status.get(self.PUSHER1, False): - self.send_command(self.valve_commands[self.PUSHER1]['open']) - time.sleep(self.delay_pusher) - if conveyor2_reverse: - self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['open']) - time.sleep(self.delay_conveyor) - - def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False): if conveyor1: - self.send_command(self.valve_commands[self.CONVEYOR1]['close']) + if not status.get(self.CONVEYOR1, False): + loc_send_command=self.valve_commands[self.CONVEYOR1]['open'] + loc_reponse=self.send_command(loc_send_command) + time.sleep(self.delay_conveyor) + else: + loc_ret=True + elif pusher: + if not status.get(self.PUSHER, False): + loc_send_command=self.valve_commands[self.PUSHER]['open'] + loc_reponse=self.send_command(loc_send_command) + time.sleep(self.delay_pusher) + else: + loc_ret=True + elif conveyor2: + if not status.get(self.CONVEYOR2, False): + loc_send_command=self.valve_commands[self.CONVEYOR2]['open'] + loc_reponse=self.send_command(loc_send_command) + time.sleep(self.delay_conveyor) + else: + loc_ret=True + elif clamp: + if not status.get(self.CLAMP, False): + loc_send_command=self.valve_commands[self.CLAMP]['open'] + loc_reponse=self.send_command(loc_send_command) + time.sleep(self.delay_clamp) + else: + loc_ret=True + elif pusher1: + if not status.get(self.PUSHER1, False): + loc_send_command=self.valve_commands[self.PUSHER1]['open'] + loc_reponse=self.send_command(loc_send_command) + time.sleep(self.delay_pusher) + else: + loc_ret=True + elif conveyor2_reverse: + if not status.get(self.CONVEYOR2_REVERSE, False): + loc_send_command=self.valve_commands[self.CONVEYOR2_REVERSE]['open'] + loc_reponse=self.send_command(loc_send_command) + time.sleep(self.delay_conveyor) + else: + loc_ret=True + + + if loc_reponse and len(loc_reponse) >= 10: + lol_hex_response = binascii.hexlify(response).decode('utf-8') + if lol_hex_response == loc_send_command: + loc_ret=True + + if Constant.DebugPosition: + loc_ret=True + return loc_ret + + + def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False)->bool: + loc_ret=False + loc_reponse=None + loc_send_command=None + if conveyor1: + loc_send_command=self.valve_commands[self.CONVEYOR1]['close'] + loc_reponse=self.send_command(loc_send_command) time.sleep(self.delay_conveyor) if pusher: - self.send_command(self.valve_commands[self.PUSHER]['close']) + loc_send_command=self.valve_commands[self.PUSHER]['close'] + loc_reponse=self.send_command(loc_send_command) time.sleep(self.delay_pusher) if conveyor2: - self.send_command(self.valve_commands[self.CONVEYOR2]['close']) + loc_send_command=self.valve_commands[self.CONVEYOR2]['close'] + loc_reponse=self.send_command(loc_send_command) time.sleep(self.delay_conveyor) if clamp: - self.send_command(self.valve_commands[self.CLAMP]['close']) + loc_send_command=self.valve_commands[self.CLAMP]['close'] + loc_reponse=self.send_command(loc_send_command) time.sleep(self.delay_clamp) if pusher1: - self.send_command(self.valve_commands[self.PUSHER1]['close']) + loc_send_command=self.valve_commands[self.PUSHER1]['close'] + loc_reponse=self.send_command(loc_send_command) time.sleep(self.delay_pusher) if conveyor2_reverse: - self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['close']) + loc_send_command=self.valve_commands[self.CONVEYOR2_REVERSE]['close'] + loc_reponse=self.send_command(loc_send_command) time.sleep(self.delay_conveyor) + if loc_reponse and len(loc_reponse) >= 10: + lol_hex_response = binascii.hexlify(response).decode('utf-8') + if lol_hex_response == loc_send_command: + loc_ret=True + if Constant.DebugPosition: + loc_ret=True + return loc_ret + + # ===================== 传感器处理线程 ===================== def handle_sensor1(self): while self._running: @@ -356,6 +471,7 @@ class RelayController(QObject): time.sleep(self.sensor1_loop_delay) except Exception as e: print(f"SENSOR1 处理错误: {e}") + self.log_signal.emit(logging.ERROR,f"SENSOR1 处理错误: {e}") self.sensor1_triggered = False time.sleep(self.sensor1_error_delay) @@ -363,6 +479,14 @@ class RelayController(QObject): _is_pause_close=True #是否料袋尾部（有信号--》无信号） _is_signal=False + + #正发转用 + _is_reverse_2=False + #是否反转后正转信号消息 + _is_signal_2=False + #是否首次正转信号 + _is_first_signal_2=False + while self._running: if self._ispause: #暂停 @@ -376,23 +500,141 @@ class RelayController(QObject): continue #开启线程 _is_pause_close=True + if self.is_drop_35: + #region 35kg 正反转打平 + try: + if _is_signal_2 or self.is_valid_sensor_status_1(self.SENSOR2): + #反转要加个防抖动时间 + if _is_reverse_2: + print('回退后检查到sensor2 35KG信号，正转') + self.open(conveyor2=True) + _is_reverse_2=False + _is_signal_2=True + elif _is_signal_2 and self.is_valid_sensor2_status_lost(self.SENSOR2): + print('检查到sensor2正转35KG信号消失') + self.close(conveyor2=True) + #滚筒关闭标志 + self.motor_stopped_by_sensor2 = True + # 发送信号通知机器人取走物品 + self.take_robot_signal.emit() + _is_signal_2=False + #停止后即使有信号了，也不能转，直到self.sensor2_ready=True + # _is_first_signal=False + self.sensor2_ready=False #打开滚洞标识 + elif not _is_first_signal_2: + print('检查到正转sensor2 35KG信号') + #检测到信号，5秒 + time.sleep(6) + self.open(conveyor2_reverse=True) + _is_reverse_2=True + _is_first_signal_2=True + time.sleep(0.1) + continue + elif self.sensor2_ready: + #sensor2_ready:通过Feeding:FPhoto处控制是否启动 + if self.motor_stopped_by_sensor2: + print('开滚筒') + self.open(conveyor2=True) + self.motor_stopped_by_sensor2 = False + _is_first_signal=False + # _is_reverse=False + # _is_first_signal=False + # _is_signal=False + if _is_reverse_2: + time.sleep(0.1) + else: + time.sleep(2) + except Exception as e: + print(f"SENSOR3 处理错误: {e}") + self.log_signal.emit(logging.ERROR,f"SENSOR3 处理错误: {e}") + time.sleep(self.sensor2_error_delay) + #endregion + else: + try: + + if self.sensor2_ready: + #sensor2_ready:通过Feeding:FPhoto处控制是否启动,到了，先启动 + if self.motor_stopped_by_sensor2: + print('开滚筒') + self.open(conveyor2=True) + self.motor_stopped_by_sensor2 = False + elif _is_signal or self.is_valid_sensor_signal_stable(self.SENSOR2,detection_duration=3,stability_duration=2.5,check_interval=0.5): + #检测到信号，如果之前是没有信号，关闭滚筒 + print('检查到sensor2信号') + if _is_signal and self.is_valid_sensor2_status_lost(self.SENSOR2): + print('检查到sensor2信号消失') + self.close(conveyor2=True) + #滚筒关闭标志 + self.motor_stopped_by_sensor2 = True + # 发送信号通知机器人取走物品 + self.take_robot_signal.emit() + _is_signal=False + self.sensor2_ready=False #打开滚洞标识 + else: + _is_signal=True + # time.sleep(0.1) + continue + + time.sleep(2) + except Exception as e: + print(f"SENSOR2 处理错误: {e}") + self.log_signal.emit(logging.ERROR,f"SENSOR2 处理错误: {e}") + time.sleep(self.sensor2_error_delay) + + def handle_sensor3(self): + """ + 正转--》反转--》正转 + """ + _is_pause_close=True + #是否反转 + _is_reverse=False + #是否反转后正转信号消息 + _is_signal=False + #是否首次正转信号 + _is_first_signal=False + #是否料袋尾部（有信号--》无信号） + while self._running: + if self._ispause: + #暂停 + if _is_pause_close: + self.close(conveyor2=True) + self.motor_stopped_by_sensor2 = True + # self.sensor2_ready = True #初始值 + _is_pause_close=False + + time.sleep(self.sensor2_error_delay) + continue + #开启线程 + _is_pause_close=True + #滚动次数 try: - if _is_signal or self.is_valid_sensor_status_1(self.SENSOR2): - #检测到信号，如果之前是没有信号，关闭滚筒 - print('检查到sensor2信号') - if _is_signal and self.is_valid_sensor2_status_lost(self.SENSOR2): - print('检查到sensor2信号消失') + if _is_signal or self.is_valid_sensor_status_1(self.SENSOR2): + #反转要加个防抖动时间 + if _is_reverse: + print('回退后检查到sensor2信号，正转') + self.open(conveyor2=True) + _is_reverse=False + _is_signal=True + elif _is_signal and self.is_valid_sensor2_status_lost(self.SENSOR2): + print('检查到sensor2正转信号消失') self.close(conveyor2=True) #滚筒关闭标志 self.motor_stopped_by_sensor2 = True # 发送信号通知机器人取走物品 self.take_robot_signal.emit() _is_signal=False + #停止后即使有信号了，也不能转，直到self.sensor2_ready=True + # _is_first_signal=False self.sensor2_ready=False #打开滚洞标识 - else: - _is_signal=True - # time.sleep(0.1) + elif not _is_first_signal: + print('检查到正转sensor2信号') + #检测到信号，5秒 + time.sleep(6) + self.open(conveyor2_reverse=True) + _is_reverse=True + _is_first_signal=True + time.sleep(0.1) continue elif self.sensor2_ready: #sensor2_ready:通过Feeding:FPhoto处控制是否启动 @@ -400,12 +642,20 @@ class RelayController(QObject): print('开滚筒') self.open(conveyor2=True) self.motor_stopped_by_sensor2 = False - - time.sleep(2) + _is_first_signal=False + # _is_reverse=False + # _is_first_signal=False + # _is_signal=False + + if _is_reverse: + time.sleep(0.1) + else: + time.sleep(2) except Exception as e: - print(f"SENSOR2 处理错误: {e}") + print(f"SENSOR3 处理错误: {e}") + self.log_signal.emit(logging.ERROR,f"SENSOR3 处理错误: {e}") time.sleep(self.sensor2_error_delay) - + def pause_start_sensor(self,is_pause): """ 暂停或开启传感器线程 @@ -413,6 +663,14 @@ class RelayController(QObject): """ self._ispause = is_pause + def set_drop_35(self,is_drop_35): + """ + 设置是否是35码 + is_drop_35:True是，False否 + """ + self.is_drop_35=is_drop_35 + + def stop_sensor(self,sensor1_thread,sensor2_thread): if not self._running: print("线程未在运行") diff --git a/Seting.ini b/Seting.ini index 54df641..4a030c7 100644 --- a/Seting.ini +++ b/Seting.ini @@ -21,12 +21,12 @@ photo_z1 = 1.0 photo_u1 = 12.0 photo_v1 = 0.0 photo_w1 = 1.0 -photo_x2 = 7.0 -photo_y2 = 50.0 -photo_z2 = 1.0 -photo_u2 = 12.0 +photo_x2 = 0.0 +photo_y2 = 0.0 +photo_z2 = 0.0 +photo_u2 = 0.0 photo_v2 = 0.0 -photo_w2 = 1.0 +photo_w2 = 0.0 photo_x3 = 7.0 photo_y3 = 50.0 photo_z3 = 1.0 @@ -48,7 +48,7 @@ photo_w5 = 1.0 linecount = 2 remain_linename = 1 remain_dropweight_kg = 50 -remain_count = 10 +remain_count = 18 maduo_count = 30 io_take_addr = 8 io_zip_addr = 11 diff --git a/Util/util_log.py b/Util/util_log.py index 376c162..3554de0 100644 --- a/Util/util_log.py +++ b/Util/util_log.py @@ -51,9 +51,18 @@ class Logger(QObject): handler = TimedRotatingFileHandler(file_path, when='D', interval=1, backupCount=30,encoding='utf-8') handler.suffix = "%Y-%m-%d" - formatter = logging.Formatter('%(asctime)s - %(levelname)s - %(message)s', datefmt='%Y-%m-%d %H:%M:%S') + formatter = logging.Formatter('%(asctime)s - %(levelname)s- %(message)s', datefmt='%Y-%m-%d %H:%M:%S') handler.setFormatter(formatter) self.logger_file_info.addHandler(handler) + # 添加错误专用日志文件 + error_handler = TimedRotatingFileHandler( + file_path.replace('.log', '_error.log'), + when='D', interval=1, backupCount=30, encoding='utf-8') + error_handler.suffix = "%Y-%m-%d" + error_handler.setLevel(logging.ERROR) # 只处理错误级别 + error_handler.setFormatter(formatter) + self.logger_file_info.addHandler(error_handler) + def _process_logs(self): while True: diff --git a/Vision/__pycache__/camera_coordinate_dete.cpython-39.pyc b/Vision/__pycache__/camera_coordinate_dete.cpython-39.pyc deleted file mode 100644 index 4e481cc..0000000 Binary files a/Vision/__pycache__/camera_coordinate_dete.cpython-39.pyc and /dev/null differ diff --git a/Vision/tool/__pycache__/CameraRVC.cpython-39.pyc b/Vision/tool/__pycache__/CameraRVC.cpython-39.pyc deleted file mode 100644 index d03a1cb..0000000 Binary files a/Vision/tool/__pycache__/CameraRVC.cpython-39.pyc and /dev/null differ diff --git a/log/log.log b/log/log.log deleted file mode 100644 index 1aa2c5b..0000000 --- a/log/log.log +++ /dev/null @@ -1,17234 +0,0 @@ -2025-09-22 23:01:41 - INFO - 进入系统 -2025-09-22 23:02:17 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-22 23:02:17 - INFO - 切换到工具坐标 -2025-09-22 23:02:17 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-22 23:02:17 - INFO - 切换到自动运行状态 -2025-09-22 23:02:18 - INFO - 第一层确认生产 -2025-09-22 23:02:18 - INFO - 1号线:投料开始 -2025-09-22 23:02:18 - 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"}]} -2025-09-22 23:02:18 - INFO - 发送IO控制: 2，1 -2025-09-22 23:02:23 - 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"}]} -2025-09-22 23:02:23 - INFO - 发送IO控制: 2，0 -2025-09-22 23:02:23 - INFO - 投料开始 -2025-09-22 23:02:23 - 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 -2025-09-22 23:02:23 - 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"}]} -2025-09-22 23:02:23 - INFO - 投料开始 -2025-09-22 23:02:23 - 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 -2025-09-22 23:02:23 - 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"}]} -2025-09-22 23:02:24 - INFO - 移动到中位位置 -2025-09-22 23:02:24 - 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 -2025-09-22 23:02:24 - 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"}]} -2025-09-22 23:02:24 - INFO - 检测是否安全投料 -2025-09-22 23:02:24 - 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 -2025-09-22 23:02:24 - 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"}]} -2025-09-22 23:02:24 - INFO - 检测是否安全投料 -2025-09-22 23:02:24 - 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 -2025-09-22 23:02:24 - 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"}]} -2025-09-22 23:02:25 - 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"}]} -2025-09-22 23:02:25 - INFO - 拍照 -2025-09-22 23:02:25 - INFO - 识别图像成功 -2025-09-22 23:02:25 - 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 -2025-09-22 23:02:25 - INFO - 拍照 -2025-09-22 23:02:35 - INFO - 清除报警 -2025-09-22 23:02:35 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-22 23:02:35 - INFO - 投料停止 -2025-09-22 23:02:35 - INFO - 清除报警 -2025-09-22 23:02:35 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-22 23:02:36 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-22 23:02:36 - 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"}]} -2025-09-22 23:02:36 - INFO - 发送IO控制: 2，1 -2025-09-22 23:02:36 - INFO - 按下急停 -2025-09-22 23:03:13 - ERROR - cannot join thread before it is started -2025-09-22 23:05:26 - INFO - 进入系统 -2025-09-22 23:05:29 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-22 23:05:29 - INFO - 切换到工具坐标 -2025-09-22 23:05:29 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-22 23:05:29 - INFO - 切换到自动运行状态 -2025-09-22 23:05:29 - INFO - 第一层确认生产 -2025-09-22 23:05:29 - INFO - 1号线:投料开始 -2025-09-22 23:05:30 - 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"}]} -2025-09-22 23:05:30 - INFO - 发送IO控制: 2，1 -2025-09-22 23:05:34 - 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"}]} -2025-09-22 23:05:34 - INFO - 发送IO控制: 2，0 -2025-09-22 23:05:35 - 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"}]} -2025-09-22 23:05:35 - INFO - 投料开始 -2025-09-22 23:05:35 - 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 -2025-09-22 23:05:35 - INFO - 投料开始 -2025-09-22 23:05:35 - 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 -2025-09-22 23:05:35 - 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"}]} -2025-09-22 23:05:35 - INFO - 移动到中位位置 -2025-09-22 23:05:35 - 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 -2025-09-22 23:05:35 - 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"}]} -2025-09-22 23:05:36 - INFO - 检测是否安全投料 -2025-09-22 23:05:36 - 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 -2025-09-22 23:05:36 - 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"}]} -2025-09-22 23:05:36 - INFO - 检测是否安全投料 -2025-09-22 23:05:36 - 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 -2025-09-22 23:05:36 - 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"}]} -2025-09-22 23:05:36 - INFO - 拍照 -2025-09-22 23:05:36 - 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"}]} -2025-09-22 23:05:36 - INFO - 识别图像成功 -2025-09-22 23:05:37 - 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 -2025-09-22 23:05:37 - INFO - 拍照 -2025-09-22 23:05:41 - INFO - 退出系统 -2025-09-22 23:06:30 - INFO - 进入系统 -2025-09-22 23:06:38 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-22 23:06:38 - INFO - 切换到工具坐标 -2025-09-22 23:06:38 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-22 23:06:38 - INFO - 切换到自动运行状态 -2025-09-22 23:06:39 - INFO - 第一层确认生产 -2025-09-22 23:06:39 - INFO - 1号线:投料开始 -2025-09-22 23:06:39 - 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"}]} -2025-09-22 23:06:39 - INFO - 发送IO控制: 2，1 -2025-09-22 23:06:44 - 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"}]} -2025-09-22 23:06:44 - INFO - 发送IO控制: 2，0 -2025-09-22 23:06:44 - 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"}]} -2025-09-22 23:06:44 - INFO - 投料开始 -2025-09-22 23:06:45 - 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 -2025-09-22 23:06:45 - INFO - 投料开始 -2025-09-22 23:06:45 - 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 -2025-09-22 23:06:45 - 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"}]} -2025-09-22 23:06:45 - INFO - 移动到中位位置 -2025-09-22 23:06:45 - 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 -2025-09-22 23:06:45 - 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"}]} -2025-09-22 23:06:45 - INFO - 检测是否安全投料 -2025-09-22 23:06:45 - 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 -2025-09-22 23:06:46 - 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"}]} -2025-09-22 23:06:46 - 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"}]} -2025-09-22 23:06:46 - INFO - 检测是否安全投料 -2025-09-22 23:06:46 - 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 -2025-09-22 23:06:46 - INFO - 拍照 -2025-09-22 23:06:46 - INFO - 识别图像成功 -2025-09-22 23:06:46 - 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 -2025-09-22 23:06:46 - 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"}]} -2025-09-22 23:06:46 - INFO - 拍照 -2025-09-22 23:07:20 - INFO - 投料暂停 -2025-09-22 23:07:20 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-22 23:07:25 - INFO - 清除报警 -2025-09-22 23:07:25 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-22 23:07:25 - INFO - 投料停止 -2025-09-22 23:07:25 - INFO - 清除报警 -2025-09-22 23:07:26 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-22 23:07:26 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-22 23:07:26 - 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"}]} -2025-09-22 23:07:26 - INFO - 发送IO控制: 2，1 -2025-09-22 23:07:26 - INFO - 按下急停 -2025-09-22 23:07:30 - INFO - 退出系统 -2025-09-22 23:15:53 - INFO - 进入系统 -2025-09-22 23:15:57 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-22 23:15:57 - INFO - 切换到工具坐标 -2025-09-22 23:15:57 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-22 23:15:58 - INFO - 切换到自动运行状态 -2025-09-22 23:15:58 - INFO - 第一层确认生产 -2025-09-22 23:15:58 - INFO - 1号线:投料开始 -2025-09-22 23:15:58 - 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"}]} -2025-09-22 23:15:59 - INFO - 发送IO控制: 2，1 -2025-09-22 23:16:03 - 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"}]} -2025-09-22 23:16:03 - INFO - 发送IO控制: 2，0 -2025-09-22 23:16:04 - 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"}]} -2025-09-22 23:16:04 - INFO - 投料开始 -2025-09-22 23:16:04 - 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 -2025-09-22 23:16:04 - INFO - 投料开始 -2025-09-22 23:16:04 - 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 -2025-09-22 23:16:04 - 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"}]} -2025-09-22 23:16:04 - INFO - 移动到中位位置 -2025-09-22 23:16:04 - 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 -2025-09-22 23:16:04 - 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"}]} -2025-09-22 23:16:05 - INFO - 检测是否安全投料 -2025-09-22 23:16:05 - 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 -2025-09-22 23:16:05 - 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"}]} -2025-09-22 23:16:05 - INFO - 检测是否安全投料 -2025-09-22 23:16:05 - 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 -2025-09-22 23:16:05 - 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"}]} -2025-09-22 23:16:05 - INFO - 拍照 -2025-09-22 23:16:05 - INFO - 识别图像成功 -2025-09-22 23:16:05 - 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 -2025-09-22 23:16:06 - 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"}]} -2025-09-22 23:16:06 - INFO - 拍照 -2025-09-22 23:16:06 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:16:06 - 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 -2025-09-22 23:16:06 - 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"}]} -2025-09-22 23:16:06 - INFO - 执行完成FPhoto -2025-09-22 23:16:06 - INFO - 移动到中位位置 -2025-09-22 23:16:06 - 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 -2025-09-22 23:16:06 - 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"}]} -2025-09-22 23:16:07 - INFO - 移动到中位位置 -2025-09-22 23:16:07 - 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 -2025-09-22 23:16:07 - 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"}]} -2025-09-22 23:16:07 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:16:07 - INFO - 机器人已到达抓料点位 -2025-09-22 23:16:07 - 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 -2025-09-22 23:16:07 - 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"}]} -2025-09-22 23:16:07 - INFO - 移动到中位位置 -2025-09-22 23:16:07 - 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 -2025-09-22 23:16:08 - 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"}]} -2025-09-22 23:16:08 - INFO - 移动到中位位置 -2025-09-22 23:16:08 - 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 -2025-09-22 23:16:08 - 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"}]} -2025-09-22 23:16:08 - INFO - 移动到中位位置 -2025-09-22 23:16:08 - 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 -2025-09-22 23:16:08 - 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"}]} -2025-09-22 23:16:08 - INFO - 移动到码垛中间点位置 -2025-09-22 23:16:08 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-22 23:16:08 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:16:09 - INFO - 移动到扔袋位置 -2025-09-22 23:16:09 - INFO - 移动到扔袋位置 -2025-09-22 23:16:09 - INFO - 移动到扔袋位置 -2025-09-22 23:16:09 - INFO - 移动到扔袋位置 -2025-09-22 23:16:09 - INFO - 已码垛数量：6 -2025-09-22 23:16:09 - 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 -2025-09-22 23:16:09 - 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"}]} -2025-09-22 23:16:09 - INFO - 移动到码垛复位位置 -2025-09-22 23:16:09 - 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 -2025-09-22 23:16:10 - 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"}]} -2025-09-22 23:16:10 - INFO - 拍照 -2025-09-22 23:16:10 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:16:10 - 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"}]} -2025-09-22 23:16:10 - 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 -2025-09-22 23:16:10 - INFO - 执行完成FPhoto -2025-09-22 23:16:10 - INFO - 移动到中位位置 -2025-09-22 23:16:10 - 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 -2025-09-22 23:16:10 - 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"}]} -2025-09-22 23:16:11 - INFO - 移动到中位位置 -2025-09-22 23:16:11 - 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 -2025-09-22 23:16:11 - 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"}]} -2025-09-22 23:16:11 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:16:11 - INFO - 机器人已到达抓料点位 -2025-09-22 23:16:11 - 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 -2025-09-22 23:16:11 - 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"}]} -2025-09-22 23:16:11 - 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"}]} -2025-09-22 23:16:11 - INFO - 移动到中位位置 -2025-09-22 23:16:12 - 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 -2025-09-22 23:16:12 - INFO - 移动到中位位置 -2025-09-22 23:16:12 - 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 -2025-09-22 23:16:12 - 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"}]} -2025-09-22 23:16:12 - INFO - 移动到中位位置 -2025-09-22 23:16:12 - 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 -2025-09-22 23:16:12 - 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"}]} -2025-09-22 23:16:12 - INFO - 移动到码垛中间点位置 -2025-09-22 23:16:12 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-22 23:16:13 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:16:13 - INFO - 移动到扔袋位置 -2025-09-22 23:16:13 - INFO - 移动到扔袋位置 -2025-09-22 23:16:13 - INFO - 移动到扔袋位置 -2025-09-22 23:16:13 - INFO - 移动到扔袋位置 -2025-09-22 23:16:13 - INFO - 已码垛数量：7 -2025-09-22 23:16:13 - 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 -2025-09-22 23:16:13 - 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"}]} -2025-09-22 23:16:13 - INFO - 移动到码垛复位位置 -2025-09-22 23:16:13 - 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 -2025-09-22 23:16:14 - 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"}]} -2025-09-22 23:16:14 - INFO - 拍照 -2025-09-22 23:16:14 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:16:14 - 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 -2025-09-22 23:16:14 - 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"}]} -2025-09-22 23:16:14 - INFO - 执行完成FPhoto -2025-09-22 23:16:14 - INFO - 移动到中位位置 -2025-09-22 23:16:14 - 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 -2025-09-22 23:16:14 - 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INFO - 检测是否安全投料 -2025-09-22 23:23:28 - 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 -2025-09-22 23:23:28 - 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"}]} -2025-09-22 23:23:28 - INFO - 拍照 -2025-09-22 23:23:33 - INFO - 识别图像成功 -2025-09-22 23:23:36 - 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 -2025-09-22 23:23:36 - 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"}]} -2025-09-22 23:23:36 - INFO - 拍照 -2025-09-22 23:23:36 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:23:36 - 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INFO - 移动到中位位置 -2025-09-22 23:23:38 - 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 -2025-09-22 23:23:38 - 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"}]} -2025-09-22 23:23:38 - INFO - 移动到中位位置 -2025-09-22 23:23:38 - 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 -2025-09-22 23:23:38 - 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"}]} -2025-09-22 23:23:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1582.553","m1":"-395.692","m2":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:23:39 - INFO - 移动到码垛中间点位置 -2025-09-22 23:23:39 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-22 23:23:39 - INFO - 移动到扔袋位置 -2025-09-22 23:23:39 - INFO - 移动到扔袋位置 -2025-09-22 23:23:39 - INFO - 移动到扔袋位置 -2025-09-22 23:23:39 - INFO - 移动到扔袋位置 -2025-09-22 23:23:39 - INFO - 已码垛数量：6 -2025-09-22 23:23:39 - 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 -2025-09-22 23:23:39 - 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"}]} -2025-09-22 23:23:40 - INFO - 移动到码垛复位位置 -2025-09-22 23:23:40 - 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 -2025-09-22 23:23:40 - 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"}]} -2025-09-22 23:23:40 - INFO - 拍照 -2025-09-22 23:23:40 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:23:40 - 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 -2025-09-22 23:23:40 - 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"}]} -2025-09-22 23:23:40 - INFO - 执行完成FPhoto -2025-09-22 23:23:40 - INFO - 移动到中位位置 -2025-09-22 23:23:41 - 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 -2025-09-22 23:23:41 - 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"}]} -2025-09-22 23:23:41 - INFO - 移动到中位位置 -2025-09-22 23:23:41 - 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 -2025-09-22 23:23:41 - 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"}]} -2025-09-22 23:23:41 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:23:41 - INFO - 机器人已到达抓料点位 -2025-09-22 23:23:41 - 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 -2025-09-22 23:23:41 - 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"}]} -2025-09-22 23:23:42 - INFO - 移动到中位位置 -2025-09-22 23:23:42 - 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 -2025-09-22 23:23:42 - 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INFO - 移动到码垛中间点位置 -2025-09-22 23:23:43 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-22 23:23:43 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:23:43 - INFO - 移动到扔袋位置 -2025-09-22 23:23:43 - INFO - 移动到扔袋位置 -2025-09-22 23:23:43 - INFO - 移动到扔袋位置 -2025-09-22 23:23:43 - INFO - 移动到扔袋位置 -2025-09-22 23:23:43 - INFO - 已码垛数量：7 -2025-09-22 23:23:43 - 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 -2025-09-22 23:23:43 - 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"}]} -2025-09-22 23:23:44 - INFO - 移动到码垛复位位置 -2025-09-22 23:23:44 - 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 -2025-09-22 23:23:44 - 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"}]} -2025-09-22 23:23:44 - INFO - 拍照 -2025-09-22 23:23:44 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:23:44 - 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 -2025-09-22 23:23:44 - 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"}]} -2025-09-22 23:23:44 - INFO - 执行完成FPhoto -2025-09-22 23:23:44 - INFO - 移动到中位位置 -2025-09-22 23:23:45 - 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 -2025-09-22 23:23:45 - 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"}]} -2025-09-22 23:23:45 - 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"}]} -2025-09-22 23:23:45 - INFO - 移动到中位位置 -2025-09-22 23:23:45 - 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 -2025-09-22 23:23:45 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:23:45 - INFO - 机器人已到达抓料点位 -2025-09-22 23:23:45 - 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 -2025-09-22 23:23:45 - 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"}]} -2025-09-22 23:23:46 - INFO - 移动到中位位置 -2025-09-22 23:23:46 - 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 -2025-09-22 23:23:46 - 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"}]} -2025-09-22 23:23:46 - 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"}]} -2025-09-22 23:23:46 - INFO - 移动到中位位置 -2025-09-22 23:23:46 - 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 -2025-09-22 23:23:46 - INFO - 移动到中位位置 -2025-09-22 23:23:46 - 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 -2025-09-22 23:23:46 - 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"}]} -2025-09-22 23:23:46 - INFO - 移动到码垛中间点位置 -2025-09-22 23:23:47 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-22 23:23:47 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:23:47 - INFO - 移动到扔袋位置 -2025-09-22 23:23:47 - INFO - 移动到扔袋位置 -2025-09-22 23:23:47 - INFO - 移动到扔袋位置 -2025-09-22 23:23:47 - INFO - 移动到扔袋位置 -2025-09-22 23:23:47 - INFO - 已码垛数量：8 -2025-09-22 23:23:47 - 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 -2025-09-22 23:23:47 - 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"}]} -2025-09-22 23:23:48 - INFO - 移动到码垛复位位置 -2025-09-22 23:23:48 - 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 -2025-09-22 23:23:48 - 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"}]} -2025-09-22 23:23:48 - INFO - 拍照 -2025-09-22 23:23:48 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:23:48 - 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 -2025-09-22 23:23:48 - 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"}]} -2025-09-22 23:23:48 - INFO - 执行完成FPhoto -2025-09-22 23:23:48 - INFO - 移动到中位位置 -2025-09-22 23:23:49 - 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INFO - 移动到中位位置 -2025-09-22 23:23:50 - 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 -2025-09-22 23:23:50 - 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"}]} -2025-09-22 23:23:51 - INFO - 移动到码垛中间点位置 -2025-09-22 23:23:51 - 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 -2025-09-22 23:23:51 - 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"}]} -2025-09-22 23:23:51 - INFO - 移动到扔袋位置 -2025-09-22 23:23:51 - INFO - 移动到扔袋位置 -2025-09-22 23:23:51 - INFO - 移动到扔袋位置 -2025-09-22 23:23:51 - INFO - 移动到扔袋位置 -2025-09-22 23:23:51 - INFO - 已码垛数量：9 -2025-09-22 23:23:51 - 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 -2025-09-22 23:23:51 - 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"}]} -2025-09-22 23:23:52 - 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"}]} -2025-09-22 23:23:52 - INFO - 移动到码垛复位位置 -2025-09-22 23:23:52 - 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 -2025-09-22 23:23:52 - INFO - 拍照 -2025-09-22 23:23:52 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:23:52 - 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 -2025-09-22 23:23:52 - 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INFO - str_feed_take移动到抓料位置 -2025-09-22 23:23:53 - INFO - 机器人已到达抓料点位 -2025-09-22 23:23:53 - 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 -2025-09-22 23:23:53 - 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"}]} -2025-09-22 23:23:54 - INFO - 移动到中位位置 -2025-09-22 23:23:54 - 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"}]} -2025-09-22 23:23:54 - 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 -2025-09-22 23:23:54 - INFO - 移动到中位位置 -2025-09-22 23:23:54 - 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 -2025-09-22 23:23:54 - 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INFO - 移动到扔袋位置 -2025-09-22 23:23:55 - INFO - 移动到扔袋位置 -2025-09-22 23:23:55 - INFO - 移动到扔袋位置 -2025-09-22 23:23:55 - 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"}]} -2025-09-22 23:23:55 - INFO - 移动到扔袋位置 -2025-09-22 23:23:55 - INFO - 已码垛数量：10 -2025-09-22 23:23:56 - 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 -2025-09-22 23:23:56 - INFO - 移动到码垛复位位置 -2025-09-22 23:23:56 - 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 -2025-09-22 23:23:56 - 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"}]} -2025-09-22 23:23:56 - INFO - 拍照 -2025-09-22 23:23:56 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:23:56 - 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 -2025-09-22 23:23:56 - 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"}]} -2025-09-22 23:23:56 - INFO - 执行完成FPhoto -2025-09-22 23:23:56 - INFO - 移动到中位位置 -2025-09-22 23:23:57 - 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 -2025-09-22 23:23:57 - 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"}]} -2025-09-22 23:23:57 - INFO - 移动到中位位置 -2025-09-22 23:23:57 - 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 -2025-09-22 23:23:57 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:23:57 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:23:57 - INFO - 机器人已到达抓料点位 -2025-09-22 23:23:57 - 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 -2025-09-22 23:23:57 - 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"}]} -2025-09-22 23:23:58 - INFO - 移动到中位位置 -2025-09-22 23:23:58 - 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 -2025-09-22 23:23:58 - 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INFO - 移动到码垛中间点位置 -2025-09-22 23:23:59 - 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 -2025-09-22 23:23:59 - 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"}]} -2025-09-22 23:23:59 - INFO - 移动到扔袋位置 -2025-09-22 23:23:59 - INFO - 移动到扔袋位置 -2025-09-22 23:23:59 - INFO - 移动到扔袋位置 -2025-09-22 23:23:59 - INFO - 移动到扔袋位置 -2025-09-22 23:23:59 - INFO - 已码垛数量：11 -2025-09-22 23:23:59 - 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 -2025-09-22 23:24:00 - 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"}]} -2025-09-22 23:24:00 - INFO - 移动到码垛复位位置 -2025-09-22 23:24:00 - 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 -2025-09-22 23:24:00 - 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"}]} -2025-09-22 23:24:00 - INFO - 拍照 -2025-09-22 23:24:00 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:24:00 - 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 -2025-09-22 23:24:00 - 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"}]} -2025-09-22 23:24:00 - INFO - 执行完成FPhoto -2025-09-22 23:24:01 - INFO - 移动到中位位置 -2025-09-22 23:24:01 - 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 -2025-09-22 23:24:01 - 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"}]} -2025-09-22 23:24:01 - INFO - 移动到中位位置 -2025-09-22 23:24:01 - 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 -2025-09-22 23:24:01 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:24:01 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:24:01 - INFO - 机器人已到达抓料点位 -2025-09-22 23:24:01 - 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 -2025-09-22 23:24:01 - 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INFO - 移动到中位位置 -2025-09-22 23:24:02 - 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 -2025-09-22 23:24:02 - 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"}]} -2025-09-22 23:24:03 - INFO - 移动到码垛中间点位置 -2025-09-22 23:24:03 - 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"}]} -2025-09-22 23:24:03 - 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 -2025-09-22 23:24:03 - INFO - 移动到扔袋位置 -2025-09-22 23:24:03 - INFO - 移动到扔袋位置 -2025-09-22 23:24:03 - INFO - 移动到扔袋位置 -2025-09-22 23:24:03 - INFO - 移动到扔袋位置 -2025-09-22 23:24:03 - INFO - 已码垛数量：12 -2025-09-22 23:24:03 - 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 -2025-09-22 23:24:04 - 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"}]} -2025-09-22 23:24:04 - INFO - 移动到码垛复位位置 -2025-09-22 23:24:04 - 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 -2025-09-22 23:24:04 - 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"}]} -2025-09-22 23:24:04 - INFO - 拍照 -2025-09-22 23:24:04 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:24:04 - 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"}]} -2025-09-22 23:24:04 - 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INFO - str_feed_take移动到抓料位置 -2025-09-22 23:24:05 - INFO - 机器人已到达抓料点位 -2025-09-22 23:24:05 - 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 -2025-09-22 23:24:06 - 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"}]} -2025-09-22 23:24:06 - 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"}]} -2025-09-22 23:24:06 - INFO - 移动到中位位置 -2025-09-22 23:24:06 - 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 -2025-09-22 23:24:06 - INFO - 移动到中位位置 -2025-09-22 23:24:06 - 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 -2025-09-22 23:24:06 - 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"}]} -2025-09-22 23:24:06 - INFO - 移动到中位位置 -2025-09-22 23:24:06 - 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 -2025-09-22 23:24:07 - 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"}]} -2025-09-22 23:24:07 - INFO - 移动到码垛中间点位置 -2025-09-22 23:24:07 - 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 -2025-09-22 23:24:07 - 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"}]} -2025-09-22 23:24:07 - 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INFO - 拍照 -2025-09-22 23:24:08 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:24:08 - 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 -2025-09-22 23:24:08 - 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"}]} -2025-09-22 23:24:08 - INFO - 执行完成FPhoto -2025-09-22 23:24:09 - INFO - 移动到中位位置 -2025-09-22 23:24:09 - 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 -2025-09-22 23:24:09 - 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"}]} -2025-09-22 23:24:09 - INFO - 移动到中位位置 -2025-09-22 23:24:09 - 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INFO - 移动到中位位置 -2025-09-22 23:24:11 - 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 -2025-09-22 23:24:11 - INFO - 移动到码垛中间点位置 -2025-09-22 23:24:11 - 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 -2025-09-22 23:24:11 - 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"}]} -2025-09-22 23:24:11 - INFO - 移动到扔袋位置 -2025-09-22 23:24:11 - INFO - 移动到扔袋位置 -2025-09-22 23:24:11 - INFO - 移动到扔袋位置 -2025-09-22 23:24:11 - INFO - 移动到扔袋位置 -2025-09-22 23:24:11 - INFO - 已码垛数量：14 -2025-09-22 23:24:11 - 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 -2025-09-22 23:24:12 - 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"}]} -2025-09-22 23:24:12 - 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INFO - 移动到中位位置 -2025-09-22 23:24:14 - 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 -2025-09-22 23:24:15 - 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"}]} -2025-09-22 23:24:15 - INFO - 移动到码垛中间点位置 -2025-09-22 23:24:15 - 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 -2025-09-22 23:24:15 - 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"}]} -2025-09-22 23:24:15 - INFO - 移动到扔袋位置 -2025-09-22 23:24:15 - INFO - 移动到扔袋位置 -2025-09-22 23:24:15 - INFO - 移动到扔袋位置 -2025-09-22 23:24:15 - INFO - 移动到扔袋位置 -2025-09-22 23:24:15 - INFO - 已码垛数量：15 -2025-09-22 23:24:16 - 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 -2025-09-22 23:24:16 - 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"}]} -2025-09-22 23:24:16 - 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"}]} -2025-09-22 23:24:16 - INFO - 移动到码垛复位位置 -2025-09-22 23:24:16 - 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 -2025-09-22 23:24:16 - INFO - 拍照 -2025-09-22 23:24:16 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:24:16 - 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 -2025-09-22 23:24:16 - 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INFO - str_feed_take移动到抓料位置 -2025-09-22 23:24:17 - INFO - 机器人已到达抓料点位 -2025-09-22 23:24:17 - 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 -2025-09-22 23:24:18 - 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"}]} -2025-09-22 23:24:18 - INFO - 移动到中位位置 -2025-09-22 23:24:18 - 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 -2025-09-22 23:24:18 - 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"}]} -2025-09-22 23:24:18 - INFO - 移动到中位位置 -2025-09-22 23:24:18 - 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 -2025-09-22 23:24:18 - 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INFO - 移动到码垛中间点位置 -2025-09-22 23:24:19 - 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 -2025-09-22 23:24:19 - INFO - 移动到扔袋位置 -2025-09-22 23:24:19 - INFO - 移动到扔袋位置 -2025-09-22 23:24:19 - INFO - 移动到扔袋位置 -2025-09-22 23:24:19 - INFO - 清除报警 -2025-09-22 23:24:19 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-22 23:24:20 - INFO - 投料停止 -2025-09-22 23:24:20 - INFO - 清除报警 -2025-09-22 23:24:20 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-22 23:24:20 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-22 23:24:20 - 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"}]} -2025-09-22 23:24:20 - INFO - 发送IO控制: 2，1 -2025-09-22 23:24:20 - INFO - 按下急停 -2025-09-22 23:24:31 - 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INFO - 拍照 -2025-09-22 23:26:05 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:26:05 - 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"}]} -2025-09-22 23:26:05 - 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 -2025-09-22 23:26:05 - INFO - 执行完成FPhoto -2025-09-22 23:26:06 - INFO - 移动到中位位置 -2025-09-22 23:26:06 - 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 -2025-09-22 23:26:06 - 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"}]} -2025-09-22 23:26:07 - INFO - 移动到中位位置 -2025-09-22 23:26:07 - 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 -2025-09-22 23:26:08 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:26:08 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:26:09 - INFO - 机器人已到达抓料点位 -2025-09-22 23:26:09 - 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 -2025-09-22 23:26:09 - 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"}]} -2025-09-22 23:26:10 - INFO - 移动到中位位置 -2025-09-22 23:26:10 - 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 -2025-09-22 23:26:10 - 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"}]} -2025-09-22 23:26:11 - 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"}]} -2025-09-22 23:26:11 - INFO - 移动到中位位置 -2025-09-22 23:26:11 - 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 -2025-09-22 23:26:12 - 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"}]} -2025-09-22 23:26:12 - INFO - 移动到中位位置 -2025-09-22 23:26:12 - 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 -2025-09-22 23:26:13 - INFO - 移动到码垛中间点位置 -2025-09-22 23:26:13 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-602.361-U:-58.482-V:24.0-W:0.0 -2025-09-22 23:26:13 - 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":"-602.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:26:14 - 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"}]} -2025-09-22 23:26:14 - INFO - 移动到扔袋位置 -2025-09-22 23:26:14 - INFO - 已码垛数量：24 -2025-09-22 23:26:14 - 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 -2025-09-22 23:26:14 - INFO - 移动到码垛复位位置 -2025-09-22 23:26:15 - 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 -2025-09-22 23:26:15 - 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"}]} -2025-09-22 23:26:15 - INFO - 拍照 -2025-09-22 23:26:15 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:26:15 - 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 -2025-09-22 23:26:15 - 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"}]} -2025-09-22 23:26:15 - INFO - 执行完成FPhoto -2025-09-22 23:26:15 - 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"}]} -2025-09-22 23:26:15 - INFO - 移动到中位位置 -2025-09-22 23:26:16 - 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 -2025-09-22 23:26:16 - INFO - 移动到中位位置 -2025-09-22 23:26:16 - 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 -2025-09-22 23:26:16 - 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"}]} -2025-09-22 23:26:16 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:26:16 - INFO - 机器人已到达抓料点位 -2025-09-22 23:26:16 - 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 -2025-09-22 23:26:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:26:16 - INFO - 移动到中位位置 -2025-09-22 23:26:17 - 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 -2025-09-22 23:26:17 - 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"}]} -2025-09-22 23:26:17 - INFO - 移动到中位位置 -2025-09-22 23:26:17 - 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 -2025-09-22 23:26:17 - 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"}]} -2025-09-22 23:26:17 - 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"}]} -2025-09-22 23:26:17 - INFO - 移动到中位位置 -2025-09-22 23:26:17 - 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 -2025-09-22 23:26:17 - INFO - 移动到码垛中间点位置 -2025-09-22 23:26:18 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-602.361-U:-238.482-V:25.0-W:0.0 -2025-09-22 23:26:18 - 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":"-602.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:26:18 - INFO - 移动到扔袋位置 -2025-09-22 23:26:18 - INFO - 移动到扔袋位置 -2025-09-22 23:26:18 - INFO - 移动到扔袋位置 -2025-09-22 23:26:18 - INFO - 移动到扔袋位置 -2025-09-22 23:26:18 - INFO - 已码垛数量：25 -2025-09-22 23:26:18 - 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 -2025-09-22 23:26:18 - 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"}]} -2025-09-22 23:26:18 - INFO - 移动到码垛复位位置 -2025-09-22 23:26:19 - 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 -2025-09-22 23:26:19 - 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"}]} -2025-09-22 23:26:19 - INFO - 投料结束 -2025-09-22 23:26:19 - 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 -2025-09-22 23:26:19 - 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"}]} -2025-09-22 23:26:19 - INFO - 移动到拍照位置 -2025-09-22 23:26:19 - INFO - 复位成功 -2025-09-22 23:27:05 - INFO - 退出系统 -2025-09-22 23:27:28 - 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INFO - 投料开始 -2025-09-22 23:30:40 - 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 -2025-09-22 23:30:40 - 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"}]} -2025-09-22 23:30:40 - INFO - 投料开始 -2025-09-22 23:30:40 - 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 -2025-09-22 23:30:40 - INFO - 移动到中位位置 -2025-09-22 23:30:40 - 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 -2025-09-22 23:30:40 - 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"}]} -2025-09-22 23:30:40 - INFO - 检测是否安全投料 -2025-09-22 23:30:41 - 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 -2025-09-22 23:30:41 - 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"}]} -2025-09-22 23:30:41 - INFO - 检测是否安全投料 -2025-09-22 23:30:41 - 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 -2025-09-22 23:30:41 - 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"}]} -2025-09-22 23:30:41 - INFO - 拍照 -2025-09-22 23:30:41 - INFO - 识别图像成功 -2025-09-22 23:30:41 - 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 -2025-09-22 23:30:41 - 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"}]} -2025-09-22 23:30:42 - INFO - 拍照 -2025-09-22 23:30:42 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:30:42 - 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 -2025-09-22 23:30:42 - 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"}]} -2025-09-22 23:30:42 - INFO - 执行完成FPhoto -2025-09-22 23:30:42 - INFO - 移动到中位位置 -2025-09-22 23:30:42 - 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 -2025-09-22 23:30:42 - 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"}]} -2025-09-22 23:30:42 - INFO - 移动到中位位置 -2025-09-22 23:30:43 - 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 -2025-09-22 23:30:43 - 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"}]} -2025-09-22 23:30:43 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:30:43 - INFO - 机器人已到达抓料点位 -2025-09-22 23:30:43 - 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 -2025-09-22 23:30:43 - 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"}]} -2025-09-22 23:30:43 - INFO - 移动到中位位置 -2025-09-22 23:30:43 - 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 -2025-09-22 23:30:43 - 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"}]} -2025-09-22 23:30:44 - INFO - 移动到中位位置 -2025-09-22 23:30:44 - 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 -2025-09-22 23:30:44 - 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"}]} -2025-09-22 23:30:44 - INFO - 移动到中位位置 -2025-09-22 23:30:44 - 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 -2025-09-22 23:30:44 - 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"}]} -2025-09-22 23:30:44 - INFO - 移动到码垛中间点位置 -2025-09-22 23:30:44 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-22 23:30:44 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:30:45 - INFO - 移动到扔袋位置 -2025-09-22 23:30:45 - INFO - 移动到扔袋位置 -2025-09-22 23:30:45 - INFO - 移动到扔袋位置 -2025-09-22 23:30:45 - INFO - 移动到扔袋位置 -2025-09-22 23:30:45 - INFO - 已码垛数量：8 -2025-09-22 23:30:45 - 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 -2025-09-22 23:30:45 - 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"}]} -2025-09-22 23:30:45 - INFO - 移动到码垛复位位置 -2025-09-22 23:30:45 - 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 -2025-09-22 23:30:45 - 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"}]} -2025-09-22 23:30:46 - INFO - 拍照 -2025-09-22 23:30:46 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:30:46 - 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 -2025-09-22 23:30:46 - 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"}]} -2025-09-22 23:30:46 - INFO - 执行完成FPhoto -2025-09-22 23:30:46 - INFO - 移动到中位位置 -2025-09-22 23:30:46 - 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 -2025-09-22 23:30:46 - 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INFO - 移动到扔袋位置 -2025-09-22 23:30:49 - INFO - 已码垛数量：9 -2025-09-22 23:30:49 - 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 -2025-09-22 23:30:49 - INFO - 移动到码垛复位位置 -2025-09-22 23:30:49 - 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 -2025-09-22 23:30:49 - 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"}]} -2025-09-22 23:30:50 - INFO - 拍照 -2025-09-22 23:30:50 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:30:50 - 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 -2025-09-22 23:30:50 - 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"}]} -2025-09-22 23:30:50 - 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INFO - 移动到扔袋位置 -2025-09-22 23:30:53 - INFO - 移动到扔袋位置 -2025-09-22 23:30:53 - INFO - 已码垛数量：10 -2025-09-22 23:30:53 - 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 -2025-09-22 23:30:53 - 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"}]} -2025-09-22 23:30:53 - INFO - 移动到码垛复位位置 -2025-09-22 23:30:53 - 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 -2025-09-22 23:30:54 - 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"}]} -2025-09-22 23:30:54 - INFO - 投料结束 -2025-09-22 23:30:54 - 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 -2025-09-22 23:30:54 - 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INFO - 执行完成FPhoto -2025-09-22 23:31:08 - INFO - 移动到中位位置 -2025-09-22 23:31:08 - 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 -2025-09-22 23:31:08 - 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"}]} -2025-09-22 23:31:08 - INFO - 移动到中位位置 -2025-09-22 23:31:08 - 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 -2025-09-22 23:31:08 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:31:08 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:31:08 - INFO - 机器人已到达抓料点位 -2025-09-22 23:31:08 - 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INFO - 移动到中位位置 -2025-09-22 23:31:09 - 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 -2025-09-22 23:31:10 - 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"}]} -2025-09-22 23:31:10 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:31:10 - INFO - 移动到码垛中间点位置 -2025-09-22 23:31:10 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-22 23:31:10 - INFO - 移动到扔袋位置 -2025-09-22 23:31:10 - INFO - 移动到扔袋位置 -2025-09-22 23:31:10 - INFO - 移动到扔袋位置 -2025-09-22 23:31:10 - INFO - 移动到扔袋位置 -2025-09-22 23:31:10 - INFO - 已码垛数量：8 -2025-09-22 23:31:11 - 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 -2025-09-22 23:31:11 - 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"}]} -2025-09-22 23:31:11 - INFO - 移动到码垛复位位置 -2025-09-22 23:31:11 - 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 -2025-09-22 23:31:11 - 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"}]} -2025-09-22 23:31:11 - INFO - 拍照 -2025-09-22 23:31:11 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:31:11 - 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"}]} -2025-09-22 23:31:11 - 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 -2025-09-22 23:31:12 - INFO - 执行完成FPhoto -2025-09-22 23:31:12 - INFO - 移动到中位位置 -2025-09-22 23:31:12 - 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 -2025-09-22 23:31:12 - 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"}]} -2025-09-22 23:31:12 - INFO - 移动到中位位置 -2025-09-22 23:31:12 - 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 -2025-09-22 23:31:12 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:31:12 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:31:12 - INFO - 机器人已到达抓料点位 -2025-09-22 23:31:13 - 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 -2025-09-22 23:31:13 - 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"}]} -2025-09-22 23:31:13 - INFO - 移动到中位位置 -2025-09-22 23:31:13 - 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 -2025-09-22 23:31:13 - 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"}]} -2025-09-22 23:31:13 - INFO - 移动到中位位置 -2025-09-22 23:31:13 - 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 -2025-09-22 23:31:13 - 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"}]} -2025-09-22 23:31:13 - INFO - 移动到中位位置 -2025-09-22 23:31:14 - 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 -2025-09-22 23:31:14 - 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"}]} -2025-09-22 23:31:14 - INFO - 移动到码垛中间点位置 -2025-09-22 23:31:14 - 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 -2025-09-22 23:31:14 - 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"}]} -2025-09-22 23:31:14 - INFO - 移动到扔袋位置 -2025-09-22 23:31:14 - INFO - 移动到扔袋位置 -2025-09-22 23:31:14 - INFO - 移动到扔袋位置 -2025-09-22 23:31:14 - INFO - 移动到扔袋位置 -2025-09-22 23:31:14 - INFO - 已码垛数量：9 -2025-09-22 23:31:15 - 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 -2025-09-22 23:31:15 - 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"}]} -2025-09-22 23:31:15 - INFO - 移动到码垛复位位置 -2025-09-22 23:31:15 - 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 -2025-09-22 23:31:15 - 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"}]} -2025-09-22 23:31:15 - INFO - 拍照 -2025-09-22 23:31:15 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:31:15 - 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 -2025-09-22 23:31:15 - 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"}]} -2025-09-22 23:31:16 - INFO - 执行完成FPhoto -2025-09-22 23:31:16 - INFO - 移动到中位位置 -2025-09-22 23:31:16 - 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 -2025-09-22 23:31:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:31:16 - INFO - 移动到中位位置 -2025-09-22 23:31:16 - 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 -2025-09-22 23:31:16 - 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"}]} -2025-09-22 23:31:16 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:31:16 - INFO - 机器人已到达抓料点位 -2025-09-22 23:31:17 - 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 -2025-09-22 23:31:17 - 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"}]} -2025-09-22 23:31:17 - INFO - 移动到中位位置 -2025-09-22 23:31:17 - 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 -2025-09-22 23:31:17 - 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INFO - 移动到码垛中间点位置 -2025-09-22 23:31:18 - 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 -2025-09-22 23:31:18 - 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"}]} -2025-09-22 23:31:18 - INFO - 移动到扔袋位置 -2025-09-22 23:31:18 - INFO - 移动到扔袋位置 -2025-09-22 23:31:18 - INFO - 移动到扔袋位置 -2025-09-22 23:31:18 - INFO - 移动到扔袋位置 -2025-09-22 23:31:19 - INFO - 已码垛数量：10 -2025-09-22 23:31:19 - 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 -2025-09-22 23:31:19 - 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"}]} -2025-09-22 23:31:19 - INFO - 移动到码垛复位位置 -2025-09-22 23:31:19 - 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INFO - 投料开始 -2025-09-22 23:31:34 - 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 -2025-09-22 23:31:34 - INFO - 投料开始 -2025-09-22 23:31:34 - 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 -2025-09-22 23:31:34 - 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"}]} -2025-09-22 23:31:34 - INFO - 移动到中位位置 -2025-09-22 23:31:34 - 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 -2025-09-22 23:31:34 - 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"}]} -2025-09-22 23:31:34 - INFO - 检测是否安全投料 -2025-09-22 23:31:34 - 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 -2025-09-22 23:31:34 - 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"}]} -2025-09-22 23:31:35 - INFO - 检测是否安全投料 -2025-09-22 23:31:35 - 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 -2025-09-22 23:31:35 - 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"}]} -2025-09-22 23:31:35 - INFO - 拍照 -2025-09-22 23:31:35 - INFO - 识别图像成功 -2025-09-22 23:31:35 - 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 -2025-09-22 23:31:35 - 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"}]} -2025-09-22 23:31:35 - INFO - 拍照 -2025-09-22 23:31:35 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:31:36 - 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 -2025-09-22 23:31:36 - 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"}]} -2025-09-22 23:31:36 - INFO - 执行完成FPhoto -2025-09-22 23:31:36 - 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"}]} -2025-09-22 23:31:36 - INFO - 移动到中位位置 -2025-09-22 23:31:36 - 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 -2025-09-22 23:31:36 - INFO - 移动到中位位置 -2025-09-22 23:31:36 - 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 -2025-09-22 23:31:36 - 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"}]} -2025-09-22 23:31:37 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:31:37 - INFO - 机器人已到达抓料点位 -2025-09-22 23:31:37 - 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 -2025-09-22 23:31:37 - 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"}]} -2025-09-22 23:31:37 - 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"}]} -2025-09-22 23:31:37 - INFO - 移动到中位位置 -2025-09-22 23:31:37 - 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 -2025-09-22 23:31:37 - INFO - 移动到中位位置 -2025-09-22 23:31:37 - 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 -2025-09-22 23:31:38 - 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"}]} -2025-09-22 23:31:38 - INFO - 移动到中位位置 -2025-09-22 23:31:38 - 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 -2025-09-22 23:31:38 - 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"}]} -2025-09-22 23:31:38 - INFO - 移动到码垛中间点位置 -2025-09-22 23:31:38 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-22 23:31:38 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:31:38 - INFO - 移动到扔袋位置 -2025-09-22 23:31:38 - INFO - 移动到扔袋位置 -2025-09-22 23:31:39 - INFO - 移动到扔袋位置 -2025-09-22 23:31:39 - INFO - 移动到扔袋位置 -2025-09-22 23:31:39 - INFO - 已码垛数量：8 -2025-09-22 23:31:39 - 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 -2025-09-22 23:31:39 - 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"}]} -2025-09-22 23:31:39 - 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"}]} -2025-09-22 23:31:39 - INFO - 移动到码垛复位位置 -2025-09-22 23:31:39 - 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 -2025-09-22 23:31:39 - INFO - 拍照 -2025-09-22 23:31:39 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:31:40 - 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"}]} -2025-09-22 23:31:40 - 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 -2025-09-22 23:31:40 - INFO - 执行完成FPhoto -2025-09-22 23:31:40 - INFO - 移动到中位位置 -2025-09-22 23:31:40 - 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 -2025-09-22 23:31:40 - 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"}]} -2025-09-22 23:31:40 - INFO - 移动到中位位置 -2025-09-22 23:31:40 - 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 -2025-09-22 23:31:40 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:31:41 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:31:41 - INFO - 机器人已到达抓料点位 -2025-09-22 23:31:41 - 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"}]} -2025-09-22 23:31:41 - 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 -2025-09-22 23:31:41 - INFO - 移动到中位位置 -2025-09-22 23:31:41 - 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 -2025-09-22 23:31:41 - 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"}]} -2025-09-22 23:31:41 - INFO - 移动到中位位置 -2025-09-22 23:31:41 - 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 -2025-09-22 23:31:42 - 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"}]} -2025-09-22 23:31:42 - INFO - 移动到中位位置 -2025-09-22 23:31:42 - 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 -2025-09-22 23:31:42 - 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"}]} -2025-09-22 23:31:42 - INFO - 移动到码垛中间点位置 -2025-09-22 23:31:42 - 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"}]} -2025-09-22 23:31:42 - 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 -2025-09-22 23:31:42 - INFO - 移动到扔袋位置 -2025-09-22 23:31:42 - INFO - 移动到扔袋位置 -2025-09-22 23:31:43 - INFO - 移动到扔袋位置 -2025-09-22 23:31:43 - INFO - 移动到扔袋位置 -2025-09-22 23:31:43 - INFO - 已码垛数量：9 -2025-09-22 23:31:43 - 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 -2025-09-22 23:31:43 - 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"}]} -2025-09-22 23:31:43 - INFO - 移动到码垛复位位置 -2025-09-22 23:31:43 - 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 -2025-09-22 23:31:43 - 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"}]} -2025-09-22 23:31:43 - INFO - 拍照 -2025-09-22 23:31:43 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:31:44 - 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 -2025-09-22 23:31:44 - INFO - 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INFO - 移动到中位位置 -2025-09-22 23:35:45 - 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 -2025-09-22 23:35:45 - 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"}]} -2025-09-22 23:35:45 - INFO - 检测是否安全投料 -2025-09-22 23:35:46 - 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 -2025-09-22 23:35:46 - 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"}]} -2025-09-22 23:35:46 - 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"}]} -2025-09-22 23:35:46 - INFO - 检测是否安全投料 -2025-09-22 23:35:46 - 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 -2025-09-22 23:35:46 - 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"}]} -2025-09-22 23:35:46 - INFO - 拍照 -2025-09-22 23:35:46 - INFO - 识别图像成功 -2025-09-22 23:35:46 - 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 -2025-09-22 23:35:47 - INFO - 拍照 -2025-09-22 23:35:47 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:35:47 - 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 -2025-09-22 23:35:47 - 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"}]} -2025-09-22 23:35:47 - INFO - 执行完成FPhoto -2025-09-22 23:35:47 - INFO - 移动到中位位置 -2025-09-22 23:35:47 - 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 -2025-09-22 23:35:47 - 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"}]} -2025-09-22 23:35:47 - INFO - 移动到中位位置 -2025-09-22 23:35:47 - 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 -2025-09-22 23:35:48 - 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"}]} -2025-09-22 23:35:48 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:35:48 - INFO - 机器人已到达抓料点位 -2025-09-22 23:35:48 - 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INFO - 检测是否安全投料 -2025-09-22 23:37:20 - 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 -2025-09-22 23:37:20 - 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"}]} -2025-09-22 23:37:21 - INFO - 检测是否安全投料 -2025-09-22 23:37:21 - 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 -2025-09-22 23:37:22 - 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"}]} -2025-09-22 23:37:22 - 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"}]} -2025-09-22 23:37:23 - 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INFO - 移动到中位位置 -2025-09-22 23:37:26 - 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 -2025-09-22 23:37:27 - 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"}]} -2025-09-22 23:37:27 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:37:28 - INFO - 机器人已到达抓料点位 -2025-09-22 23:37:28 - 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 -2025-09-22 23:37:28 - 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"}]} -2025-09-22 23:37:29 - 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"}]} -2025-09-22 23:37:29 - INFO - 移动到中位位置 -2025-09-22 23:37:29 - 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 -2025-09-22 23:37:30 - INFO - 移动到中位位置 -2025-09-22 23:37:30 - 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 -2025-09-22 23:37:30 - 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"}]} -2025-09-22 23:37:31 - INFO - 移动到中位位置 -2025-09-22 23:37:31 - 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 -2025-09-22 23:37:31 - 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"}]} -2025-09-22 23:37:32 - 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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"}]} -2025-09-22 23:37:34 - INFO - 拍照 -2025-09-22 23:37:34 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:37:34 - 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 -2025-09-22 23:37:34 - 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"}]} -2025-09-22 23:37:34 - INFO - 执行完成FPhoto -2025-09-22 23:37:34 - INFO - 移动到中位位置 -2025-09-22 23:37:34 - 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 -2025-09-22 23:37:35 - 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"}]} -2025-09-22 23:37:35 - INFO - 移动到中位位置 -2025-09-22 23:37:35 - 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 -2025-09-22 23:37:35 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:37:35 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:37:35 - INFO - 机器人已到达抓料点位 -2025-09-22 23:37:35 - 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 -2025-09-22 23:37:35 - 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"}]} -2025-09-22 23:37:35 - INFO - 移动到中位位置 -2025-09-22 23:37:36 - 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 -2025-09-22 23:37:36 - 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"}]} -2025-09-22 23:37:36 - INFO - 移动到中位位置 -2025-09-22 23:37:36 - 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 -2025-09-22 23:37:36 - 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"}]} -2025-09-22 23:37:36 - INFO - 移动到中位位置 -2025-09-22 23:37:36 - 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 -2025-09-22 23:37:36 - 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"}]} -2025-09-22 23:37:36 - INFO - 移动到码垛中间点位置 -2025-09-22 23:37:37 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-22 23:37:37 - 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":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:37:37 - INFO - 移动到扔袋位置 -2025-09-22 23:37:37 - INFO - 移动到扔袋位置 -2025-09-22 23:37:37 - INFO - 移动到扔袋位置 -2025-09-22 23:37:37 - INFO - 移动到扔袋位置 -2025-09-22 23:37:37 - INFO - 已码垛数量：5 -2025-09-22 23:37:37 - 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 -2025-09-22 23:37:37 - 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"}]} -2025-09-22 23:37:38 - INFO - 移动到码垛复位位置 -2025-09-22 23:37:38 - 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"}]} -2025-09-22 23:37:38 - 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 -2025-09-22 23:37:38 - INFO - 拍照 -2025-09-22 23:37:38 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:37:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:37:38 - 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 -2025-09-22 23:37:38 - INFO - 执行完成FPhoto -2025-09-22 23:37:38 - INFO - 移动到中位位置 -2025-09-22 23:37:38 - 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 -2025-09-22 23:37:39 - 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"}]} -2025-09-22 23:37:39 - INFO - 移动到中位位置 -2025-09-22 23:37:39 - 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 -2025-09-22 23:37:39 - 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"}]} -2025-09-22 23:37:39 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:37:39 - INFO - 机器人已到达抓料点位 -2025-09-22 23:37:39 - 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 -2025-09-22 23:37:39 - 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"}]} -2025-09-22 23:37:39 - INFO - 移动到中位位置 -2025-09-22 23:37:40 - 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 -2025-09-22 23:37:40 - 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"}]} -2025-09-22 23:37:40 - INFO - 移动到中位位置 -2025-09-22 23:37:40 - 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 -2025-09-22 23:37:40 - 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"}]} -2025-09-22 23:37:40 - INFO - 移动到中位位置 -2025-09-22 23:37:40 - 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"}]} -2025-09-22 23:37:40 - 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 -2025-09-22 23:37:40 - INFO - 移动到码垛中间点位置 -2025-09-22 23:37:41 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-22 23:37:41 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:37:41 - INFO - 移动到扔袋位置 -2025-09-22 23:37:41 - INFO - 移动到扔袋位置 -2025-09-22 23:37:41 - INFO - 移动到扔袋位置 -2025-09-22 23:37:41 - INFO - 移动到扔袋位置 -2025-09-22 23:37:41 - INFO - 已码垛数量：6 -2025-09-22 23:37:41 - 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 -2025-09-22 23:37:41 - 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"}]} -2025-09-22 23:37:42 - INFO - 移动到码垛复位位置 -2025-09-22 23:37:42 - 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"}]} -2025-09-22 23:37:42 - 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 -2025-09-22 23:37:42 - INFO - 拍照 -2025-09-22 23:37:42 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:37:42 - 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 -2025-09-22 23:37:42 - 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"}]} -2025-09-22 23:37:42 - INFO - 执行完成FPhoto -2025-09-22 23:37:42 - INFO - 移动到中位位置 -2025-09-22 23:37:43 - 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"}]} -2025-09-22 23:37:43 - 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 -2025-09-22 23:37:43 - INFO - 移动到中位位置 -2025-09-22 23:37:43 - 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 -2025-09-22 23:37:43 - 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"}]} -2025-09-22 23:37:43 - 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"}]} -2025-09-22 23:37:43 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:37:43 - INFO - 机器人已到达抓料点位 -2025-09-22 23:37:43 - 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 -2025-09-22 23:37:44 - INFO - 移动到中位位置 -2025-09-22 23:37:44 - 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 -2025-09-22 23:37:44 - 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"}]} -2025-09-22 23:37:44 - 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"}]} -2025-09-22 23:37:44 - INFO - 移动到中位位置 -2025-09-22 23:37:44 - 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 -2025-09-22 23:37:44 - INFO - 移动到中位位置 -2025-09-22 23:37:44 - 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 -2025-09-22 23:37:44 - 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"}]} -2025-09-22 23:37:44 - INFO - 移动到码垛中间点位置 -2025-09-22 23:37:45 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-22 23:37:45 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:37:45 - INFO - 移动到扔袋位置 -2025-09-22 23:37:45 - INFO - 移动到扔袋位置 -2025-09-22 23:37:45 - INFO - 移动到扔袋位置 -2025-09-22 23:37:45 - INFO - 移动到扔袋位置 -2025-09-22 23:37:45 - INFO - 已码垛数量：7 -2025-09-22 23:37:45 - 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 -2025-09-22 23:37:45 - 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"}]} -2025-09-22 23:37:46 - INFO - 移动到码垛复位位置 -2025-09-22 23:37:46 - 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 -2025-09-22 23:37:46 - 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"}]} -2025-09-22 23:37:46 - INFO - 拍照 -2025-09-22 23:37:46 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:37:46 - 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 -2025-09-22 23:37:46 - 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INFO - str_feed_take移动到抓料位置 -2025-09-22 23:37:47 - INFO - 机器人已到达抓料点位 -2025-09-22 23:37:47 - 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 -2025-09-22 23:37:47 - 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"}]} -2025-09-22 23:37:48 - 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"}]} -2025-09-22 23:37:48 - INFO - 移动到中位位置 -2025-09-22 23:37:48 - 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 -2025-09-22 23:37:48 - INFO - 移动到中位位置 -2025-09-22 23:37:48 - 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 -2025-09-22 23:37:48 - 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INFO - 移动到扔袋位置 -2025-09-22 23:37:49 - INFO - 移动到扔袋位置 -2025-09-22 23:37:49 - INFO - 移动到扔袋位置 -2025-09-22 23:37:49 - INFO - 移动到扔袋位置 -2025-09-22 23:37:49 - INFO - 已码垛数量：8 -2025-09-22 23:37:49 - 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 -2025-09-22 23:37:49 - 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"}]} -2025-09-22 23:37:50 - INFO - 移动到码垛复位位置 -2025-09-22 23:37:50 - 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 -2025-09-22 23:37:50 - 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"}]} -2025-09-22 23:37:50 - INFO - 拍照 -2025-09-22 23:37:50 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:37:50 - 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 -2025-09-22 23:37:50 - 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"}]} -2025-09-22 23:37:50 - INFO - 执行完成FPhoto -2025-09-22 23:37:50 - INFO - 移动到中位位置 -2025-09-22 23:37:51 - 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 -2025-09-22 23:37:51 - 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"}]} -2025-09-22 23:37:51 - INFO - 移动到中位位置 -2025-09-22 23:37:51 - 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 -2025-09-22 23:37:51 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:37:51 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:37:51 - INFO - 机器人已到达抓料点位 -2025-09-22 23:37:51 - 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 -2025-09-22 23:37:51 - 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"}]} -2025-09-22 23:37:52 - INFO - 移动到中位位置 -2025-09-22 23:37:52 - 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 -2025-09-22 23:37:52 - 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"}]} -2025-09-22 23:37:52 - INFO - 移动到中位位置 -2025-09-22 23:37:52 - 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 -2025-09-22 23:37:52 - 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"}]} -2025-09-22 23:37:52 - INFO - 移动到中位位置 -2025-09-22 23:37:52 - 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 -2025-09-22 23:37:52 - 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"}]} -2025-09-22 23:37:53 - INFO - 移动到码垛中间点位置 -2025-09-22 23:37:53 - 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 -2025-09-22 23:37:53 - 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"}]} -2025-09-22 23:37:53 - INFO - 移动到扔袋位置 -2025-09-22 23:37:53 - INFO - 移动到扔袋位置 -2025-09-22 23:37:53 - INFO - 移动到扔袋位置 -2025-09-22 23:37:53 - INFO - 移动到扔袋位置 -2025-09-22 23:37:53 - INFO - 已码垛数量：9 -2025-09-22 23:37:53 - 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 -2025-09-22 23:37:54 - 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"}]} -2025-09-22 23:37:54 - INFO - 移动到码垛复位位置 -2025-09-22 23:37:54 - 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 -2025-09-22 23:37:54 - 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"}]} -2025-09-22 23:37:54 - INFO - 拍照 -2025-09-22 23:37:54 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:37:54 - 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 -2025-09-22 23:37:54 - 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"}]} -2025-09-22 23:37:54 - INFO - 执行完成FPhoto -2025-09-22 23:37:55 - 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"}]} -2025-09-22 23:37:55 - INFO - 移动到中位位置 -2025-09-22 23:37:55 - 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 -2025-09-22 23:37:55 - INFO - 移动到中位位置 -2025-09-22 23:37:55 - 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 -2025-09-22 23:37:55 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:37:55 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:37:55 - INFO - 机器人已到达抓料点位 -2025-09-22 23:37:55 - 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 -2025-09-22 23:37:55 - 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"}]} -2025-09-22 23:37:56 - 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INFO - 移动到中位位置 -2025-09-22 23:37:56 - 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 -2025-09-22 23:37:57 - INFO - 移动到码垛中间点位置 -2025-09-22 23:37:57 - 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 -2025-09-22 23:37:57 - 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"}]} -2025-09-22 23:37:57 - INFO - 移动到扔袋位置 -2025-09-22 23:37:57 - INFO - 移动到扔袋位置 -2025-09-22 23:37:57 - INFO - 移动到扔袋位置 -2025-09-22 23:37:57 - INFO - 移动到扔袋位置 -2025-09-22 23:37:57 - INFO - 已码垛数量：10 -2025-09-22 23:37:57 - 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 -2025-09-22 23:37:58 - 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"}]} -2025-09-22 23:37:58 - 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INFO - 检测是否安全投料 -2025-09-22 23:39:01 - 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 -2025-09-22 23:39:01 - 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"}]} -2025-09-22 23:39:02 - INFO - 检测是否安全投料 -2025-09-22 23:39:02 - 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 -2025-09-22 23:39:02 - 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"}]} -2025-09-22 23:39:03 - INFO - 拍照 -2025-09-22 23:39:03 - INFO - 识别图像成功 -2025-09-22 23:39:04 - 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 -2025-09-22 23:39:04 - 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INFO - 移动到中位位置 -2025-09-22 23:39:07 - 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 -2025-09-22 23:39:07 - 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"}]} -2025-09-22 23:39:08 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:39:08 - INFO - 机器人已到达抓料点位 -2025-09-22 23:39:09 - 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 -2025-09-22 23:39:09 - 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"}]} -2025-09-22 23:39:09 - INFO - 移动到中位位置 -2025-09-22 23:39:10 - 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 -2025-09-22 23:39:10 - 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"}]} -2025-09-22 23:39:11 - INFO - 移动到中位位置 -2025-09-22 23:39:11 - 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 -2025-09-22 23:39:11 - 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"}]} -2025-09-22 23:39:12 - INFO - 移动到中位位置 -2025-09-22 23:39:12 - 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 -2025-09-22 23:39:12 - 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"}]} -2025-09-22 23:39:13 - INFO - 移动到码垛中间点位置 -2025-09-22 23:39:13 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:39:13 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-22 23:39:14 - INFO - 移动到扔袋位置 -2025-09-22 23:39:14 - INFO - 已码垛数量：4 -2025-09-22 23:39:14 - 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 -2025-09-22 23:39:14 - 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"}]} -2025-09-22 23:39:14 - INFO - 移动到码垛复位位置 -2025-09-22 23:39:14 - 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"}]} -2025-09-22 23:39:15 - 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 -2025-09-22 23:39:15 - INFO - 拍照 -2025-09-22 23:39:15 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:39:15 - 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 -2025-09-22 23:39:15 - 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"}]} -2025-09-22 23:39:15 - INFO - 执行完成FPhoto -2025-09-22 23:39:15 - INFO - 移动到中位位置 -2025-09-22 23:39:15 - 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 -2025-09-22 23:39:15 - 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"}]} -2025-09-22 23:39:16 - INFO - 移动到中位位置 -2025-09-22 23:39:16 - 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 -2025-09-22 23:39:16 - 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"}]} -2025-09-22 23:39:16 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:39:16 - INFO - 机器人已到达抓料点位 -2025-09-22 23:39:16 - 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 -2025-09-22 23:39:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:39:16 - INFO - 移动到中位位置 -2025-09-22 23:39:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:39:17 - 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 -2025-09-22 23:39:17 - INFO - 移动到中位位置 -2025-09-22 23:39:17 - 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 -2025-09-22 23:39:17 - 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"}]} -2025-09-22 23:39:17 - INFO - 移动到中位位置 -2025-09-22 23:39:17 - 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 -2025-09-22 23:39:17 - 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"}]} -2025-09-22 23:39:17 - INFO - 移动到码垛中间点位置 -2025-09-22 23:39:17 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-22 23:39:18 - 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":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:39:18 - INFO - 移动到扔袋位置 -2025-09-22 23:39:18 - INFO - 移动到扔袋位置 -2025-09-22 23:39:18 - INFO - 移动到扔袋位置 -2025-09-22 23:39:18 - INFO - 移动到扔袋位置 -2025-09-22 23:39:18 - 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"}]} -2025-09-22 23:39:18 - INFO - 已码垛数量：5 -2025-09-22 23:39:18 - 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 -2025-09-22 23:39:18 - 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"}]} -2025-09-22 23:39:19 - INFO - 移动到码垛复位位置 -2025-09-22 23:39:19 - 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 -2025-09-22 23:39:19 - INFO - 拍照 -2025-09-22 23:39:19 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:39:19 - 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"}]} -2025-09-22 23:39:19 - 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 -2025-09-22 23:39:19 - INFO - 执行完成FPhoto -2025-09-22 23:39:19 - INFO - 移动到中位位置 -2025-09-22 23:39:19 - 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 -2025-09-22 23:39:19 - 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"}]} -2025-09-22 23:39:20 - INFO - 移动到中位位置 -2025-09-22 23:39:20 - 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 -2025-09-22 23:39:20 - 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"}]} -2025-09-22 23:39:20 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:39:20 - INFO - 机器人已到达抓料点位 -2025-09-22 23:39:20 - 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 -2025-09-22 23:39:20 - 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"}]} -2025-09-22 23:39:20 - INFO - 移动到中位位置 -2025-09-22 23:39:20 - 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 -2025-09-22 23:39:21 - 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"}]} -2025-09-22 23:39:21 - INFO - 移动到中位位置 -2025-09-22 23:39:21 - 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 -2025-09-22 23:39:21 - 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"}]} -2025-09-22 23:39:21 - INFO - 移动到中位位置 -2025-09-22 23:39:21 - 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 -2025-09-22 23:39:21 - 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"}]} -2025-09-22 23:39:21 - INFO - 移动到码垛中间点位置 -2025-09-22 23:39:21 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-22 23:39:22 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:39:22 - INFO - 移动到扔袋位置 -2025-09-22 23:39:22 - INFO - 移动到扔袋位置 -2025-09-22 23:39:22 - INFO - 移动到扔袋位置 -2025-09-22 23:39:22 - INFO - 移动到扔袋位置 -2025-09-22 23:39:22 - INFO - 已码垛数量：6 -2025-09-22 23:39:22 - 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 -2025-09-22 23:39:22 - 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"}]} -2025-09-22 23:39:22 - INFO - 移动到码垛复位位置 -2025-09-22 23:39:23 - 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 -2025-09-22 23:39:23 - 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"}]} -2025-09-22 23:39:23 - INFO - 拍照 -2025-09-22 23:39:23 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:39:23 - 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 -2025-09-22 23:39:23 - 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"}]} -2025-09-22 23:39:23 - INFO - 执行完成FPhoto -2025-09-22 23:39:23 - INFO - 移动到中位位置 -2025-09-22 23:39:23 - 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 -2025-09-22 23:39:24 - 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"}]} -2025-09-22 23:39:24 - INFO - 移动到中位位置 -2025-09-22 23:39:24 - 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 -2025-09-22 23:39:24 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:39:24 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:39:24 - INFO - 机器人已到达抓料点位 -2025-09-22 23:39:24 - 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"}]} -2025-09-22 23:39:24 - 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 -2025-09-22 23:39:24 - 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"}]} -2025-09-22 23:39:25 - INFO - 移动到中位位置 -2025-09-22 23:39:25 - 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 -2025-09-22 23:39:25 - 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"}]} -2025-09-22 23:39:25 - INFO - 移动到中位位置 -2025-09-22 23:39:25 - 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 -2025-09-22 23:39:25 - 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"}]} -2025-09-22 23:39:25 - INFO - 移动到中位位置 -2025-09-22 23:39:25 - 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 -2025-09-22 23:39:25 - INFO - 移动到码垛中间点位置 -2025-09-22 23:39:25 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-22 23:39:26 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:39:26 - INFO - 移动到扔袋位置 -2025-09-22 23:39:26 - INFO - 移动到扔袋位置 -2025-09-22 23:39:26 - INFO - 移动到扔袋位置 -2025-09-22 23:39:26 - INFO - 移动到扔袋位置 -2025-09-22 23:39:26 - INFO - 已码垛数量：7 -2025-09-22 23:39:26 - 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 -2025-09-22 23:39:26 - 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"}]} -2025-09-22 23:39:26 - INFO - 移动到码垛复位位置 -2025-09-22 23:39:27 - 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 -2025-09-22 23:39:27 - 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"}]} -2025-09-22 23:39:27 - INFO - 拍照 -2025-09-22 23:39:27 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:39:27 - 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 -2025-09-22 23:39:27 - 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"}]} -2025-09-22 23:39:27 - INFO - 执行完成FPhoto -2025-09-22 23:39:27 - INFO - 移动到中位位置 -2025-09-22 23:39:27 - 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 -2025-09-22 23:39:28 - 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"}]} -2025-09-22 23:39:28 - INFO - 移动到中位位置 -2025-09-22 23:39:28 - 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 -2025-09-22 23:39:28 - 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"}]} -2025-09-22 23:39:28 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:39:28 - INFO - 机器人已到达抓料点位 -2025-09-22 23:39:28 - 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 -2025-09-22 23:39:28 - 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INFO - 移动到中位位置 -2025-09-22 23:39:29 - 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 -2025-09-22 23:39:29 - 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"}]} -2025-09-22 23:39:29 - INFO - 移动到码垛中间点位置 -2025-09-22 23:39:30 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-22 23:39:30 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:39:30 - INFO - 移动到扔袋位置 -2025-09-22 23:39:30 - INFO - 移动到扔袋位置 -2025-09-22 23:39:30 - INFO - 移动到扔袋位置 -2025-09-22 23:39:30 - 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"}]} -2025-09-22 23:39:30 - INFO - 移动到扔袋位置 -2025-09-22 23:39:30 - INFO - 已码垛数量：8 -2025-09-22 23:39:30 - 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 -2025-09-22 23:39:30 - INFO - 移动到码垛复位位置 -2025-09-22 23:39:31 - 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 -2025-09-22 23:39:31 - 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"}]} -2025-09-22 23:39:31 - INFO - 拍照 -2025-09-22 23:39:31 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:39:31 - 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 -2025-09-22 23:39:31 - 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"}]} -2025-09-22 23:39:31 - INFO - 执行完成FPhoto -2025-09-22 23:39:31 - INFO - 移动到中位位置 -2025-09-22 23:39:31 - 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 -2025-09-22 23:39:32 - 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"}]} -2025-09-22 23:39:32 - 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"}]} -2025-09-22 23:39:32 - INFO - 移动到中位位置 -2025-09-22 23:39:32 - 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 -2025-09-22 23:39:32 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:39:32 - INFO - 机器人已到达抓料点位 -2025-09-22 23:39:32 - 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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"}]} -2025-09-22 23:39:33 - INFO - 移动到中位位置 -2025-09-22 23:39:33 - 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 -2025-09-22 23:39:33 - INFO - 移动到码垛中间点位置 -2025-09-22 23:39:34 - 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"}]} -2025-09-22 23:39:34 - 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 -2025-09-22 23:39:34 - INFO - 移动到扔袋位置 -2025-09-22 23:39:34 - INFO - 移动到扔袋位置 -2025-09-22 23:39:34 - INFO - 移动到扔袋位置 -2025-09-22 23:39:34 - INFO - 移动到扔袋位置 -2025-09-22 23:39:34 - INFO - 已码垛数量：9 -2025-09-22 23:39:34 - 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 -2025-09-22 23:39:34 - 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"}]} -2025-09-22 23:39:35 - INFO - 移动到码垛复位位置 -2025-09-22 23:39:35 - 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 -2025-09-22 23:39:35 - 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"}]} -2025-09-22 23:39:35 - INFO - 拍照 -2025-09-22 23:39:35 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:39:35 - 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 -2025-09-22 23:39:35 - 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"}]} -2025-09-22 23:39:35 - INFO - 执行完成FPhoto -2025-09-22 23:39:35 - INFO - 移动到中位位置 -2025-09-22 23:39:35 - 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 -2025-09-22 23:39:36 - 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"}]} -2025-09-22 23:39:36 - INFO - 移动到中位位置 -2025-09-22 23:39:36 - 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 -2025-09-22 23:39:36 - 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"}]} -2025-09-22 23:39:36 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:39:36 - INFO - 机器人已到达抓料点位 -2025-09-22 23:39:36 - 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 -2025-09-22 23:39:36 - 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"}]} -2025-09-22 23:39:36 - 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"}]} -2025-09-22 23:39:37 - INFO - 移动到中位位置 -2025-09-22 23:39:37 - 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 -2025-09-22 23:39:37 - INFO - 移动到中位位置 -2025-09-22 23:39:37 - 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 -2025-09-22 23:39:37 - 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"}]} -2025-09-22 23:39:37 - INFO - 移动到中位位置 -2025-09-22 23:39:37 - 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 -2025-09-22 23:39:37 - 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"}]} -2025-09-22 23:39:37 - INFO - 移动到码垛中间点位置 -2025-09-22 23:39:38 - 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 -2025-09-22 23:39:38 - 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"}]} -2025-09-22 23:39:38 - INFO - 移动到扔袋位置 -2025-09-22 23:39:38 - INFO - 移动到扔袋位置 -2025-09-22 23:39:38 - INFO - 移动到扔袋位置 -2025-09-22 23:39:38 - INFO - 移动到扔袋位置 -2025-09-22 23:39:38 - INFO - 已码垛数量：10 -2025-09-22 23:39:38 - 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 -2025-09-22 23:39:38 - 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"}]} -2025-09-22 23:39:39 - INFO - 移动到码垛复位位置 -2025-09-22 23:39:39 - 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 -2025-09-22 23:39:39 - 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"}]} -2025-09-22 23:39:39 - INFO - 投料结束 -2025-09-22 23:39:39 - 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 -2025-09-22 23:39:39 - 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"}]} -2025-09-22 23:39:39 - INFO - 移动到拍照位置 -2025-09-22 23:39:39 - INFO - 复位成功 -2025-09-22 23:40:19 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-22 23:40:19 - INFO - 切换到工具坐标 -2025-09-22 23:40:19 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-22 23:40:20 - INFO - 切换到自动运行状态 -2025-09-22 23:40:20 - INFO - 第一层确认生产 -2025-09-22 23:41:48 - INFO - 1号线:投料开始 -2025-09-22 23:41:48 - 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"}]} -2025-09-22 23:41:49 - INFO - 发送IO控制: 2，1 -2025-09-22 23:41:51 - INFO - 投料暂停 -2025-09-22 23:41:51 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-22 23:41:53 - 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"}]} -2025-09-22 23:41:54 - INFO - 发送IO控制: 2，0 -2025-09-22 23:44:28 - INFO - 清除报警 -2025-09-22 23:44:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-22 23:44:29 - INFO - 投料停止 -2025-09-22 23:44:29 - INFO - 清除报警 -2025-09-22 23:44:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-22 23:44:29 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-22 23:44:29 - 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"}]} -2025-09-22 23:44:29 - 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INFO - 投料开始 -2025-09-23 00:17:38 - 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 -2025-09-23 00:17:38 - INFO - 投料开始 -2025-09-23 00:17:38 - 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 -2025-09-23 00:17:38 - 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"}]} -2025-09-23 00:17:38 - INFO - 移动到中位位置 -2025-09-23 00:17:38 - 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 -2025-09-23 00:17:38 - 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"}]} -2025-09-23 00:17:38 - 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"}]} -2025-09-23 00:17:38 - INFO - 检测是否安全投料 -2025-09-23 00:17:39 - 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 -2025-09-23 00:17:39 - 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"}]} -2025-09-23 00:17:39 - INFO - 检测是否安全投料 -2025-09-23 00:17:39 - 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 -2025-09-23 00:17:39 - INFO - 拍照 -2025-09-23 00:17:39 - INFO - 识别图像成功 -2025-09-23 00:17:39 - 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 -2025-09-23 00:17:39 - 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"}]} -2025-09-23 00:17:39 - INFO - 拍照 -2025-09-23 00:17:39 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:17:40 - 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 -2025-09-23 00:17:40 - 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"}]} -2025-09-23 00:17:40 - INFO - 执行完成FPhoto -2025-09-23 00:17:40 - 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"}]} -2025-09-23 00:17:40 - INFO - 移动到中位位置 -2025-09-23 00:17:40 - 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 -2025-09-23 00:17:40 - INFO - 移动到中位位置 -2025-09-23 00:17:40 - 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 -2025-09-23 00:17:40 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:17:41 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:17:41 - INFO - 机器人已到达抓料点位 -2025-09-23 00:17:41 - 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 -2025-09-23 00:17:41 - 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"}]} -2025-09-23 00:17:41 - INFO - 移动到中位位置 -2025-09-23 00:17:41 - 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 -2025-09-23 00:17:41 - 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"}]} -2025-09-23 00:17:41 - INFO - 移动到中位位置 -2025-09-23 00:17:41 - 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 -2025-09-23 00:17:42 - 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"}]} -2025-09-23 00:17:42 - INFO - 移动到中位位置 -2025-09-23 00:17:42 - 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 -2025-09-23 00:17:42 - 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"}]} -2025-09-23 00:17:42 - INFO - 移动到码垛中间点位置 -2025-09-23 00:17:42 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-23 00:17:42 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:17:42 - INFO - 移动到扔袋位置 -2025-09-23 00:17:42 - INFO - 清除报警 -2025-09-23 00:17:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:17:43 - INFO - 投料停止 -2025-09-23 00:17:43 - INFO - 清除报警 -2025-09-23 00:17:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:17:50 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 00:17:50 - 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"}]} -2025-09-23 00:17:51 - INFO - 发送IO控制: 2，1 -2025-09-23 00:17:51 - INFO - 按下急停 -2025-09-23 00:17:51 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:17:52 - INFO - 切换到工具坐标 -2025-09-23 00:17:52 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:17:54 - INFO - 切换到自动运行状态 -2025-09-23 00:17:54 - INFO - 第一层确认生产 -2025-09-23 00:17:56 - INFO - 1号线:投料开始 -2025-09-23 00:18:21 - 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"}]} -2025-09-23 00:18:21 - INFO - 发送IO控制: 2，1 -2025-09-23 00:18:25 - INFO - 退出系统 -2025-09-23 00:18:26 - 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"}]} -2025-09-23 00:18:26 - INFO - 发送IO控制: 2，0 -2025-09-23 00:18:27 - 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"}]} -2025-09-23 00:45:55 - INFO - 进入系统 -2025-09-23 00:46:01 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:46:01 - INFO - 切换到工具坐标 -2025-09-23 00:46:01 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:46:01 - INFO - 切换到自动运行状态 -2025-09-23 00:46:05 - INFO - 第一层确认生产 -2025-09-23 00:46:19 - INFO - 1号线:投料开始 -2025-09-23 00:46:55 - INFO - 进入系统 -2025-09-23 00:46:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:46:58 - INFO - 切换到工具坐标 -2025-09-23 00:46:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:46:58 - INFO - 切换到自动运行状态 -2025-09-23 00:46:59 - INFO - 第一层确认生产 -2025-09-23 00:47:02 - INFO - 1号线:投料开始 -2025-09-23 00:47:06 - 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"}]} -2025-09-23 00:47:06 - INFO - 发送IO控制: 2，1 -2025-09-23 00:47:11 - 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"}]} -2025-09-23 00:47:11 - INFO - 发送IO控制: 2，0 -2025-09-23 00:47:12 - 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"}]} -2025-09-23 00:47:12 - INFO - 投料开始 -2025-09-23 00:47:12 - 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 -2025-09-23 00:47:12 - INFO - 投料开始 -2025-09-23 00:47:12 - 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"}]} -2025-09-23 00:47:12 - 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 -2025-09-23 00:47:12 - 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"}]} -2025-09-23 00:47:12 - INFO - 移动到中位位置 -2025-09-23 00:47:12 - 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 -2025-09-23 00:47:13 - INFO - 检测是否安全投料 -2025-09-23 00:47:13 - 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 -2025-09-23 00:47:13 - 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"}]} -2025-09-23 00:47:13 - INFO - 检测是否安全投料 -2025-09-23 00:47:13 - 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 -2025-09-23 00:47:13 - 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"}]} -2025-09-23 00:47:13 - INFO - 拍照 -2025-09-23 00:47:13 - INFO - 识别图像成功 -2025-09-23 00:47:13 - 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 -2025-09-23 00:47:14 - 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"}]} -2025-09-23 00:47:14 - INFO - 拍照 -2025-09-23 00:47:14 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:47:14 - 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 -2025-09-23 00:47:14 - 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"}]} -2025-09-23 00:47:14 - INFO - 执行完成FPhoto -2025-09-23 00:47:14 - INFO - 移动到中位位置 -2025-09-23 00:47:14 - 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 -2025-09-23 00:47:14 - 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"}]} -2025-09-23 00:47:15 - INFO - 移动到中位位置 -2025-09-23 00:47:15 - 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 -2025-09-23 00:47:15 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:47:15 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:47:15 - INFO - 机器人已到达抓料点位 -2025-09-23 00:47:15 - 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 -2025-09-23 00:47:15 - 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"}]} -2025-09-23 00:47:15 - INFO - 移动到中位位置 -2025-09-23 00:47:15 - 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 -2025-09-23 00:47:15 - 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"}]} -2025-09-23 00:47:16 - 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"}]} -2025-09-23 00:47:16 - INFO - 移动到中位位置 -2025-09-23 00:47:16 - 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 -2025-09-23 00:47:16 - INFO - 移动到中位位置 -2025-09-23 00:47:16 - 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 -2025-09-23 00:47:16 - 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"}]} -2025-09-23 00:47:16 - INFO - 移动到码垛中间点位置 -2025-09-23 00:47:16 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-23 00:47:16 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:47:17 - INFO - 移动到扔袋位置 -2025-09-23 00:47:17 - INFO - 移动到扔袋位置 -2025-09-23 00:47:17 - INFO - 移动到扔袋位置 -2025-09-23 00:47:17 - INFO - 移动到扔袋位置 -2025-09-23 00:47:17 - INFO - 已码垛数量：4 -2025-09-23 00:47:17 - 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 -2025-09-23 00:47:17 - 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"}]} -2025-09-23 00:47:17 - INFO - 移动到码垛复位位置 -2025-09-23 00:47:17 - 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 -2025-09-23 00:47:18 - 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"}]} -2025-09-23 00:47:18 - INFO - 拍照 -2025-09-23 00:47:18 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:47:18 - 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 -2025-09-23 00:47:18 - 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"}]} -2025-09-23 00:47:18 - INFO - 执行完成FPhoto -2025-09-23 00:47:18 - INFO - 移动到中位位置 -2025-09-23 00:47:18 - 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 -2025-09-23 00:47:18 - 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"}]} -2025-09-23 00:47:19 - INFO - 移动到中位位置 -2025-09-23 00:47:19 - 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 -2025-09-23 00:47:19 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:47:19 - 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"}]} -2025-09-23 00:47:19 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:47:19 - INFO - 机器人已到达抓料点位 -2025-09-23 00:47:19 - 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 -2025-09-23 00:47:19 - INFO - 移动到中位位置 -2025-09-23 00:47:19 - 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 -2025-09-23 00:47:19 - 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"}]} -2025-09-23 00:47:20 - INFO - 移动到中位位置 -2025-09-23 00:47:20 - 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 -2025-09-23 00:47:20 - 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"}]} -2025-09-23 00:47:20 - 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"}]} -2025-09-23 00:47:20 - INFO - 移动到中位位置 -2025-09-23 00:47:20 - 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 -2025-09-23 00:47:20 - 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":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:47:20 - INFO - 移动到码垛中间点位置 -2025-09-23 00:47:20 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-23 00:47:21 - INFO - 移动到扔袋位置 -2025-09-23 00:47:21 - INFO - 移动到扔袋位置 -2025-09-23 00:47:21 - INFO - 移动到扔袋位置 -2025-09-23 00:47:21 - INFO - 移动到扔袋位置 -2025-09-23 00:47:21 - INFO - 已码垛数量：5 -2025-09-23 00:47:21 - 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 -2025-09-23 00:47:21 - 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"}]} -2025-09-23 00:47:21 - INFO - 移动到码垛复位位置 -2025-09-23 00:47:21 - 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 -2025-09-23 00:47:22 - 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"}]} -2025-09-23 00:47:22 - INFO - 拍照 -2025-09-23 00:47:22 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:47:22 - 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"}]} -2025-09-23 00:47:22 - 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 -2025-09-23 00:47:22 - INFO - 执行完成FPhoto -2025-09-23 00:47:22 - INFO - 移动到中位位置 -2025-09-23 00:47:22 - 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 -2025-09-23 00:47:22 - 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"}]} -2025-09-23 00:47:23 - INFO - 移动到中位位置 -2025-09-23 00:47:23 - 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 -2025-09-23 00:47:23 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:47:23 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:47:23 - INFO - 机器人已到达抓料点位 -2025-09-23 00:47:23 - 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 -2025-09-23 00:47:23 - 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"}]} -2025-09-23 00:47:23 - 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"}]} -2025-09-23 00:47:23 - INFO - 移动到中位位置 -2025-09-23 00:47:24 - 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 -2025-09-23 00:47:24 - 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"}]} -2025-09-23 00:47:24 - INFO - 移动到中位位置 -2025-09-23 00:47:24 - 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 -2025-09-23 00:47:24 - 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"}]} -2025-09-23 00:47:24 - INFO - 移动到中位位置 -2025-09-23 00:47:24 - 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 -2025-09-23 00:47:24 - INFO - 移动到码垛中间点位置 -2025-09-23 00:47:24 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-23 00:47:24 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:47:25 - INFO - 移动到扔袋位置 -2025-09-23 00:47:25 - INFO - 移动到扔袋位置 -2025-09-23 00:47:25 - INFO - 移动到扔袋位置 -2025-09-23 00:47:25 - INFO - 移动到扔袋位置 -2025-09-23 00:47:25 - INFO - 已码垛数量：6 -2025-09-23 00:47:25 - 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 -2025-09-23 00:47:25 - 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"}]} -2025-09-23 00:47:25 - INFO - 移动到码垛复位位置 -2025-09-23 00:47:25 - 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 -2025-09-23 00:47:26 - 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"}]} -2025-09-23 00:47:26 - INFO - 拍照 -2025-09-23 00:47:26 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:47:26 - 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 -2025-09-23 00:47:26 - 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"}]} -2025-09-23 00:47:26 - INFO - 执行完成FPhoto -2025-09-23 00:47:26 - INFO - 移动到中位位置 -2025-09-23 00:47:26 - 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 -2025-09-23 00:47:26 - 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"}]} -2025-09-23 00:47:27 - INFO - 移动到中位位置 -2025-09-23 00:47:27 - 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 -2025-09-23 00:47:27 - 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"}]} -2025-09-23 00:47:27 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:47:27 - INFO - 机器人已到达抓料点位 -2025-09-23 00:47:27 - 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 -2025-09-23 00:47:27 - 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"}]} -2025-09-23 00:47:27 - INFO - 移动到中位位置 -2025-09-23 00:47:27 - 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 -2025-09-23 00:47:28 - 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"}]} -2025-09-23 00:47:28 - 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"}]} -2025-09-23 00:47:28 - INFO - 移动到中位位置 -2025-09-23 00:47:28 - 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 -2025-09-23 00:47:28 - INFO - 移动到中位位置 -2025-09-23 00:47:28 - 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"}]} -2025-09-23 00:47:28 - 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 -2025-09-23 00:47:28 - INFO - 移动到码垛中间点位置 -2025-09-23 00:47:28 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-23 00:47:29 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:47:29 - INFO - 移动到扔袋位置 -2025-09-23 00:47:29 - INFO - 移动到扔袋位置 -2025-09-23 00:47:29 - INFO - 移动到扔袋位置 -2025-09-23 00:47:29 - INFO - 移动到扔袋位置 -2025-09-23 00:47:29 - INFO - 已码垛数量：7 -2025-09-23 00:47:29 - 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 -2025-09-23 00:47:29 - 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"}]} -2025-09-23 00:47:29 - INFO - 移动到码垛复位位置 -2025-09-23 00:47:29 - 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 -2025-09-23 00:47:30 - 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"}]} -2025-09-23 00:47:30 - INFO - 拍照 -2025-09-23 00:47:30 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:47:30 - 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 -2025-09-23 00:47:30 - 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"}]} -2025-09-23 00:47:30 - INFO - 执行完成FPhoto -2025-09-23 00:47:30 - 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"}]} -2025-09-23 00:47:30 - INFO - 移动到中位位置 -2025-09-23 00:47:30 - 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 -2025-09-23 00:47:31 - 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"}]} -2025-09-23 00:47:31 - INFO - 移动到中位位置 -2025-09-23 00:47:31 - 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 -2025-09-23 00:47:31 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:47:31 - INFO - 机器人已到达抓料点位 -2025-09-23 00:47:31 - 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"}]} -2025-09-23 00:47:31 - 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 -2025-09-23 00:47:31 - INFO - 移动到中位位置 -2025-09-23 00:47:31 - 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 -2025-09-23 00:47:32 - 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"}]} -2025-09-23 00:47:32 - INFO - 移动到中位位置 -2025-09-23 00:47:32 - 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 -2025-09-23 00:47:32 - 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"}]} -2025-09-23 00:47:32 - INFO - 移动到中位位置 -2025-09-23 00:47:32 - 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 -2025-09-23 00:47:32 - 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"}]} -2025-09-23 00:47:32 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:47:32 - INFO - 移动到码垛中间点位置 -2025-09-23 00:47:33 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-23 00:47:33 - INFO - 移动到扔袋位置 -2025-09-23 00:47:33 - INFO - 移动到扔袋位置 -2025-09-23 00:47:33 - INFO - 移动到扔袋位置 -2025-09-23 00:47:33 - 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"}]} -2025-09-23 00:47:33 - INFO - 移动到扔袋位置 -2025-09-23 00:47:33 - INFO - 已码垛数量：8 -2025-09-23 00:47:33 - 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 -2025-09-23 00:47:33 - INFO - 移动到码垛复位位置 -2025-09-23 00:47:34 - 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"}]} -2025-09-23 00:47:34 - 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 -2025-09-23 00:47:34 - INFO - 拍照 -2025-09-23 00:47:34 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:47:34 - 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 -2025-09-23 00:47:34 - 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"}]} -2025-09-23 00:47:34 - INFO - 执行完成FPhoto -2025-09-23 00:47:34 - INFO - 移动到中位位置 -2025-09-23 00:47:34 - 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 -2025-09-23 00:47:34 - 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"}]} -2025-09-23 00:47:35 - INFO - 移动到中位位置 -2025-09-23 00:47:35 - 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 -2025-09-23 00:47:35 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:47:35 - 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"}]} -2025-09-23 00:47:35 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:47:35 - INFO - 机器人已到达抓料点位 -2025-09-23 00:47:35 - 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 -2025-09-23 00:47:35 - INFO - 移动到中位位置 -2025-09-23 00:47:35 - 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 -2025-09-23 00:47:36 - 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"}]} -2025-09-23 00:47:36 - INFO - 移动到中位位置 -2025-09-23 00:47:36 - 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 -2025-09-23 00:47:36 - 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"}]} -2025-09-23 00:47:36 - INFO - 移动到中位位置 -2025-09-23 00:47:36 - 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 -2025-09-23 00:47:36 - 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"}]} -2025-09-23 00:47:36 - INFO - 移动到码垛中间点位置 -2025-09-23 00:47:36 - 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 -2025-09-23 00:47:37 - 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"}]} -2025-09-23 00:47:37 - INFO - 移动到扔袋位置 -2025-09-23 00:47:37 - INFO - 移动到扔袋位置 -2025-09-23 00:47:37 - INFO - 移动到扔袋位置 -2025-09-23 00:47:37 - INFO - 移动到扔袋位置 -2025-09-23 00:47:37 - INFO - 已码垛数量：9 -2025-09-23 00:47:37 - 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 -2025-09-23 00:47:37 - 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"}]} -2025-09-23 00:47:37 - INFO - 移动到码垛复位位置 -2025-09-23 00:47:38 - 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 -2025-09-23 00:47:38 - 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"}]} -2025-09-23 00:47:38 - INFO - 拍照 -2025-09-23 00:47:38 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:47:38 - 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 -2025-09-23 00:47:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:47:38 - INFO - 执行完成FPhoto -2025-09-23 00:47:38 - INFO - 移动到中位位置 -2025-09-23 00:47:38 - 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 -2025-09-23 00:47:39 - 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"}]} -2025-09-23 00:47:39 - INFO - 移动到中位位置 -2025-09-23 00:47:39 - 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 -2025-09-23 00:47:39 - 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"}]} -2025-09-23 00:47:39 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:47:39 - INFO - 机器人已到达抓料点位 -2025-09-23 00:47:39 - 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 -2025-09-23 00:47:39 - 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"}]} -2025-09-23 00:47:39 - INFO - 移动到中位位置 -2025-09-23 00:47:39 - 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 -2025-09-23 00:47:40 - 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"}]} -2025-09-23 00:47:40 - INFO - 移动到中位位置 -2025-09-23 00:47:40 - 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 -2025-09-23 00:47:40 - 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"}]} -2025-09-23 00:47:40 - 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"}]} -2025-09-23 00:47:40 - INFO - 移动到中位位置 -2025-09-23 00:47:40 - 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 -2025-09-23 00:47:40 - 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"}]} -2025-09-23 00:47:40 - INFO - 移动到码垛中间点位置 -2025-09-23 00:47:41 - 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 -2025-09-23 00:47:41 - INFO - 移动到扔袋位置 -2025-09-23 00:47:41 - INFO - 移动到扔袋位置 -2025-09-23 00:47:41 - INFO - 移动到扔袋位置 -2025-09-23 00:47:41 - INFO - 移动到扔袋位置 -2025-09-23 00:47:41 - INFO - 已码垛数量：10 -2025-09-23 00:47:41 - 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 -2025-09-23 00:47:41 - 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"}]} -2025-09-23 00:47:41 - 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"}]} -2025-09-23 00:47:42 - INFO - 移动到码垛复位位置 -2025-09-23 00:47:42 - 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 -2025-09-23 00:47:42 - INFO - 投料结束 -2025-09-23 00:47:42 - 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 -2025-09-23 00:47:42 - 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"}]} -2025-09-23 00:47:42 - INFO - 移动到拍照位置 -2025-09-23 00:47:42 - INFO - 复位成功 -2025-09-23 00:47:48 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:47:48 - INFO - 切换到工具坐标 -2025-09-23 00:47:48 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:47:48 - INFO - 切换到自动运行状态 -2025-09-23 00:47:49 - INFO - 第一层确认生产 -2025-09-23 00:47:54 - INFO - 1号线:投料开始 -2025-09-23 00:47:54 - 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"}]} -2025-09-23 00:47:54 - INFO - 发送IO控制: 2，1 -2025-09-23 00:47:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:47:58 - INFO - 切换到工具坐标 -2025-09-23 00:47:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:47:58 - INFO - 切换到自动运行状态 -2025-09-23 00:47:59 - 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"}]} -2025-09-23 00:47:59 - INFO - 发送IO控制: 2，0 -2025-09-23 00:47:59 - 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"}]} -2025-09-23 00:47:59 - INFO - 投料开始 -2025-09-23 00:47:59 - 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 -2025-09-23 00:47:59 - INFO - 第一层确认生产 -2025-09-23 00:48:00 - 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"}]} -2025-09-23 00:48:00 - INFO - 投料开始 -2025-09-23 00:48:00 - 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 -2025-09-23 00:48:00 - INFO - 移动到中位位置 -2025-09-23 00:48:00 - 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 -2025-09-23 00:48:00 - 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"}]} -2025-09-23 00:48:00 - INFO - 检测是否安全投料 -2025-09-23 00:48:00 - 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 -2025-09-23 00:48:00 - 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"}]} -2025-09-23 00:48:01 - 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"}]} -2025-09-23 00:48:01 - INFO - 检测是否安全投料 -2025-09-23 00:48:01 - 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 -2025-09-23 00:48:01 - INFO - 拍照 -2025-09-23 00:48:01 - INFO - 识别图像成功 -2025-09-23 00:48:01 - 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 -2025-09-23 00:48:01 - 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"}]} -2025-09-23 00:48:01 - INFO - 拍照 -2025-09-23 00:48:01 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:48:02 - 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 -2025-09-23 00:48:02 - 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"}]} -2025-09-23 00:48:02 - INFO - 执行完成FPhoto -2025-09-23 00:48:02 - 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"}]} -2025-09-23 00:48:02 - INFO - 移动到中位位置 -2025-09-23 00:48:02 - 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 -2025-09-23 00:48:02 - INFO - 移动到中位位置 -2025-09-23 00:48:02 - 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 -2025-09-23 00:48:02 - 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"}]} -2025-09-23 00:48:03 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:48:03 - INFO - 机器人已到达抓料点位 -2025-09-23 00:48:03 - 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"}]} -2025-09-23 00:48:03 - 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 -2025-09-23 00:48:03 - INFO - 移动到中位位置 -2025-09-23 00:48:03 - 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 -2025-09-23 00:48:03 - 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"}]} -2025-09-23 00:48:03 - INFO - 移动到中位位置 -2025-09-23 00:48:03 - 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 -2025-09-23 00:48:04 - 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"}]} -2025-09-23 00:48:04 - 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"}]} -2025-09-23 00:48:04 - INFO - 移动到中位位置 -2025-09-23 00:48:04 - 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 -2025-09-23 00:48:04 - INFO - 移动到码垛中间点位置 -2025-09-23 00:48:04 - INFO - 移动到位置:姿势直线：X:1052.553-Y:-395.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-23 00:48:04 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:04 - INFO - 移动到扔袋位置 -2025-09-23 00:48:04 - INFO - 移动到扔袋位置 -2025-09-23 00:48:04 - INFO - 移动到扔袋位置 -2025-09-23 00:48:05 - INFO - 移动到扔袋位置 -2025-09-23 00:48:05 - INFO - 已码垛数量：1 -2025-09-23 00:48:05 - 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 -2025-09-23 00:48:05 - 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"}]} -2025-09-23 00:48:05 - INFO - 移动到码垛复位位置 -2025-09-23 00:48:05 - 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 -2025-09-23 00:48:05 - 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"}]} -2025-09-23 00:48:05 - INFO - 拍照 -2025-09-23 00:48:05 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:48:06 - 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"}]} -2025-09-23 00:48:06 - 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 -2025-09-23 00:48:06 - INFO - 执行完成FPhoto -2025-09-23 00:48:06 - INFO - 移动到中位位置 -2025-09-23 00:48:06 - 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 -2025-09-23 00:48:06 - 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"}]} -2025-09-23 00:48:06 - INFO - 移动到中位位置 -2025-09-23 00:48:06 - 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 -2025-09-23 00:48:06 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:07 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:48:07 - INFO - 机器人已到达抓料点位 -2025-09-23 00:48:07 - 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 -2025-09-23 00:48:07 - 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"}]} -2025-09-23 00:48:07 - INFO - 移动到中位位置 -2025-09-23 00:48:07 - 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 -2025-09-23 00:48:07 - 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"}]} -2025-09-23 00:48:07 - INFO - 移动到中位位置 -2025-09-23 00:48:07 - 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"}]} -2025-09-23 00:48:08 - 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 -2025-09-23 00:48:08 - INFO - 移动到中位位置 -2025-09-23 00:48:08 - 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 -2025-09-23 00:48:08 - 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"}]} -2025-09-23 00:48:08 - INFO - 移动到码垛中间点位置 -2025-09-23 00:48:08 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1052.553","m1":"704.308","m2":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:08 - INFO - 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-23 00:48:08 - INFO - 移动到扔袋位置 -2025-09-23 00:48:08 - INFO - 移动到扔袋位置 -2025-09-23 00:48:09 - INFO - 移动到扔袋位置 -2025-09-23 00:48:09 - INFO - 移动到扔袋位置 -2025-09-23 00:48:09 - INFO - 已码垛数量：2 -2025-09-23 00:48:09 - 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 -2025-09-23 00:48:09 - 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"}]} -2025-09-23 00:48:09 - INFO - 移动到码垛复位位置 -2025-09-23 00:48:09 - 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 -2025-09-23 00:48:09 - 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"}]} -2025-09-23 00:48:09 - INFO - 拍照 -2025-09-23 00:48:09 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:48:10 - 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"}]} -2025-09-23 00:48:10 - 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 -2025-09-23 00:48:10 - INFO - 执行完成FPhoto -2025-09-23 00:48:10 - INFO - 1号线:投料开始 -2025-09-23 00:48:10 - 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"}]} -2025-09-23 00:48:10 - INFO - 移动到中位位置 -2025-09-23 00:48:10 - 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 -2025-09-23 00:48:10 - INFO - 移动到中位位置 -2025-09-23 00:48:10 - 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 -2025-09-23 00:48:11 - 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"}]} -2025-09-23 00:48:11 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:48:11 - INFO - 机器人已到达抓料点位 -2025-09-23 00:48:11 - 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 -2025-09-23 00:48:11 - 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"}]} -2025-09-23 00:48:11 - INFO - 移动到中位位置 -2025-09-23 00:48:11 - 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 -2025-09-23 00:48:11 - 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"}]} -2025-09-23 00:48:11 - INFO - 移动到中位位置 -2025-09-23 00:48:12 - 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 -2025-09-23 00:48:12 - 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"}]} -2025-09-23 00:48:12 - INFO - 移动到中位位置 -2025-09-23 00:48:12 - 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 -2025-09-23 00:48:12 - 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"}]} -2025-09-23 00:48:12 - INFO - 移动到码垛中间点位置 -2025-09-23 00:48:12 - INFO - 移动到位置:姿势直线：X:1052.553-Y:179.308-Z:-1202.361-U:-148.482-V:3.0-W:0.0 -2025-09-23 00:48:12 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:12 - INFO - 移动到扔袋位置 -2025-09-23 00:48:13 - INFO - 移动到扔袋位置 -2025-09-23 00:48:13 - INFO - 移动到扔袋位置 -2025-09-23 00:48:13 - INFO - 移动到扔袋位置 -2025-09-23 00:48:13 - INFO - 已码垛数量：3 -2025-09-23 00:48:13 - 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 -2025-09-23 00:48:13 - 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"}]} -2025-09-23 00:48:13 - INFO - 移动到码垛复位位置 -2025-09-23 00:48:13 - 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 -2025-09-23 00:48:13 - 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"}]} -2025-09-23 00:48:14 - INFO - 拍照 -2025-09-23 00:48:14 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:48:14 - 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 -2025-09-23 00:48:14 - 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"}]} -2025-09-23 00:48:14 - INFO - 执行完成FPhoto -2025-09-23 00:48:14 - INFO - 移动到中位位置 -2025-09-23 00:48:14 - 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 -2025-09-23 00:48:14 - 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"}]} -2025-09-23 00:48:14 - INFO - 移动到中位位置 -2025-09-23 00:48:15 - 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 -2025-09-23 00:48:15 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:15 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:48:15 - INFO - 机器人已到达抓料点位 -2025-09-23 00:48:15 - 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 -2025-09-23 00:48:15 - 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"}]} -2025-09-23 00:48:15 - INFO - 移动到中位位置 -2025-09-23 00:48:15 - 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 -2025-09-23 00:48:15 - 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"}]} -2025-09-23 00:48:15 - INFO - 移动到中位位置 -2025-09-23 00:48:16 - 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"}]} -2025-09-23 00:48:16 - 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 -2025-09-23 00:48:16 - INFO - 移动到中位位置 -2025-09-23 00:48:16 - 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 -2025-09-23 00:48:16 - 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"}]} -2025-09-23 00:48:16 - INFO - 移动到码垛中间点位置 -2025-09-23 00:48:16 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-23 00:48:16 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:16 - INFO - 移动到扔袋位置 -2025-09-23 00:48:17 - INFO - 清除报警 -2025-09-23 00:48:17 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:48:17 - INFO - 投料停止 -2025-09-23 00:48:17 - INFO - 清除报警 -2025-09-23 00:48:17 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:48:17 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 00:48:17 - 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"}]} -2025-09-23 00:48:17 - INFO - 发送IO控制: 2，1 -2025-09-23 00:48:17 - INFO - 按下急停 -2025-09-23 00:48:22 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:48:22 - INFO - 切换到工具坐标 -2025-09-23 00:48:22 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:48:22 - INFO - 切换到自动运行状态 -2025-09-23 00:48:23 - INFO - 第一层确认生产 -2025-09-23 00:48:26 - INFO - 1号线:投料开始 -2025-09-23 00:48:27 - 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"}]} -2025-09-23 00:48:27 - INFO - 发送IO控制: 2，1 -2025-09-23 00:48:31 - 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"}]} -2025-09-23 00:48:32 - INFO - 发送IO控制: 2，0 -2025-09-23 00:48:32 - 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"}]} -2025-09-23 00:48:33 - INFO - 投料开始 -2025-09-23 00:48:33 - 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 -2025-09-23 00:48:34 - INFO - 投料开始 -2025-09-23 00:48:34 - 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 -2025-09-23 00:48:34 - 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"}]} -2025-09-23 00:48:35 - INFO - 移动到中位位置 -2025-09-23 00:48:35 - 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"}]} -2025-09-23 00:48:35 - 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 -2025-09-23 00:48:36 - INFO - 检测是否安全投料 -2025-09-23 00:48:36 - 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"}]} -2025-09-23 00:48:36 - 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 -2025-09-23 00:48:37 - INFO - 检测是否安全投料 -2025-09-23 00:48:37 - 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 -2025-09-23 00:48:37 - 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"}]} -2025-09-23 00:48:38 - INFO - 拍照 -2025-09-23 00:48:38 - INFO - 识别图像成功 -2025-09-23 00:48:38 - 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 -2025-09-23 00:48:38 - 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"}]} -2025-09-23 00:48:39 - INFO - 拍照 -2025-09-23 00:48:40 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:48:40 - 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 -2025-09-23 00:48:40 - 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"}]} -2025-09-23 00:48:40 - INFO - 执行完成FPhoto -2025-09-23 00:48:41 - INFO - 移动到中位位置 -2025-09-23 00:48:41 - 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 -2025-09-23 00:48:41 - 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"}]} -2025-09-23 00:48:42 - 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"}]} -2025-09-23 00:48:42 - INFO - 移动到中位位置 -2025-09-23 00:48:42 - 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 -2025-09-23 00:48:43 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:48:43 - INFO - 机器人已到达抓料点位 -2025-09-23 00:48:43 - 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 -2025-09-23 00:48:43 - 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"}]} -2025-09-23 00:48:44 - 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"}]} -2025-09-23 00:48:44 - INFO - 移动到中位位置 -2025-09-23 00:48:44 - 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 -2025-09-23 00:48:45 - INFO - 移动到中位位置 -2025-09-23 00:48:45 - 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 -2025-09-23 00:48:46 - 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"}]} -2025-09-23 00:48:46 - 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"}]} -2025-09-23 00:48:47 - INFO - 移动到中位位置 -2025-09-23 00:48:47 - 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 -2025-09-23 00:48:48 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:48 - INFO - 移动到码垛中间点位置 -2025-09-23 00:48:48 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-23 00:48:49 - 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"}]} -2025-09-23 00:48:49 - INFO - 移动到扔袋位置 -2025-09-23 00:48:49 - INFO - 已码垛数量：4 -2025-09-23 00:48:49 - 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 -2025-09-23 00:48:49 - 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"}]} -2025-09-23 00:48:49 - INFO - 移动到码垛复位位置 -2025-09-23 00:48:49 - 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 -2025-09-23 00:48:49 - INFO - 拍照 -2025-09-23 00:48:50 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:48:50 - 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 -2025-09-23 00:48:50 - 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"}]} -2025-09-23 00:48:50 - INFO - 执行完成FPhoto -2025-09-23 00:48:50 - 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"}]} -2025-09-23 00:48:50 - INFO - 移动到中位位置 -2025-09-23 00:48:50 - 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 -2025-09-23 00:48:50 - INFO - 移动到中位位置 -2025-09-23 00:48:50 - 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 -2025-09-23 00:48:51 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:51 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:48:51 - INFO - 机器人已到达抓料点位 -2025-09-23 00:48:51 - 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 -2025-09-23 00:48:51 - 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"}]} -2025-09-23 00:48:51 - INFO - 移动到中位位置 -2025-09-23 00:48:51 - 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 -2025-09-23 00:48:51 - 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"}]} -2025-09-23 00:48:51 - INFO - 移动到中位位置 -2025-09-23 00:48:51 - 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 -2025-09-23 00:48:52 - 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"}]} -2025-09-23 00:48:52 - INFO - 移动到中位位置 -2025-09-23 00:48:52 - 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 -2025-09-23 00:48:52 - 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"}]} -2025-09-23 00:48:52 - INFO - 移动到码垛中间点位置 -2025-09-23 00:48:52 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-23 00:48:52 - 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":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:52 - INFO - 移动到扔袋位置 -2025-09-23 00:48:52 - INFO - 移动到扔袋位置 -2025-09-23 00:48:53 - INFO - 移动到扔袋位置 -2025-09-23 00:48:53 - INFO - 移动到扔袋位置 -2025-09-23 00:48:53 - INFO - 已码垛数量：5 -2025-09-23 00:48:53 - 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 -2025-09-23 00:48:53 - 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"}]} -2025-09-23 00:48:53 - INFO - 移动到码垛复位位置 -2025-09-23 00:48:53 - 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 -2025-09-23 00:48:53 - 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"}]} -2025-09-23 00:48:53 - INFO - 拍照 -2025-09-23 00:48:54 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:48:54 - 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 -2025-09-23 00:48:54 - 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"}]} -2025-09-23 00:48:54 - INFO - 执行完成FPhoto -2025-09-23 00:48:54 - INFO - 移动到中位位置 -2025-09-23 00:48:54 - 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 -2025-09-23 00:48:54 - 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"}]} -2025-09-23 00:48:54 - INFO - 移动到中位位置 -2025-09-23 00:48:54 - 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 -2025-09-23 00:48:55 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:55 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:48:55 - INFO - 机器人已到达抓料点位 -2025-09-23 00:48:55 - 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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 -2025-09-23 00:48:56 - INFO - 移动到中位位置 -2025-09-23 00:48:56 - 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 -2025-09-23 00:48:56 - 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"}]} -2025-09-23 00:48:56 - INFO - 移动到码垛中间点位置 -2025-09-23 00:48:56 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-23 00:48:56 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:56 - INFO - 移动到扔袋位置 -2025-09-23 00:48:56 - INFO - 移动到扔袋位置 -2025-09-23 00:48:57 - INFO - 移动到扔袋位置 -2025-09-23 00:48:57 - INFO - 移动到扔袋位置 -2025-09-23 00:48:57 - INFO - 已码垛数量：6 -2025-09-23 00:48:57 - 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 -2025-09-23 00:48:57 - 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"}]} -2025-09-23 00:48:57 - 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"}]} -2025-09-23 00:48:57 - INFO - 移动到码垛复位位置 -2025-09-23 00:48:57 - 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 -2025-09-23 00:48:57 - INFO - 拍照 -2025-09-23 00:48:58 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:48:58 - 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 -2025-09-23 00:48:58 - 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"}]} -2025-09-23 00:48:58 - INFO - 执行完成FPhoto -2025-09-23 00:48:58 - INFO - 移动到中位位置 -2025-09-23 00:48:58 - 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 -2025-09-23 00:48:58 - 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"}]} -2025-09-23 00:48:58 - INFO - 移动到中位位置 -2025-09-23 00:48:58 - 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 -2025-09-23 00:48:59 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:59 - 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"}]} -2025-09-23 00:48:59 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:48:59 - INFO - 机器人已到达抓料点位 -2025-09-23 00:48:59 - 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 -2025-09-23 00:48:59 - INFO - 移动到中位位置 -2025-09-23 00:48:59 - 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 -2025-09-23 00:48:59 - 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"}]} -2025-09-23 00:48:59 - 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"}]} -2025-09-23 00:49:00 - INFO - 移动到中位位置 -2025-09-23 00:49:00 - 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 -2025-09-23 00:49:00 - INFO - 移动到中位位置 -2025-09-23 00:49:00 - 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 -2025-09-23 00:49:00 - 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"}]} -2025-09-23 00:49:00 - INFO - 移动到码垛中间点位置 -2025-09-23 00:49:00 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-23 00:49:00 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:49:00 - INFO - 移动到扔袋位置 -2025-09-23 00:49:01 - INFO - 移动到扔袋位置 -2025-09-23 00:49:01 - INFO - 移动到扔袋位置 -2025-09-23 00:49:01 - INFO - 清除报警 -2025-09-23 00:49:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:49:01 - INFO - 投料停止 -2025-09-23 00:49:08 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:49:08 - INFO - 切换到工具坐标 -2025-09-23 00:49:08 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:49:08 - INFO - 切换到自动运行状态 -2025-09-23 00:49:10 - INFO - 第一层确认生产 -2025-09-23 00:49:12 - INFO - 1号线:投料开始 -2025-09-23 00:49:12 - 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"}]} -2025-09-23 00:49:12 - INFO - 发送IO控制: 2，1 -2025-09-23 00:49:17 - 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"}]} -2025-09-23 00:49:17 - INFO - 发送IO控制: 2，0 -2025-09-23 00:49:18 - INFO - 投料开始 -2025-09-23 00:49:18 - 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 -2025-09-23 00:49:18 - 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"}]} -2025-09-23 00:49:19 - INFO - 投料开始 -2025-09-23 00:49:19 - 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 -2025-09-23 00:49:19 - 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"}]} -2025-09-23 00:49:20 - INFO - 移动到中位位置 -2025-09-23 00:49:20 - 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 -2025-09-23 00:49:20 - 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"}]} -2025-09-23 00:49:21 - 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"}]} -2025-09-23 00:49:21 - INFO - 检测是否安全投料 -2025-09-23 00:49:21 - 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 -2025-09-23 00:49:22 - INFO - 检测是否安全投料 -2025-09-23 00:49:22 - 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 -2025-09-23 00:49:22 - 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"}]} -2025-09-23 00:49:23 - INFO - 拍照 -2025-09-23 00:49:23 - INFO - 识别图像成功 -2025-09-23 00:49:24 - 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 -2025-09-23 00:49:24 - 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"}]} -2025-09-23 00:49:24 - INFO - 拍照 -2025-09-23 00:49:25 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:49:25 - 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"}]} -2025-09-23 00:49:25 - 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 -2025-09-23 00:49:25 - INFO - 执行完成FPhoto -2025-09-23 00:49:26 - INFO - 移动到中位位置 -2025-09-23 00:49:26 - 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 -2025-09-23 00:49:26 - 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"}]} -2025-09-23 00:49:27 - INFO - 移动到中位位置 -2025-09-23 00:49:27 - 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 -2025-09-23 00:49:27 - 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"}]} -2025-09-23 00:49:28 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:49:28 - INFO - 机器人已到达抓料点位 -2025-09-23 00:49:29 - 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 -2025-09-23 00:49:29 - 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"}]} -2025-09-23 00:49:29 - INFO - 移动到中位位置 -2025-09-23 00:49:30 - 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 -2025-09-23 00:49:30 - 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"}]} -2025-09-23 00:49:31 - INFO - 移动到中位位置 -2025-09-23 00:49:31 - 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 -2025-09-23 00:49:31 - 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"}]} -2025-09-23 00:49:32 - INFO - 移动到中位位置 -2025-09-23 00:49:32 - 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 -2025-09-23 00:49:32 - 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"}]} -2025-09-23 00:49:33 - INFO - 移动到码垛中间点位置 -2025-09-23 00:49:33 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-23 00:49:33 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:49:34 - INFO - 移动到扔袋位置 -2025-09-23 00:49:34 - INFO - 已码垛数量：7 -2025-09-23 00:49:34 - 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 -2025-09-23 00:49:34 - 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"}]} -2025-09-23 00:49:34 - INFO - 移动到码垛复位位置 -2025-09-23 00:49:34 - 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 -2025-09-23 00:49:35 - 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"}]} -2025-09-23 00:49:35 - INFO - 拍照 -2025-09-23 00:49:35 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:49:35 - 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 -2025-09-23 00:49:35 - 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"}]} -2025-09-23 00:49:35 - INFO - 执行完成FPhoto -2025-09-23 00:49:35 - INFO - 移动到中位位置 -2025-09-23 00:49:35 - 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 -2025-09-23 00:49:35 - 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"}]} -2025-09-23 00:49:36 - INFO - 移动到中位位置 -2025-09-23 00:49:36 - 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 -2025-09-23 00:49:36 - 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"}]} -2025-09-23 00:49:36 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:49:36 - INFO - 机器人已到达抓料点位 -2025-09-23 00:49:36 - 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 -2025-09-23 00:49:36 - 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"}]} -2025-09-23 00:49:36 - INFO - 移动到中位位置 -2025-09-23 00:49:36 - 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 -2025-09-23 00:49:37 - 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"}]} -2025-09-23 00:49:37 - INFO - 移动到中位位置 -2025-09-23 00:49:37 - 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 -2025-09-23 00:49:37 - 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"}]} -2025-09-23 00:49:37 - INFO - 移动到中位位置 -2025-09-23 00:49:37 - 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 -2025-09-23 00:49:37 - 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"}]} -2025-09-23 00:49:37 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:49:37 - INFO - 移动到码垛中间点位置 -2025-09-23 00:49:38 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-23 00:49:38 - INFO - 移动到扔袋位置 -2025-09-23 00:49:38 - INFO - 移动到扔袋位置 -2025-09-23 00:49:38 - INFO - 移动到扔袋位置 -2025-09-23 00:49:38 - INFO - 移动到扔袋位置 -2025-09-23 00:49:38 - INFO - 已码垛数量：8 -2025-09-23 00:49:38 - 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"}]} -2025-09-23 00:49:38 - 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 -2025-09-23 00:49:38 - INFO - 移动到码垛复位位置 -2025-09-23 00:49:39 - 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 -2025-09-23 00:49:39 - 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"}]} -2025-09-23 00:49:39 - INFO - 拍照 -2025-09-23 00:49:39 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:49:39 - 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 -2025-09-23 00:49:39 - 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"}]} -2025-09-23 00:49:39 - INFO - 执行完成FPhoto -2025-09-23 00:49:39 - 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"}]} -2025-09-23 00:49:39 - INFO - 移动到中位位置 -2025-09-23 00:49:40 - 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 -2025-09-23 00:49:40 - INFO - 移动到中位位置 -2025-09-23 00:49:40 - 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 -2025-09-23 00:49:40 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:49:40 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:49:40 - INFO - 机器人已到达抓料点位 -2025-09-23 00:49:40 - 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 -2025-09-23 00:49:40 - 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"}]} -2025-09-23 00:49:40 - INFO - 移动到中位位置 -2025-09-23 00:49:41 - 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 -2025-09-23 00:49:41 - 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"}]} -2025-09-23 00:49:41 - INFO - 移动到中位位置 -2025-09-23 00:49:41 - 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 -2025-09-23 00:49:41 - 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"}]} -2025-09-23 00:49:41 - INFO - 移动到中位位置 -2025-09-23 00:49:41 - 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 -2025-09-23 00:49:41 - 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"}]} -2025-09-23 00:49:41 - INFO - 移动到码垛中间点位置 -2025-09-23 00:49:42 - 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 -2025-09-23 00:49:42 - 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"}]} -2025-09-23 00:49:42 - INFO - 移动到扔袋位置 -2025-09-23 00:49:42 - INFO - 清除报警 -2025-09-23 00:49:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:49:42 - INFO - 投料停止 -2025-09-23 00:49:42 - INFO - 清除报警 -2025-09-23 00:49:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:49:42 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 00:49:42 - 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"}]} -2025-09-23 00:49:43 - INFO - 发送IO控制: 2，1 -2025-09-23 00:49:43 - INFO - 按下急停 -2025-09-23 00:49:43 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:49:44 - INFO - 切换到工具坐标 -2025-09-23 00:49:44 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:49:44 - INFO - 切换到自动运行状态 -2025-09-23 00:49:49 - INFO - 第一层确认生产 -2025-09-23 00:56:18 - INFO - 1号线:投料开始 -2025-09-23 00:56:18 - 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"}]} -2025-09-23 00:56:18 - INFO - 发送IO控制: 2，1 -2025-09-23 00:56:23 - 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"}]} -2025-09-23 00:56:23 - INFO - 发送IO控制: 2，0 -2025-09-23 00:56:24 - INFO - 投料开始 -2025-09-23 00:56:24 - 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 -2025-09-23 00:56:24 - 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"}]} -2025-09-23 00:56:25 - INFO - 投料开始 -2025-09-23 00:56:25 - 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 -2025-09-23 00:56:25 - 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"}]} -2025-09-23 00:56:26 - 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"}]} -2025-09-23 00:56:26 - INFO - 退出系统 -2025-09-23 00:56:26 - INFO - 移动到中位位置 -2025-09-23 00:56:26 - 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 -2025-09-23 00:56:38 - INFO - 进入系统 -2025-09-23 00:56:41 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:56:41 - INFO - 切换到工具坐标 -2025-09-23 00:56:41 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:56:41 - INFO - 切换到自动运行状态 -2025-09-23 00:56:42 - INFO - 第一层确认生产 -2025-09-23 00:56:46 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:56:46 - INFO - 切换到工具坐标 -2025-09-23 00:56:46 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:56:46 - INFO - 切换到自动运行状态 -2025-09-23 00:56:48 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:56:48 - INFO - 切换到工具坐标 -2025-09-23 00:56:48 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:56:48 - INFO - 切换到自动运行状态 -2025-09-23 00:56:49 - INFO - 第一层确认生产 -2025-09-23 00:56:56 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:56:56 - INFO - 切换到工具坐标 -2025-09-23 00:56:56 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:56:56 - INFO - 切换到自动运行状态 -2025-09-23 00:56:57 - INFO - 第一层确认生产 -2025-09-23 00:56:59 - INFO - 1号线:投料开始 -2025-09-23 00:56:59 - 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"}]} -2025-09-23 00:56:59 - INFO - 发送IO控制: 2，1 -2025-09-23 00:57:04 - 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"}]} -2025-09-23 00:57:04 - INFO - 发送IO控制: 2，0 -2025-09-23 00:57:04 - 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"}]} -2025-09-23 00:57:04 - INFO - 投料开始 -2025-09-23 00:57:04 - 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 -2025-09-23 00:57:05 - INFO - 投料开始 -2025-09-23 00:57:05 - 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"}]} -2025-09-23 00:57:05 - 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 -2025-09-23 00:57:05 - INFO - 移动到中位位置 -2025-09-23 00:57:05 - 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 -2025-09-23 00:57:05 - 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"}]} -2025-09-23 00:57:05 - INFO - 检测是否安全投料 -2025-09-23 00:57:05 - 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 -2025-09-23 00:57:05 - 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"}]} -2025-09-23 00:57:05 - INFO - 检测是否安全投料 -2025-09-23 00:57:06 - 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 -2025-09-23 00:57:06 - 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"}]} -2025-09-23 00:57:06 - INFO - 拍照 -2025-09-23 00:57:06 - INFO - 识别图像成功 -2025-09-23 00:57:06 - 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 -2025-09-23 00:57:06 - 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"}]} -2025-09-23 00:57:06 - INFO - 拍照 -2025-09-23 00:57:06 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:57:06 - 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 -2025-09-23 00:57:07 - 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"}]} -2025-09-23 00:57:07 - INFO - 执行完成FPhoto -2025-09-23 00:57:07 - INFO - 移动到中位位置 -2025-09-23 00:57:07 - 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 -2025-09-23 00:57:07 - 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"}]} -2025-09-23 00:57:07 - INFO - 移动到中位位置 -2025-09-23 00:57:07 - 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 -2025-09-23 00:57:07 - 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"}]} -2025-09-23 00:57:07 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:57:08 - INFO - 机器人已到达抓料点位 -2025-09-23 00:57:08 - 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 -2025-09-23 00:57:08 - 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"}]} -2025-09-23 00:57:08 - 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"}]} -2025-09-23 00:57:08 - INFO - 移动到中位位置 -2025-09-23 00:57:08 - 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 -2025-09-23 00:57:08 - INFO - 移动到中位位置 -2025-09-23 00:57:08 - 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 -2025-09-23 00:57:08 - 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"}]} -2025-09-23 00:57:09 - INFO - 移动到中位位置 -2025-09-23 00:57:09 - 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 -2025-09-23 00:57:09 - 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"}]} -2025-09-23 00:57:09 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:57:09 - INFO - 移动到码垛中间点位置 -2025-09-23 00:57:09 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-23 00:57:09 - INFO - 移动到扔袋位置 -2025-09-23 00:57:09 - INFO - 移动到扔袋位置 -2025-09-23 00:57:09 - INFO - 移动到扔袋位置 -2025-09-23 00:57:10 - INFO - 移动到扔袋位置 -2025-09-23 00:57:10 - INFO - 已码垛数量：4 -2025-09-23 00:57:10 - 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 -2025-09-23 00:57:10 - 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"}]} -2025-09-23 00:57:10 - INFO - 移动到码垛复位位置 -2025-09-23 00:57:10 - 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 -2025-09-23 00:57:10 - 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"}]} -2025-09-23 00:57:10 - INFO - 拍照 -2025-09-23 00:57:10 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:57:10 - 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"}]} -2025-09-23 00:57:11 - 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 -2025-09-23 00:57:11 - INFO - 执行完成FPhoto -2025-09-23 00:57:11 - INFO - 移动到中位位置 -2025-09-23 00:57:11 - 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 -2025-09-23 00:57:11 - 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"}]} -2025-09-23 00:57:11 - INFO - 移动到中位位置 -2025-09-23 00:57:11 - 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"}]} -2025-09-23 00:57:11 - 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 -2025-09-23 00:57:11 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:57:12 - INFO - 机器人已到达抓料点位 -2025-09-23 00:57:12 - 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 -2025-09-23 00:57:12 - 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"}]} -2025-09-23 00:57:12 - INFO - 移动到中位位置 -2025-09-23 00:57:12 - 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 -2025-09-23 00:57:12 - 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"}]} -2025-09-23 00:57:12 - INFO - 移动到中位位置 -2025-09-23 00:57:12 - 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 -2025-09-23 00:57:12 - 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"}]} -2025-09-23 00:57:13 - 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"}]} -2025-09-23 00:57:13 - INFO - 移动到中位位置 -2025-09-23 00:57:13 - 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 -2025-09-23 00:57:13 - INFO - 移动到码垛中间点位置 -2025-09-23 00:57:13 - 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":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:57:13 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-23 00:57:13 - INFO - 移动到扔袋位置 -2025-09-23 00:57:13 - INFO - 移动到扔袋位置 -2025-09-23 00:57:13 - INFO - 移动到扔袋位置 -2025-09-23 00:57:14 - 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"}]} -2025-09-23 00:57:14 - INFO - 移动到扔袋位置 -2025-09-23 00:57:14 - INFO - 已码垛数量：5 -2025-09-23 00:57:14 - 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 -2025-09-23 00:57:14 - INFO - 移动到码垛复位位置 -2025-09-23 00:57:14 - 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 -2025-09-23 00:57:14 - 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"}]} -2025-09-23 00:57:14 - INFO - 拍照 -2025-09-23 00:57:14 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:57:14 - 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 -2025-09-23 00:57:15 - 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"}]} -2025-09-23 00:57:15 - INFO - 执行完成FPhoto -2025-09-23 00:57:15 - INFO - 移动到中位位置 -2025-09-23 00:57:15 - 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 -2025-09-23 00:57:15 - 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"}]} -2025-09-23 00:57:15 - INFO - 移动到中位位置 -2025-09-23 00:57:15 - 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 -2025-09-23 00:57:15 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:57:15 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:57:16 - INFO - 机器人已到达抓料点位 -2025-09-23 00:57:16 - 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 -2025-09-23 00:57:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:57:16 - INFO - 移动到中位位置 -2025-09-23 00:57:16 - 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 -2025-09-23 00:57:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:57:16 - INFO - 移动到中位位置 -2025-09-23 00:57:16 - 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 -2025-09-23 00:57:16 - 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"}]} -2025-09-23 00:57:17 - INFO - 移动到中位位置 -2025-09-23 00:57:17 - 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 -2025-09-23 00:57:17 - 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"}]} -2025-09-23 00:57:17 - INFO - 移动到码垛中间点位置 -2025-09-23 00:57:17 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-23 00:57:17 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:57:17 - INFO - 移动到扔袋位置 -2025-09-23 00:57:17 - INFO - 移动到扔袋位置 -2025-09-23 00:57:17 - INFO - 移动到扔袋位置 -2025-09-23 00:57:18 - INFO - 移动到扔袋位置 -2025-09-23 00:57:18 - INFO - 已码垛数量：6 -2025-09-23 00:57:18 - 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"}]} -2025-09-23 00:57:18 - 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 -2025-09-23 00:57:18 - INFO - 移动到码垛复位位置 -2025-09-23 00:57:18 - 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 -2025-09-23 00:57:18 - 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"}]} -2025-09-23 00:57:18 - INFO - 拍照 -2025-09-23 00:57:18 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:57:19 - 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 -2025-09-23 00:57:19 - 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"}]} -2025-09-23 00:57:19 - INFO - 执行完成FPhoto -2025-09-23 00:57:19 - 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"}]} -2025-09-23 00:57:19 - INFO - 移动到中位位置 -2025-09-23 00:57:19 - 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 -2025-09-23 00:57:19 - INFO - 移动到中位位置 -2025-09-23 00:57:19 - 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 -2025-09-23 00:57:19 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:57:19 - 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"}]} -2025-09-23 00:57:20 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:57:20 - INFO - 机器人已到达抓料点位 -2025-09-23 00:57:20 - 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 -2025-09-23 00:57:20 - INFO - 移动到中位位置 -2025-09-23 00:57:20 - 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 -2025-09-23 00:57:20 - 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"}]} -2025-09-23 00:57:20 - INFO - 移动到中位位置 -2025-09-23 00:57:20 - 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 -2025-09-23 00:57:20 - 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"}]} -2025-09-23 00:57:21 - INFO - 移动到中位位置 -2025-09-23 00:57:21 - 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 -2025-09-23 00:57:21 - 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"}]} -2025-09-23 00:57:21 - INFO - 移动到码垛中间点位置 -2025-09-23 00:57:21 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-23 00:57:21 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:57:21 - INFO - 移动到扔袋位置 -2025-09-23 00:57:21 - INFO - 移动到扔袋位置 -2025-09-23 00:57:21 - INFO - 移动到扔袋位置 -2025-09-23 00:57:22 - 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"}]} -2025-09-23 00:57:22 - INFO - 移动到扔袋位置 -2025-09-23 00:57:22 - INFO - 已码垛数量：7 -2025-09-23 00:57:22 - 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 -2025-09-23 00:57:22 - 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"}]} -2025-09-23 00:57:22 - INFO - 移动到码垛复位位置 -2025-09-23 00:57:22 - 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 -2025-09-23 00:57:22 - INFO - 拍照 -2025-09-23 00:57:22 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:57:23 - 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"}]} -2025-09-23 00:57:23 - 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 -2025-09-23 00:57:23 - INFO - 执行完成FPhoto -2025-09-23 00:57:23 - INFO - 移动到中位位置 -2025-09-23 00:57:23 - 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 -2025-09-23 00:57:23 - 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"}]} -2025-09-23 00:57:23 - INFO - 移动到中位位置 -2025-09-23 00:57:23 - 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 -2025-09-23 00:57:23 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:57:23 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:57:24 - INFO - 机器人已到达抓料点位 -2025-09-23 00:57:24 - 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 -2025-09-23 00:57:24 - 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"}]} -2025-09-23 00:57:24 - 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"}]} -2025-09-23 00:57:24 - INFO - 移动到中位位置 -2025-09-23 00:57:24 - 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 -2025-09-23 00:57:24 - 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"}]} -2025-09-23 00:57:24 - INFO - 移动到中位位置 -2025-09-23 00:57:24 - 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 -2025-09-23 00:57:25 - INFO - 移动到中位位置 -2025-09-23 00:57:25 - 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 -2025-09-23 00:57:25 - 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"}]} -2025-09-23 00:57:25 - INFO - 移动到码垛中间点位置 -2025-09-23 00:57:25 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-23 00:57:25 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:57:25 - INFO - 移动到扔袋位置 -2025-09-23 00:57:25 - INFO - 移动到扔袋位置 -2025-09-23 00:57:25 - INFO - 移动到扔袋位置 -2025-09-23 00:57:26 - INFO - 移动到扔袋位置 -2025-09-23 00:57:26 - 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"}]} -2025-09-23 00:57:26 - INFO - 已码垛数量：8 -2025-09-23 00:57:26 - 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 -2025-09-23 00:57:26 - INFO - 移动到码垛复位位置 -2025-09-23 00:57:26 - 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 -2025-09-23 00:57:26 - 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"}]} -2025-09-23 00:57:26 - INFO - 拍照 -2025-09-23 00:57:26 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:57:27 - 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 -2025-09-23 00:57:27 - 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"}]} -2025-09-23 00:57:27 - INFO - 执行完成FPhoto -2025-09-23 00:57:27 - INFO - 移动到中位位置 -2025-09-23 00:57:27 - 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 -2025-09-23 00:57:27 - 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"}]} -2025-09-23 00:57:27 - 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"}]} -2025-09-23 00:57:27 - INFO - 移动到中位位置 -2025-09-23 00:57:27 - 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 -2025-09-23 00:57:28 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:57:28 - 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"}]} -2025-09-23 00:57:28 - INFO - 机器人已到达抓料点位 -2025-09-23 00:57:28 - 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 -2025-09-23 00:57:28 - 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"}]} -2025-09-23 00:57:28 - INFO - 移动到中位位置 -2025-09-23 00:57:28 - 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 -2025-09-23 00:57:28 - INFO - 移动到中位位置 -2025-09-23 00:57:28 - 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 -2025-09-23 00:57:28 - 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"}]} -2025-09-23 00:57:29 - INFO - 移动到中位位置 -2025-09-23 00:57:29 - 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 -2025-09-23 00:57:29 - 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"}]} -2025-09-23 00:57:29 - INFO - 移动到码垛中间点位置 -2025-09-23 00:57:29 - 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 -2025-09-23 00:57:29 - 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"}]} -2025-09-23 00:57:29 - INFO - 移动到扔袋位置 -2025-09-23 00:57:29 - INFO - 移动到扔袋位置 -2025-09-23 00:57:29 - INFO - 移动到扔袋位置 -2025-09-23 00:57:30 - INFO - 移动到扔袋位置 -2025-09-23 00:57:30 - INFO - 已码垛数量：9 -2025-09-23 00:57:30 - 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 -2025-09-23 00:57:30 - 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"}]} -2025-09-23 00:57:30 - INFO - 移动到码垛复位位置 -2025-09-23 00:57:30 - 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"}]} -2025-09-23 00:57:30 - 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 -2025-09-23 00:57:30 - INFO - 拍照 -2025-09-23 00:57:30 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:57:31 - 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"}]} -2025-09-23 00:57:31 - 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 -2025-09-23 00:57:31 - INFO - 执行完成FPhoto -2025-09-23 00:57:31 - 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"}]} -2025-09-23 00:57:31 - INFO - 移动到中位位置 -2025-09-23 00:57:31 - 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 -2025-09-23 00:57:31 - INFO - 移动到中位位置 -2025-09-23 00:57:31 - 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 -2025-09-23 00:57:31 - 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"}]} -2025-09-23 00:57:32 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:57:32 - INFO - 机器人已到达抓料点位 -2025-09-23 00:57:32 - 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 -2025-09-23 00:57:32 - 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"}]} -2025-09-23 00:57:32 - 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"}]} -2025-09-23 00:57:32 - INFO - 移动到中位位置 -2025-09-23 00:57:32 - 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 -2025-09-23 00:57:32 - INFO - 移动到中位位置 -2025-09-23 00:57:32 - 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 -2025-09-23 00:57:32 - 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"}]} -2025-09-23 00:57:33 - 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"}]} -2025-09-23 00:57:33 - INFO - 移动到中位位置 -2025-09-23 00:57:33 - 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 -2025-09-23 00:57:33 - INFO - 移动到码垛中间点位置 -2025-09-23 00:57:33 - 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 -2025-09-23 00:57:33 - 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"}]} -2025-09-23 00:57:33 - INFO - 移动到扔袋位置 -2025-09-23 00:57:33 - INFO - 移动到扔袋位置 -2025-09-23 00:57:33 - INFO - 移动到扔袋位置 -2025-09-23 00:57:34 - INFO - 移动到扔袋位置 -2025-09-23 00:57:34 - INFO - 已码垛数量：10 -2025-09-23 00:57:34 - 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 -2025-09-23 00:57:34 - 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"}]} -2025-09-23 00:57:34 - INFO - 移动到码垛复位位置 -2025-09-23 00:57:34 - 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 -2025-09-23 00:57:34 - 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"}]} -2025-09-23 00:57:34 - INFO - 投料结束 -2025-09-23 00:57:34 - 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 -2025-09-23 00:57:35 - 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"}]} -2025-09-23 00:57:35 - INFO - 移动到拍照位置 -2025-09-23 00:57:35 - INFO - 复位成功 -2025-09-23 00:59:23 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:59:23 - INFO - 切换到工具坐标 -2025-09-23 00:59:23 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:59:23 - INFO - 切换到自动运行状态 -2025-09-23 00:59:23 - INFO - 第一层确认生产 -2025-09-23 00:59:25 - INFO - 1号线:投料开始 -2025-09-23 00:59:25 - 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"}]} -2025-09-23 00:59:25 - INFO - 发送IO控制: 2，1 -2025-09-23 00:59:30 - 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"}]} -2025-09-23 00:59:30 - INFO - 发送IO控制: 2，0 -2025-09-23 00:59:30 - 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"}]} -2025-09-23 00:59:30 - INFO - 投料开始 -2025-09-23 00:59:30 - 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 -2025-09-23 00:59:30 - 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"}]} -2025-09-23 00:59:30 - INFO - 投料开始 -2025-09-23 00:59:30 - 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 -2025-09-23 00:59:30 - 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"}]} -2025-09-23 00:59:31 - INFO - 移动到中位位置 -2025-09-23 00:59:31 - 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 -2025-09-23 00:59:31 - INFO - 检测是否安全投料 -2025-09-23 00:59:31 - 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 -2025-09-23 00:59:31 - 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"}]} -2025-09-23 00:59:31 - INFO - 检测是否安全投料 -2025-09-23 00:59:31 - 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 -2025-09-23 00:59:31 - 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"}]} -2025-09-23 00:59:31 - INFO - 拍照 -2025-09-23 00:59:32 - INFO - 识别图像成功 -2025-09-23 00:59:32 - 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 -2025-09-23 00:59:32 - 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"}]} -2025-09-23 00:59:32 - INFO - 拍照 -2025-09-23 00:59:32 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:59:32 - 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"}]} -2025-09-23 00:59:32 - 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 -2025-09-23 00:59:32 - INFO - 执行完成FPhoto -2025-09-23 00:59:32 - INFO - 移动到中位位置 -2025-09-23 00:59:33 - 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 -2025-09-23 00:59:33 - 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"}]} -2025-09-23 00:59:33 - INFO - 移动到中位位置 -2025-09-23 00:59:33 - 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 -2025-09-23 00:59:33 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:59:33 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:59:33 - INFO - 机器人已到达抓料点位 -2025-09-23 00:59:33 - 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 -2025-09-23 00:59:33 - 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"}]} -2025-09-23 00:59:33 - INFO - 移动到中位位置 -2025-09-23 00:59:34 - 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 -2025-09-23 00:59:34 - 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"}]} -2025-09-23 00:59:34 - 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"}]} -2025-09-23 00:59:34 - INFO - 移动到中位位置 -2025-09-23 00:59:34 - 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 -2025-09-23 00:59:34 - 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"}]} -2025-09-23 00:59:34 - INFO - 移动到中位位置 -2025-09-23 00:59:34 - 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 -2025-09-23 00:59:34 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:59:35 - INFO - 移动到码垛中间点位置 -2025-09-23 00:59:35 - INFO - 移动到位置:姿势直线：X:1052.553-Y:-395.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-23 00:59:35 - INFO - 移动到扔袋位置 -2025-09-23 00:59:35 - INFO - 移动到扔袋位置 -2025-09-23 00:59:35 - INFO - 移动到扔袋位置 -2025-09-23 00:59:35 - INFO - 移动到扔袋位置 -2025-09-23 00:59:35 - INFO - 已码垛数量：1 -2025-09-23 00:59:35 - 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 -2025-09-23 00:59:35 - 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"}]} -2025-09-23 00:59:36 - 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"}]} -2025-09-23 00:59:36 - INFO - 移动到码垛复位位置 -2025-09-23 00:59:36 - 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 -2025-09-23 00:59:36 - INFO - 拍照 -2025-09-23 00:59:36 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 00:59:36 - 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 -2025-09-23 00:59:36 - 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"}]} -2025-09-23 00:59:36 - INFO - 执行完成FPhoto -2025-09-23 00:59:36 - INFO - 移动到中位位置 -2025-09-23 00:59:37 - 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 -2025-09-23 00:59:37 - 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"}]} -2025-09-23 00:59:37 - INFO - 移动到中位位置 -2025-09-23 00:59:37 - 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 -2025-09-23 00:59:37 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:59:37 - INFO - str_feed_take移动到抓料位置 -2025-09-23 00:59:37 - INFO - 机器人已到达抓料点位 -2025-09-23 00:59:37 - 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 -2025-09-23 00:59:37 - 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"}]} -2025-09-23 00:59:37 - INFO - 移动到中位位置 -2025-09-23 00:59:38 - 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 -2025-09-23 00:59:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:59:38 - INFO - 移动到中位位置 -2025-09-23 00:59:38 - 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 -2025-09-23 00:59:38 - 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"}]} -2025-09-23 00:59:38 - INFO - 移动到中位位置 -2025-09-23 00:59:38 - 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 -2025-09-23 00:59:38 - 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"}]} -2025-09-23 00:59:38 - INFO - 移动到码垛中间点位置 -2025-09-23 00:59:39 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:59:39 - INFO - 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-23 00:59:39 - INFO - 移动到扔袋位置 -2025-09-23 00:59:39 - INFO - 清除报警 -2025-09-23 00:59:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:59:39 - INFO - 投料停止 -2025-09-23 00:59:39 - INFO - 清除报警 -2025-09-23 00:59:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:59:39 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 00:59:40 - 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"}]} -2025-09-23 00:59:40 - INFO - 发送IO控制: 2，1 -2025-09-23 00:59:40 - INFO - 按下急停 -2025-09-23 00:59:40 - INFO - 清除报警 -2025-09-23 00:59:40 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:59:40 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 00:59:40 - 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"}]} -2025-09-23 00:59:40 - INFO - 发送IO控制: 2，1 -2025-09-23 00:59:40 - INFO - 按下急停 -2025-09-23 00:59:41 - INFO - 清除报警 -2025-09-23 00:59:41 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 00:59:41 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 00:59:41 - 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"}]} -2025-09-23 00:59:41 - INFO - 发送IO控制: 2，1 -2025-09-23 00:59:41 - INFO - 按下急停 -2025-09-23 00:59:41 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:59:41 - INFO - 切换到工具坐标 -2025-09-23 00:59:41 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:59:42 - INFO - 切换到自动运行状态 -2025-09-23 00:59:42 - INFO - 第一层确认生产 -2025-09-23 00:59:45 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:59:45 - INFO - 切换到工具坐标 -2025-09-23 00:59:45 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:59:45 - INFO - 切换到自动运行状态 -2025-09-23 00:59:46 - INFO - 第一层确认生产 -2025-09-23 00:59:56 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 00:59:56 - INFO - 切换到工具坐标 -2025-09-23 00:59:56 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 00:59:56 - INFO - 切换到自动运行状态 -2025-09-23 00:59:57 - INFO - 第一层确认生产 -2025-09-23 01:00:14 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:00:14 - INFO - 切换到工具坐标 -2025-09-23 01:00:14 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:00:14 - INFO - 切换到自动运行状态 -2025-09-23 01:00:15 - INFO - 第一层确认生产 -2025-09-23 01:00:18 - INFO - 1号线:投料开始 -2025-09-23 01:00:18 - 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"}]} -2025-09-23 01:00:18 - INFO - 发送IO控制: 2，1 -2025-09-23 01:00:23 - 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"}]} -2025-09-23 01:00:23 - INFO - 发送IO控制: 2，0 -2025-09-23 01:00:24 - INFO - 投料开始 -2025-09-23 01:00:24 - 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 -2025-09-23 01:00:24 - 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"}]} -2025-09-23 01:00:25 - INFO - 投料开始 -2025-09-23 01:00:25 - 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 -2025-09-23 01:00:26 - 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"}]} -2025-09-23 01:00:26 - INFO - 移动到中位位置 -2025-09-23 01:00:27 - 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"}]} -2025-09-23 01:00:27 - 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 -2025-09-23 01:00:28 - INFO - 检测是否安全投料 -2025-09-23 01:00:28 - 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 -2025-09-23 01:00:28 - 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"}]} -2025-09-23 01:00:29 - INFO - 检测是否安全投料 -2025-09-23 01:00:29 - 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 -2025-09-23 01:00:29 - 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"}]} -2025-09-23 01:00:30 - 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"}]} -2025-09-23 01:00:30 - INFO - 拍照 -2025-09-23 01:00:30 - INFO - 识别图像成功 -2025-09-23 01:00:30 - 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 -2025-09-23 01:00:31 - INFO - 拍照 -2025-09-23 01:00:31 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:00:31 - 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"}]} -2025-09-23 01:00:32 - 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 -2025-09-23 01:00:32 - INFO - 执行完成FPhoto -2025-09-23 01:00:33 - INFO - 移动到中位位置 -2025-09-23 01:00:33 - 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 -2025-09-23 01:00:33 - 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"}]} -2025-09-23 01:00:34 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:00:34 - INFO - 移动到中位位置 -2025-09-23 01:00:34 - 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 -2025-09-23 01:00:35 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:00:35 - INFO - 机器人已到达抓料点位 -2025-09-23 01:00:35 - 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 -2025-09-23 01:00:35 - 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"}]} -2025-09-23 01:00:36 - 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"}]} -2025-09-23 01:00:36 - INFO - 移动到中位位置 -2025-09-23 01:00:36 - 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 -2025-09-23 01:00:37 - 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"}]} -2025-09-23 01:00:37 - INFO - 移动到中位位置 -2025-09-23 01:00:37 - 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 -2025-09-23 01:00:38 - INFO - 移动到中位位置 -2025-09-23 01:00:38 - 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 -2025-09-23 01:00:38 - 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"}]} -2025-09-23 01:00:39 - INFO - 移动到码垛中间点位置 -2025-09-23 01:00:39 - 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 -2025-09-23 01:00:39 - 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"}]} -2025-09-23 01:00:40 - 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"}]} -2025-09-23 01:00:40 - INFO - 移动到扔袋位置 -2025-09-23 01:00:41 - INFO - 已码垛数量：9 -2025-09-23 01:00:41 - 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 -2025-09-23 01:00:41 - INFO - 移动到码垛复位位置 -2025-09-23 01:00:41 - 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 -2025-09-23 01:00:41 - 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"}]} -2025-09-23 01:00:41 - INFO - 拍照 -2025-09-23 01:00:41 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:00:41 - 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 -2025-09-23 01:00:41 - 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"}]} -2025-09-23 01:00:42 - INFO - 执行完成FPhoto -2025-09-23 01:00:42 - INFO - 移动到中位位置 -2025-09-23 01:00:42 - 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 -2025-09-23 01:00:42 - 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"}]} -2025-09-23 01:00:42 - INFO - 移动到中位位置 -2025-09-23 01:00:42 - 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 -2025-09-23 01:00:42 - 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"}]} -2025-09-23 01:00:42 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:00:42 - INFO - 机器人已到达抓料点位 -2025-09-23 01:00:42 - 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 -2025-09-23 01:00:43 - 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"}]} -2025-09-23 01:00:43 - INFO - 移动到中位位置 -2025-09-23 01:00:43 - 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 -2025-09-23 01:00:43 - 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"}]} -2025-09-23 01:00:43 - INFO - 移动到中位位置 -2025-09-23 01:00:43 - 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 -2025-09-23 01:00:43 - 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"}]} -2025-09-23 01:00:43 - INFO - 移动到中位位置 -2025-09-23 01:00:43 - 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 -2025-09-23 01:00:44 - 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"}]} -2025-09-23 01:00:44 - 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"}]} -2025-09-23 01:00:44 - INFO - 移动到码垛中间点位置 -2025-09-23 01:00:44 - 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 -2025-09-23 01:00:44 - INFO - 移动到扔袋位置 -2025-09-23 01:00:44 - INFO - 移动到扔袋位置 -2025-09-23 01:00:44 - INFO - 移动到扔袋位置 -2025-09-23 01:00:44 - INFO - 移动到扔袋位置 -2025-09-23 01:00:44 - INFO - 已码垛数量：10 -2025-09-23 01:00:45 - 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"}]} -2025-09-23 01:00:45 - 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 -2025-09-23 01:00:45 - INFO - 移动到码垛复位位置 -2025-09-23 01:00:45 - 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 -2025-09-23 01:00:45 - 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"}]} -2025-09-23 01:00:45 - 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"}]} -2025-09-23 01:00:45 - INFO - 投料结束 -2025-09-23 01:00:45 - 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 -2025-09-23 01:00:45 - INFO - 移动到拍照位置 -2025-09-23 01:00:46 - INFO - 复位成功 -2025-09-23 01:00:51 - INFO - 退出系统 -2025-09-23 01:01:27 - INFO - 进入系统 -2025-09-23 01:01:30 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:01:30 - INFO - 切换到工具坐标 -2025-09-23 01:01:30 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:01:30 - INFO - 切换到自动运行状态 -2025-09-23 01:01:32 - INFO - 第一层确认生产 -2025-09-23 01:01:36 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:01:36 - INFO - 切换到工具坐标 -2025-09-23 01:01:36 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:01:36 - INFO - 切换到自动运行状态 -2025-09-23 01:01:37 - INFO - 第一层确认生产 -2025-09-23 01:01:38 - INFO - 1号线:投料开始 -2025-09-23 01:01:38 - 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"}]} -2025-09-23 01:01:38 - INFO - 发送IO控制: 2，1 -2025-09-23 01:01:43 - 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"}]} -2025-09-23 01:01:43 - INFO - 发送IO控制: 2，0 -2025-09-23 01:01:43 - 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"}]} -2025-09-23 01:01:43 - INFO - 投料开始 -2025-09-23 01:01:43 - 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 -2025-09-23 01:01:43 - 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"}]} -2025-09-23 01:01:43 - INFO - 投料开始 -2025-09-23 01:01:43 - 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 -2025-09-23 01:01:43 - INFO - 移动到中位位置 -2025-09-23 01:01:44 - 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 -2025-09-23 01:01:44 - 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"}]} -2025-09-23 01:01:44 - 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"}]} -2025-09-23 01:01:44 - INFO - 检测是否安全投料 -2025-09-23 01:01:44 - 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 -2025-09-23 01:01:44 - INFO - 检测是否安全投料 -2025-09-23 01:01:44 - 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 -2025-09-23 01:01:44 - 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"}]} -2025-09-23 01:01:44 - INFO - 拍照 -2025-09-23 01:01:45 - INFO - 识别图像成功 -2025-09-23 01:01:45 - 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 -2025-09-23 01:01:45 - 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"}]} -2025-09-23 01:01:45 - INFO - 拍照 -2025-09-23 01:01:45 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:01:45 - 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 -2025-09-23 01:01:45 - 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"}]} -2025-09-23 01:01:45 - INFO - 执行完成FPhoto -2025-09-23 01:01:45 - INFO - 移动到中位位置 -2025-09-23 01:01:46 - 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 -2025-09-23 01:01:46 - 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"}]} -2025-09-23 01:01:46 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:01:46 - INFO - 移动到中位位置 -2025-09-23 01:01:46 - 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 -2025-09-23 01:01:46 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:01:46 - INFO - 机器人已到达抓料点位 -2025-09-23 01:01:46 - 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 -2025-09-23 01:01:46 - 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"}]} -2025-09-23 01:01:47 - 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"}]} -2025-09-23 01:01:47 - INFO - 移动到中位位置 -2025-09-23 01:01:47 - 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 -2025-09-23 01:01:47 - 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"}]} -2025-09-23 01:01:47 - INFO - 移动到中位位置 -2025-09-23 01:01:47 - 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 -2025-09-23 01:01:47 - INFO - 移动到中位位置 -2025-09-23 01:01:47 - 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 -2025-09-23 01:01:47 - 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"}]} -2025-09-23 01:01:48 - INFO - 移动到码垛中间点位置 -2025-09-23 01:01:48 - 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 -2025-09-23 01:01:48 - 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"}]} -2025-09-23 01:01:48 - INFO - 移动到扔袋位置 -2025-09-23 01:01:48 - INFO - 移动到扔袋位置 -2025-09-23 01:01:48 - INFO - 移动到扔袋位置 -2025-09-23 01:01:48 - INFO - 移动到扔袋位置 -2025-09-23 01:01:48 - INFO - 已码垛数量：9 -2025-09-23 01:01:48 - 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 -2025-09-23 01:01:48 - 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"}]} -2025-09-23 01:01:49 - INFO - 移动到码垛复位位置 -2025-09-23 01:01:49 - 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 -2025-09-23 01:01:49 - 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"}]} -2025-09-23 01:01:49 - INFO - 拍照 -2025-09-23 01:01:49 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:01:49 - 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"}]} -2025-09-23 01:01:49 - 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 -2025-09-23 01:01:49 - INFO - 执行完成FPhoto -2025-09-23 01:01:49 - INFO - 移动到中位位置 -2025-09-23 01:01:50 - 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 -2025-09-23 01:01:50 - 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"}]} -2025-09-23 01:01:50 - INFO - 移动到中位位置 -2025-09-23 01:01:50 - 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 -2025-09-23 01:01:50 - 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"}]} -2025-09-23 01:01:50 - 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"}]} -2025-09-23 01:01:50 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:01:50 - INFO - 机器人已到达抓料点位 -2025-09-23 01:01:50 - 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 -2025-09-23 01:01:51 - INFO - 移动到中位位置 -2025-09-23 01:01:51 - 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 -2025-09-23 01:01:51 - 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"}]} -2025-09-23 01:01:51 - INFO - 移动到中位位置 -2025-09-23 01:01:51 - 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 -2025-09-23 01:01:51 - 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"}]} -2025-09-23 01:01:51 - INFO - 移动到中位位置 -2025-09-23 01:01:51 - 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 -2025-09-23 01:01:51 - 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"}]} -2025-09-23 01:01:52 - INFO - 移动到码垛中间点位置 -2025-09-23 01:01:52 - 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 -2025-09-23 01:01:52 - 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"}]} -2025-09-23 01:01:52 - INFO - 移动到扔袋位置 -2025-09-23 01:01:52 - INFO - 移动到扔袋位置 -2025-09-23 01:01:52 - INFO - 移动到扔袋位置 -2025-09-23 01:01:52 - INFO - 移动到扔袋位置 -2025-09-23 01:01:52 - INFO - 已码垛数量：10 -2025-09-23 01:01:52 - 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 -2025-09-23 01:01:52 - 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"}]} -2025-09-23 01:01:53 - INFO - 移动到码垛复位位置 -2025-09-23 01:01:53 - 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 -2025-09-23 01:01:53 - 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"}]} -2025-09-23 01:01:53 - 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"}]} -2025-09-23 01:01:53 - INFO - 投料结束 -2025-09-23 01:01:53 - 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 -2025-09-23 01:01:53 - INFO - 移动到拍照位置 -2025-09-23 01:01:53 - INFO - 复位成功 -2025-09-23 01:01:56 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:01:56 - INFO - 切换到工具坐标 -2025-09-23 01:01:56 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:01:56 - INFO - 切换到自动运行状态 -2025-09-23 01:01:57 - INFO - 第一层确认生产 -2025-09-23 01:01:57 - INFO - 1号线:投料开始 -2025-09-23 01:01:58 - 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"}]} -2025-09-23 01:01:58 - INFO - 发送IO控制: 2，1 -2025-09-23 01:02:02 - 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"}]} -2025-09-23 01:02:03 - INFO - 发送IO控制: 2，0 -2025-09-23 01:02:03 - INFO - 投料开始 -2025-09-23 01:02:03 - 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 -2025-09-23 01:02:03 - 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"}]} -2025-09-23 01:02:03 - 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"}]} -2025-09-23 01:02:03 - INFO - 投料开始 -2025-09-23 01:02:03 - 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 -2025-09-23 01:02:03 - INFO - 移动到中位位置 -2025-09-23 01:02:03 - 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 -2025-09-23 01:02:04 - 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"}]} -2025-09-23 01:02:04 - INFO - 检测是否安全投料 -2025-09-23 01:02:04 - 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 -2025-09-23 01:02:04 - 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"}]} -2025-09-23 01:02:04 - INFO - 检测是否安全投料 -2025-09-23 01:02:04 - 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 -2025-09-23 01:02:04 - 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"}]} -2025-09-23 01:02:04 - 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"}]} -2025-09-23 01:02:04 - INFO - 拍照 -2025-09-23 01:02:05 - INFO - 识别图像成功 -2025-09-23 01:02:05 - 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 -2025-09-23 01:02:05 - INFO - 拍照 -2025-09-23 01:02:05 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:02:05 - 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 -2025-09-23 01:02:05 - 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"}]} -2025-09-23 01:02:05 - INFO - 执行完成FPhoto -2025-09-23 01:02:05 - INFO - 移动到中位位置 -2025-09-23 01:02:05 - 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 -2025-09-23 01:02:05 - 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"}]} -2025-09-23 01:02:06 - INFO - 移动到中位位置 -2025-09-23 01:02:06 - 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 -2025-09-23 01:02:06 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:02:06 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:02:06 - INFO - 机器人已到达抓料点位 -2025-09-23 01:02:06 - 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 -2025-09-23 01:02:06 - 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"}]} -2025-09-23 01:02:06 - INFO - 移动到中位位置 -2025-09-23 01:02:06 - 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 -2025-09-23 01:02:07 - 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"}]} -2025-09-23 01:02:07 - INFO - 移动到中位位置 -2025-09-23 01:02:07 - 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 -2025-09-23 01:02:07 - 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"}]} -2025-09-23 01:02:07 - INFO - 移动到中位位置 -2025-09-23 01:02:07 - 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 -2025-09-23 01:02:07 - 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"}]} -2025-09-23 01:02:07 - INFO - 移动到码垛中间点位置 -2025-09-23 01:02:07 - INFO - 移动到位置:姿势直线：X:1052.553-Y:-395.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-23 01:02:08 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:02:08 - INFO - 移动到扔袋位置 -2025-09-23 01:02:08 - INFO - 移动到扔袋位置 -2025-09-23 01:02:08 - INFO - 移动到扔袋位置 -2025-09-23 01:02:08 - INFO - 移动到扔袋位置 -2025-09-23 01:02:08 - INFO - 已码垛数量：1 -2025-09-23 01:02:08 - 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 -2025-09-23 01:02:08 - 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"}]} -2025-09-23 01:02:08 - INFO - 移动到码垛复位位置 -2025-09-23 01:02:09 - 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 -2025-09-23 01:02:09 - 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"}]} -2025-09-23 01:02:09 - INFO - 拍照 -2025-09-23 01:02:09 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:02:09 - 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"}]} -2025-09-23 01:02:09 - 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 -2025-09-23 01:02:09 - INFO - 执行完成FPhoto -2025-09-23 01:02:09 - INFO - 移动到中位位置 -2025-09-23 01:02:09 - 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 -2025-09-23 01:02:10 - 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"}]} -2025-09-23 01:02:10 - INFO - 移动到中位位置 -2025-09-23 01:02:10 - 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 -2025-09-23 01:02:10 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:02:10 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:02:10 - INFO - 机器人已到达抓料点位 -2025-09-23 01:02:10 - 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"}]} -2025-09-23 01:02:10 - 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 -2025-09-23 01:02:10 - 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"}]} -2025-09-23 01:02:10 - INFO - 移动到中位位置 -2025-09-23 01:02:11 - 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 -2025-09-23 01:02:11 - INFO - 移动到中位位置 -2025-09-23 01:02:11 - 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 -2025-09-23 01:02:11 - 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"}]} -2025-09-23 01:02:11 - INFO - 移动到中位位置 -2025-09-23 01:02:11 - 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"}]} -2025-09-23 01:02:11 - 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 -2025-09-23 01:02:11 - INFO - 移动到码垛中间点位置 -2025-09-23 01:02:11 - INFO - 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-23 01:02:12 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:02:12 - INFO - 移动到扔袋位置 -2025-09-23 01:02:12 - INFO - 移动到扔袋位置 -2025-09-23 01:02:12 - INFO - 移动到扔袋位置 -2025-09-23 01:02:12 - INFO - 移动到扔袋位置 -2025-09-23 01:02:12 - INFO - 已码垛数量：2 -2025-09-23 01:02:12 - 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 -2025-09-23 01:02:12 - 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"}]} -2025-09-23 01:02:12 - 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"}]} -2025-09-23 01:02:13 - INFO - 移动到码垛复位位置 -2025-09-23 01:02:13 - 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 -2025-09-23 01:02:13 - INFO - 拍照 -2025-09-23 01:02:13 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:02:13 - 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 -2025-09-23 01:02:13 - 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"}]} -2025-09-23 01:02:13 - INFO - 执行完成FPhoto -2025-09-23 01:02:13 - INFO - 移动到中位位置 -2025-09-23 01:02:13 - 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 -2025-09-23 01:02:14 - 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"}]} -2025-09-23 01:02:14 - INFO - 移动到中位位置 -2025-09-23 01:02:14 - 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 -2025-09-23 01:02:14 - 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"}]} -2025-09-23 01:02:14 - 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"}]} -2025-09-23 01:02:14 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:02:14 - INFO - 机器人已到达抓料点位 -2025-09-23 01:02:14 - 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 -2025-09-23 01:02:14 - INFO - 清除报警 -2025-09-23 01:02:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 01:02:15 - INFO - 投料停止 -2025-09-23 01:02:15 - INFO - 清除报警 -2025-09-23 01:02:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 01:02:15 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 01:02:15 - 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"}]} -2025-09-23 01:02:15 - INFO - 发送IO控制: 2，1 -2025-09-23 01:02:15 - INFO - 按下急停 -2025-09-23 01:02:15 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:02:16 - INFO - 切换到工具坐标 -2025-09-23 01:02:16 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:02:16 - INFO - 切换到自动运行状态 -2025-09-23 01:02:16 - INFO - 第一层确认生产 -2025-09-23 01:02:20 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:02:20 - INFO - 切换到工具坐标 -2025-09-23 01:02:20 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:02:20 - INFO - 切换到自动运行状态 -2025-09-23 01:02:20 - INFO - 第一层确认生产 -2025-09-23 01:02:30 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:02:31 - INFO - 切换到工具坐标 -2025-09-23 01:02:31 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:02:31 - INFO - 切换到自动运行状态 -2025-09-23 01:02:32 - INFO - 第一层确认生产 -2025-09-23 01:02:36 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:02:36 - INFO - 切换到工具坐标 -2025-09-23 01:02:36 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:02:36 - INFO - 切换到自动运行状态 -2025-09-23 01:02:36 - INFO - 第一层确认生产 -2025-09-23 01:02:41 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:02:41 - INFO - 切换到工具坐标 -2025-09-23 01:02:41 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:02:41 - INFO - 切换到自动运行状态 -2025-09-23 01:02:42 - INFO - 第一层确认生产 -2025-09-23 01:02:43 - INFO - 1号线:投料开始 -2025-09-23 01:02:43 - 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"}]} -2025-09-23 01:02:43 - INFO - 发送IO控制: 2，1 -2025-09-23 01:02:48 - 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"}]} -2025-09-23 01:02:48 - INFO - 发送IO控制: 2，0 -2025-09-23 01:02:48 - 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"}]} -2025-09-23 01:02:48 - INFO - 投料开始 -2025-09-23 01:02:48 - 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 -2025-09-23 01:02:48 - INFO - 投料开始 -2025-09-23 01:02:49 - 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"}]} -2025-09-23 01:02:49 - 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 -2025-09-23 01:02:49 - INFO - 移动到中位位置 -2025-09-23 01:02:49 - 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 -2025-09-23 01:02:49 - 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"}]} -2025-09-23 01:02:49 - INFO - 检测是否安全投料 -2025-09-23 01:02:49 - 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 -2025-09-23 01:02:49 - 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"}]} -2025-09-23 01:02:49 - INFO - 检测是否安全投料 -2025-09-23 01:02:50 - 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 -2025-09-23 01:02:50 - 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"}]} -2025-09-23 01:02:50 - INFO - 拍照 -2025-09-23 01:02:50 - INFO - 识别图像成功 -2025-09-23 01:02:50 - 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 -2025-09-23 01:02:50 - 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"}]} -2025-09-23 01:02:50 - INFO - 拍照 -2025-09-23 01:02:50 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:02:50 - 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 -2025-09-23 01:02:50 - 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"}]} -2025-09-23 01:02:51 - INFO - 执行完成FPhoto -2025-09-23 01:02:51 - INFO - 移动到中位位置 -2025-09-23 01:02:51 - 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 -2025-09-23 01:02:51 - 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"}]} -2025-09-23 01:02:51 - INFO - 移动到中位位置 -2025-09-23 01:02:51 - 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 -2025-09-23 01:02:51 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:02:51 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:02:51 - INFO - 机器人已到达抓料点位 -2025-09-23 01:02:52 - 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 -2025-09-23 01:02:52 - 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"}]} -2025-09-23 01:02:52 - 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"}]} -2025-09-23 01:02:52 - INFO - 移动到中位位置 -2025-09-23 01:02:52 - 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 -2025-09-23 01:02:52 - 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"}]} -2025-09-23 01:02:52 - INFO - 移动到中位位置 -2025-09-23 01:02:52 - 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 -2025-09-23 01:02:52 - INFO - 移动到中位位置 -2025-09-23 01:02:53 - 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 -2025-09-23 01:02:53 - 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"}]} -2025-09-23 01:02:53 - INFO - 移动到码垛中间点位置 -2025-09-23 01:02:53 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-23 01:02:53 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:02:53 - INFO - 移动到扔袋位置 -2025-09-23 01:02:53 - INFO - 移动到扔袋位置 -2025-09-23 01:02:53 - INFO - 移动到扔袋位置 -2025-09-23 01:02:53 - INFO - 移动到扔袋位置 -2025-09-23 01:02:54 - INFO - 已码垛数量：7 -2025-09-23 01:02:54 - 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 -2025-09-23 01:02:54 - 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"}]} -2025-09-23 01:02:54 - INFO - 移动到码垛复位位置 -2025-09-23 01:02:54 - 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 -2025-09-23 01:02:54 - 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"}]} -2025-09-23 01:02:54 - INFO - 拍照 -2025-09-23 01:02:54 - 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"}]} -2025-09-23 01:02:54 - INFO - 退出系统 -2025-09-23 01:02:55 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:02:55 - 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 -2025-09-23 01:02:55 - INFO - 执行完成FPhoto -2025-09-23 01:03:08 - INFO - 进入系统 -2025-09-23 01:03:16 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:03:17 - INFO - 切换到工具坐标 -2025-09-23 01:03:17 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:03:17 - INFO - 切换到自动运行状态 -2025-09-23 01:03:17 - INFO - 第一层确认生产 -2025-09-23 01:03:19 - INFO - 1号线:投料开始 -2025-09-23 01:03:19 - 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"}]} -2025-09-23 01:03:19 - INFO - 发送IO控制: 2，1 -2025-09-23 01:03:24 - 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"}]} -2025-09-23 01:03:24 - INFO - 发送IO控制: 2，0 -2025-09-23 01:03:24 - 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"}]} -2025-09-23 01:03:24 - INFO - 投料开始 -2025-09-23 01:03:24 - 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 -2025-09-23 01:03:24 - 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"}]} -2025-09-23 01:03:24 - INFO - 投料开始 -2025-09-23 01:03:25 - 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 -2025-09-23 01:03:25 - INFO - 移动到中位位置 -2025-09-23 01:03:25 - 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 -2025-09-23 01:03:25 - 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"}]} -2025-09-23 01:03:25 - INFO - 检测是否安全投料 -2025-09-23 01:03:25 - 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 -2025-09-23 01:03:25 - 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"}]} -2025-09-23 01:03:25 - INFO - 检测是否安全投料 -2025-09-23 01:03:25 - 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 -2025-09-23 01:03:26 - 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"}]} -2025-09-23 01:03:26 - INFO - 拍照 -2025-09-23 01:03:26 - INFO - 识别图像成功 -2025-09-23 01:03:26 - 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 -2025-09-23 01:03:26 - 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"}]} -2025-09-23 01:03:26 - INFO - 拍照 -2025-09-23 01:03:26 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:03:26 - 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 -2025-09-23 01:03:26 - 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"}]} -2025-09-23 01:03:27 - INFO - 执行完成FPhoto -2025-09-23 01:03:27 - INFO - 移动到中位位置 -2025-09-23 01:03:27 - 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 -2025-09-23 01:03:27 - 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"}]} -2025-09-23 01:03:27 - INFO - 移动到中位位置 -2025-09-23 01:03:27 - 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 -2025-09-23 01:03:27 - 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"}]} -2025-09-23 01:03:27 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:03:27 - INFO - 机器人已到达抓料点位 -2025-09-23 01:03:27 - 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 -2025-09-23 01:03:28 - 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"}]} -2025-09-23 01:03:28 - INFO - 移动到中位位置 -2025-09-23 01:03:28 - 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 -2025-09-23 01:03:28 - 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"}]} -2025-09-23 01:03:28 - INFO - 移动到中位位置 -2025-09-23 01:03:28 - 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 -2025-09-23 01:03:28 - 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"}]} -2025-09-23 01:03:28 - 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"}]} -2025-09-23 01:03:28 - INFO - 移动到中位位置 -2025-09-23 01:03:29 - 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 -2025-09-23 01:03:29 - INFO - 移动到码垛中间点位置 -2025-09-23 01:03:29 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-23 01:03:29 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:03:29 - INFO - 移动到扔袋位置 -2025-09-23 01:03:29 - INFO - 清除报警 -2025-09-23 01:03:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 01:03:29 - INFO - 投料停止 -2025-09-23 01:03:29 - INFO - 清除报警 -2025-09-23 01:03:30 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 01:03:30 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 01:03:30 - 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"}]} -2025-09-23 01:03:30 - INFO - 发送IO控制: 2，1 -2025-09-23 01:03:30 - INFO - 按下急停 -2025-09-23 01:03:32 - INFO - 退出系统 -2025-09-23 01:03:44 - INFO - 进入系统 -2025-09-23 01:03:50 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:03:50 - INFO - 切换到工具坐标 -2025-09-23 01:03:50 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:03:50 - INFO - 切换到自动运行状态 -2025-09-23 01:03:50 - INFO - 第一层确认生产 -2025-09-23 01:03:52 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:03:52 - INFO - 切换到工具坐标 -2025-09-23 01:03:52 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:03:52 - INFO - 切换到自动运行状态 -2025-09-23 01:04:06 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:04:06 - INFO - 切换到工具坐标 -2025-09-23 01:04:06 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:04:06 - INFO - 切换到自动运行状态 -2025-09-23 01:04:06 - INFO - 第一层确认生产 -2025-09-23 01:04:09 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:04:09 - INFO - 切换到工具坐标 -2025-09-23 01:04:09 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:04:09 - INFO - 切换到自动运行状态 -2025-09-23 01:04:09 - INFO - 第一层确认生产 -2025-09-23 01:04:34 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:04:34 - INFO - 切换到工具坐标 -2025-09-23 01:04:34 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:04:35 - INFO - 切换到自动运行状态 -2025-09-23 01:04:35 - INFO - 第一层确认生产 -2025-09-23 01:04:39 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:04:39 - INFO - 切换到工具坐标 -2025-09-23 01:04:39 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:04:39 - INFO - 切换到自动运行状态 -2025-09-23 01:04:39 - INFO - 第一层确认生产 -2025-09-23 01:04:45 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:04:45 - INFO - 切换到工具坐标 -2025-09-23 01:04:45 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:04:45 - INFO - 切换到自动运行状态 -2025-09-23 01:04:45 - INFO - 第一层确认生产 -2025-09-23 01:04:51 - INFO - 退出系统 -2025-09-23 01:11:36 - INFO - 进入系统 -2025-09-23 01:11:42 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:11:42 - INFO - 切换到工具坐标 -2025-09-23 01:11:42 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:11:42 - INFO - 切换到自动运行状态 -2025-09-23 01:11:42 - INFO - 第一层确认生产 -2025-09-23 01:11:44 - INFO - 1号线:投料开始 -2025-09-23 01:11:44 - 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"}]} -2025-09-23 01:11:44 - INFO - 发送IO控制: 2，1 -2025-09-23 01:11:49 - 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"}]} -2025-09-23 01:11:49 - INFO - 发送IO控制: 2，0 -2025-09-23 01:11:49 - 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"}]} -2025-09-23 01:11:49 - INFO - 投料开始 -2025-09-23 01:11:49 - 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 -2025-09-23 01:11:49 - 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"}]} -2025-09-23 01:11:49 - INFO - 投料开始 -2025-09-23 01:11:49 - 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 -2025-09-23 01:11:50 - 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"}]} -2025-09-23 01:11:50 - INFO - 移动到中位位置 -2025-09-23 01:11:50 - 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 -2025-09-23 01:11:50 - INFO - 检测是否安全投料 -2025-09-23 01:11:50 - 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 -2025-09-23 01:11:50 - 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"}]} -2025-09-23 01:11:50 - INFO - 检测是否安全投料 -2025-09-23 01:11:50 - 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 -2025-09-23 01:11:50 - 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"}]} -2025-09-23 01:11:50 - INFO - 拍照 -2025-09-23 01:11:51 - 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"}]} -2025-09-23 01:11:51 - INFO - 识别图像成功 -2025-09-23 01:11:51 - 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 -2025-09-23 01:11:51 - INFO - 拍照 -2025-09-23 01:11:51 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:11:51 - 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 -2025-09-23 01:11:51 - 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"}]} -2025-09-23 01:11:51 - INFO - 执行完成FPhoto -2025-09-23 01:11:51 - 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"}]} -2025-09-23 01:11:52 - INFO - 移动到中位位置 -2025-09-23 01:11:52 - 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 -2025-09-23 01:11:52 - INFO - 移动到中位位置 -2025-09-23 01:11:52 - 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 -2025-09-23 01:11:52 - 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"}]} -2025-09-23 01:11:52 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:11:52 - INFO - 机器人已到达抓料点位 -2025-09-23 01:11:52 - 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 -2025-09-23 01:11:52 - 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"}]} -2025-09-23 01:11:53 - INFO - 移动到中位位置 -2025-09-23 01:11:53 - 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 -2025-09-23 01:11:53 - 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"}]} -2025-09-23 01:11:53 - INFO - 移动到中位位置 -2025-09-23 01:11:53 - 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 -2025-09-23 01:11:53 - 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"}]} -2025-09-23 01:11:53 - INFO - 移动到中位位置 -2025-09-23 01:11:53 - 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 -2025-09-23 01:11:53 - 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"}]} -2025-09-23 01:11:54 - INFO - 移动到码垛中间点位置 -2025-09-23 01:11:54 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:11:54 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-23 01:11:54 - INFO - 移动到扔袋位置 -2025-09-23 01:11:54 - INFO - 移动到扔袋位置 -2025-09-23 01:11:54 - INFO - 移动到扔袋位置 -2025-09-23 01:11:54 - INFO - 移动到扔袋位置 -2025-09-23 01:11:54 - INFO - 已码垛数量：8 -2025-09-23 01:11:54 - 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 -2025-09-23 01:11:55 - 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"}]} -2025-09-23 01:11:55 - INFO - 移动到码垛复位位置 -2025-09-23 01:11:55 - 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 -2025-09-23 01:11:55 - 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"}]} -2025-09-23 01:11:55 - INFO - 拍照 -2025-09-23 01:11:55 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:11:55 - 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"}]} -2025-09-23 01:11:55 - 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 -2025-09-23 01:11:55 - INFO - 执行完成FPhoto -2025-09-23 01:11:55 - INFO - 移动到中位位置 -2025-09-23 01:11:56 - 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 -2025-09-23 01:11:56 - 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"}]} -2025-09-23 01:11:56 - INFO - 移动到中位位置 -2025-09-23 01:11:56 - 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 -2025-09-23 01:11:56 - 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"}]} -2025-09-23 01:11:56 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:11:56 - INFO - 机器人已到达抓料点位 -2025-09-23 01:11:56 - 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"}]} -2025-09-23 01:11:56 - 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 -2025-09-23 01:11:57 - INFO - 移动到中位位置 -2025-09-23 01:11:57 - 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 -2025-09-23 01:11:57 - 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"}]} -2025-09-23 01:11:57 - INFO - 移动到中位位置 -2025-09-23 01:11:57 - 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 -2025-09-23 01:11:57 - 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"}]} -2025-09-23 01:11:57 - INFO - 移动到中位位置 -2025-09-23 01:11:57 - 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 -2025-09-23 01:11:57 - 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"}]} -2025-09-23 01:11:58 - 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"}]} -2025-09-23 01:11:58 - INFO - 移动到码垛中间点位置 -2025-09-23 01:11:58 - 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 -2025-09-23 01:11:58 - INFO - 移动到扔袋位置 -2025-09-23 01:11:58 - INFO - 移动到扔袋位置 -2025-09-23 01:11:58 - INFO - 移动到扔袋位置 -2025-09-23 01:11:58 - INFO - 移动到扔袋位置 -2025-09-23 01:11:58 - INFO - 已码垛数量：9 -2025-09-23 01:11:58 - 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 -2025-09-23 01:11:59 - 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"}]} -2025-09-23 01:11:59 - INFO - 移动到码垛复位位置 -2025-09-23 01:11:59 - 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 -2025-09-23 01:11:59 - 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"}]} -2025-09-23 01:11:59 - INFO - 拍照 -2025-09-23 01:11:59 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:11:59 - 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"}]} -2025-09-23 01:11:59 - 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 -2025-09-23 01:11:59 - INFO - 执行完成FPhoto -2025-09-23 01:12:00 - INFO - 移动到中位位置 -2025-09-23 01:12:00 - 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 -2025-09-23 01:12:00 - 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"}]} -2025-09-23 01:12:00 - INFO - 移动到中位位置 -2025-09-23 01:12:00 - 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 -2025-09-23 01:12:00 - 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"}]} -2025-09-23 01:12:00 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:12:00 - INFO - 机器人已到达抓料点位 -2025-09-23 01:12:00 - 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 -2025-09-23 01:12:00 - 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"}]} -2025-09-23 01:12:01 - INFO - 移动到中位位置 -2025-09-23 01:12:01 - 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 -2025-09-23 01:12:01 - 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"}]} -2025-09-23 01:12:01 - INFO - 移动到中位位置 -2025-09-23 01:12:01 - 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 -2025-09-23 01:12:01 - 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"}]} -2025-09-23 01:12:01 - INFO - 移动到中位位置 -2025-09-23 01:12:01 - 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 -2025-09-23 01:12:01 - 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"}]} -2025-09-23 01:12:02 - INFO - 移动到码垛中间点位置 -2025-09-23 01:12:02 - 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 -2025-09-23 01:12:02 - 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"}]} -2025-09-23 01:12:02 - INFO - 移动到扔袋位置 -2025-09-23 01:12:02 - INFO - 移动到扔袋位置 -2025-09-23 01:12:02 - INFO - 移动到扔袋位置 -2025-09-23 01:12:02 - INFO - 移动到扔袋位置 -2025-09-23 01:12:02 - INFO - 已码垛数量：10 -2025-09-23 01:12:02 - 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 -2025-09-23 01:12:03 - 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"}]} -2025-09-23 01:12:03 - INFO - 移动到码垛复位位置 -2025-09-23 01:12:03 - 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 -2025-09-23 01:12:03 - 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"}]} -2025-09-23 01:12:03 - INFO - 投料结束 -2025-09-23 01:12:03 - 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 -2025-09-23 01:12:03 - 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"}]} -2025-09-23 01:12:03 - INFO - 移动到拍照位置 -2025-09-23 01:12:03 - INFO - 复位成功 -2025-09-23 01:12:06 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:12:06 - INFO - 切换到工具坐标 -2025-09-23 01:12:06 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:12:06 - INFO - 切换到自动运行状态 -2025-09-23 01:12:07 - INFO - 第一层确认生产 -2025-09-23 01:12:10 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:12:10 - INFO - 切换到工具坐标 -2025-09-23 01:12:10 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:12:10 - INFO - 切换到自动运行状态 -2025-09-23 01:12:11 - INFO - 第一层确认生产 -2025-09-23 01:17:38 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:17:38 - INFO - 切换到工具坐标 -2025-09-23 01:17:38 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:17:38 - INFO - 切换到自动运行状态 -2025-09-23 01:17:39 - INFO - 第一层确认生产 -2025-09-23 01:17:40 - INFO - 1号线:投料开始 -2025-09-23 01:17:40 - 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"}]} -2025-09-23 01:17:40 - INFO - 发送IO控制: 2，1 -2025-09-23 01:17:45 - 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"}]} -2025-09-23 01:17:45 - INFO - 发送IO控制: 2，0 -2025-09-23 01:17:45 - 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"}]} -2025-09-23 01:17:45 - INFO - 投料开始 -2025-09-23 01:17:45 - 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 -2025-09-23 01:17:45 - 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"}]} -2025-09-23 01:17:45 - INFO - 投料开始 -2025-09-23 01:17:45 - 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 -2025-09-23 01:17:46 - INFO - 移动到中位位置 -2025-09-23 01:17:46 - 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 -2025-09-23 01:17:46 - 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"}]} -2025-09-23 01:17:46 - INFO - 检测是否安全投料 -2025-09-23 01:17:46 - 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 -2025-09-23 01:17:46 - 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"}]} -2025-09-23 01:17:46 - INFO - 检测是否安全投料 -2025-09-23 01:17:46 - 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"}]} -2025-09-23 01:17:46 - 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 -2025-09-23 01:17:47 - INFO - 拍照 -2025-09-23 01:17:47 - INFO - 识别图像成功 -2025-09-23 01:17:47 - 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 -2025-09-23 01:17:47 - 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"}]} -2025-09-23 01:17:47 - INFO - 拍照 -2025-09-23 01:17:47 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:17:47 - 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 -2025-09-23 01:17:47 - 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"}]} -2025-09-23 01:17:47 - INFO - 执行完成FPhoto -2025-09-23 01:17:48 - INFO - 移动到中位位置 -2025-09-23 01:17:48 - 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 -2025-09-23 01:17:48 - 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"}]} -2025-09-23 01:17:48 - INFO - 移动到中位位置 -2025-09-23 01:17:48 - 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 -2025-09-23 01:17:48 - 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"}]} -2025-09-23 01:17:48 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:17:48 - INFO - 机器人已到达抓料点位 -2025-09-23 01:17:48 - 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 -2025-09-23 01:17:49 - 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"}]} -2025-09-23 01:17:49 - INFO - 移动到中位位置 -2025-09-23 01:17:49 - 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 -2025-09-23 01:17:49 - 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"}]} -2025-09-23 01:17:49 - 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"}]} -2025-09-23 01:17:49 - INFO - 移动到中位位置 -2025-09-23 01:17:49 - 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 -2025-09-23 01:17:49 - INFO - 移动到中位位置 -2025-09-23 01:17:49 - 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 -2025-09-23 01:17:50 - 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"}]} -2025-09-23 01:17:50 - INFO - 移动到码垛中间点位置 -2025-09-23 01:17:50 - 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 -2025-09-23 01:17:50 - 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"}]} -2025-09-23 01:17:50 - INFO - 移动到扔袋位置 -2025-09-23 01:17:50 - INFO - 移动到扔袋位置 -2025-09-23 01:17:50 - INFO - 移动到扔袋位置 -2025-09-23 01:17:50 - INFO - 移动到扔袋位置 -2025-09-23 01:17:50 - INFO - 已码垛数量：9 -2025-09-23 01:17:50 - 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 -2025-09-23 01:17:51 - 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"}]} -2025-09-23 01:17:51 - INFO - 移动到码垛复位位置 -2025-09-23 01:17:51 - 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 -2025-09-23 01:17:51 - 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"}]} -2025-09-23 01:17:51 - INFO - 拍照 -2025-09-23 01:17:51 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:17:51 - 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 -2025-09-23 01:17:51 - 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"}]} -2025-09-23 01:17:51 - INFO - 执行完成FPhoto -2025-09-23 01:17:52 - INFO - 移动到中位位置 -2025-09-23 01:17:52 - 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 -2025-09-23 01:17:52 - 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"}]} -2025-09-23 01:17:52 - INFO - 移动到中位位置 -2025-09-23 01:17:52 - 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 -2025-09-23 01:17:52 - 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"}]} -2025-09-23 01:17:52 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:17:52 - INFO - 机器人已到达抓料点位 -2025-09-23 01:17:52 - 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 -2025-09-23 01:17:53 - 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"}]} -2025-09-23 01:17:53 - INFO - 移动到中位位置 -2025-09-23 01:17:53 - 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 -2025-09-23 01:17:53 - 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"}]} -2025-09-23 01:17:53 - INFO - 移动到中位位置 -2025-09-23 01:17:53 - 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 -2025-09-23 01:17:53 - 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"}]} -2025-09-23 01:17:53 - INFO - 移动到中位位置 -2025-09-23 01:17:53 - 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 -2025-09-23 01:17:54 - 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"}]} -2025-09-23 01:17:54 - 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"}]} -2025-09-23 01:17:54 - INFO - 移动到码垛中间点位置 -2025-09-23 01:17:54 - 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 -2025-09-23 01:17:54 - INFO - 移动到扔袋位置 -2025-09-23 01:17:54 - INFO - 移动到扔袋位置 -2025-09-23 01:17:54 - INFO - 移动到扔袋位置 -2025-09-23 01:17:54 - INFO - 移动到扔袋位置 -2025-09-23 01:17:54 - INFO - 已码垛数量：10 -2025-09-23 01:17:55 - 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 -2025-09-23 01:17:55 - 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"}]} -2025-09-23 01:17:55 - INFO - 移动到码垛复位位置 -2025-09-23 01:17:55 - 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 -2025-09-23 01:17:55 - 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"}]} -2025-09-23 01:17:55 - INFO - 投料结束 -2025-09-23 01:17:55 - 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 -2025-09-23 01:17:55 - 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"}]} -2025-09-23 01:17:55 - INFO - 移动到拍照位置 -2025-09-23 01:17:56 - INFO - 复位成功 -2025-09-23 01:17:56 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:17:57 - INFO - 切换到工具坐标 -2025-09-23 01:17:57 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:17:57 - INFO - 切换到自动运行状态 -2025-09-23 01:17:57 - INFO - 第一层确认生产 -2025-09-23 01:17:58 - INFO - 1号线:投料开始 -2025-09-23 01:17:58 - 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"}]} -2025-09-23 01:17:58 - INFO - 发送IO控制: 2，1 -2025-09-23 01:18:03 - 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"}]} -2025-09-23 01:18:03 - INFO - 发送IO控制: 2，0 -2025-09-23 01:18:04 - 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"}]} -2025-09-23 01:18:04 - INFO - 投料开始 -2025-09-23 01:18:04 - 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 -2025-09-23 01:18:04 - INFO - 投料开始 -2025-09-23 01:18:04 - 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 -2025-09-23 01:18:04 - 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"}]} -2025-09-23 01:18:04 - INFO - 移动到中位位置 -2025-09-23 01:18:04 - 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 -2025-09-23 01:18:04 - 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"}]} -2025-09-23 01:18:05 - INFO - 检测是否安全投料 -2025-09-23 01:18:05 - 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 -2025-09-23 01:18:05 - 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"}]} -2025-09-23 01:18:05 - INFO - 检测是否安全投料 -2025-09-23 01:18:05 - 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 -2025-09-23 01:18:05 - 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"}]} -2025-09-23 01:18:05 - INFO - 拍照 -2025-09-23 01:18:05 - INFO - 识别图像成功 -2025-09-23 01:18:05 - 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 -2025-09-23 01:18:06 - 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"}]} -2025-09-23 01:18:06 - INFO - 拍照 -2025-09-23 01:18:06 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:06 - 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 -2025-09-23 01:18:06 - 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"}]} -2025-09-23 01:18:06 - INFO - 执行完成FPhoto -2025-09-23 01:18:06 - INFO - 移动到中位位置 -2025-09-23 01:18:06 - 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 -2025-09-23 01:18:06 - 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"}]} -2025-09-23 01:18:07 - INFO - 移动到中位位置 -2025-09-23 01:18:07 - 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 -2025-09-23 01:18:07 - 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"}]} -2025-09-23 01:18:07 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:07 - INFO - 机器人已到达抓料点位 -2025-09-23 01:18:07 - 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 -2025-09-23 01:18:07 - 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"}]} -2025-09-23 01:18:07 - INFO - 移动到中位位置 -2025-09-23 01:18:07 - 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 -2025-09-23 01:18:07 - 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"}]} -2025-09-23 01:18:08 - 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"}]} -2025-09-23 01:18:08 - INFO - 移动到中位位置 -2025-09-23 01:18:08 - 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 -2025-09-23 01:18:08 - INFO - 移动到中位位置 -2025-09-23 01:18:08 - 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 -2025-09-23 01:18:08 - 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"}]} -2025-09-23 01:18:08 - INFO - 移动到码垛中间点位置 -2025-09-23 01:18:08 - INFO - 移动到位置:姿势直线：X:1052.553-Y:-395.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-23 01:18:08 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:09 - INFO - 移动到扔袋位置 -2025-09-23 01:18:09 - INFO - 移动到扔袋位置 -2025-09-23 01:18:09 - INFO - 移动到扔袋位置 -2025-09-23 01:18:09 - INFO - 移动到扔袋位置 -2025-09-23 01:18:09 - INFO - 已码垛数量：1 -2025-09-23 01:18:09 - 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 -2025-09-23 01:18:09 - 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"}]} -2025-09-23 01:18:09 - INFO - 移动到码垛复位位置 -2025-09-23 01:18:09 - 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 -2025-09-23 01:18:10 - 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"}]} -2025-09-23 01:18:10 - INFO - 拍照 -2025-09-23 01:18:10 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:10 - 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"}]} -2025-09-23 01:18:10 - 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 -2025-09-23 01:18:10 - INFO - 执行完成FPhoto -2025-09-23 01:18:10 - INFO - 移动到中位位置 -2025-09-23 01:18:10 - 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 -2025-09-23 01:18:10 - 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"}]} -2025-09-23 01:18:11 - INFO - 移动到中位位置 -2025-09-23 01:18:11 - 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 -2025-09-23 01:18:11 - 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"}]} -2025-09-23 01:18:11 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:11 - INFO - 机器人已到达抓料点位 -2025-09-23 01:18:11 - 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 -2025-09-23 01:18:11 - 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"}]} -2025-09-23 01:18:11 - INFO - 移动到中位位置 -2025-09-23 01:18:11 - 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 -2025-09-23 01:18:12 - 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"}]} -2025-09-23 01:18:12 - INFO - 移动到中位位置 -2025-09-23 01:18:12 - 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 -2025-09-23 01:18:12 - 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"}]} -2025-09-23 01:18:12 - INFO - 移动到中位位置 -2025-09-23 01:18:12 - 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 -2025-09-23 01:18:12 - 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"}]} -2025-09-23 01:18:12 - INFO - 移动到码垛中间点位置 -2025-09-23 01:18:12 - INFO - 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-23 01:18:12 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:13 - INFO - 移动到扔袋位置 -2025-09-23 01:18:13 - INFO - 移动到扔袋位置 -2025-09-23 01:18:13 - INFO - 移动到扔袋位置 -2025-09-23 01:18:13 - INFO - 移动到扔袋位置 -2025-09-23 01:18:13 - INFO - 已码垛数量：2 -2025-09-23 01:18:13 - 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 -2025-09-23 01:18:13 - 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"}]} -2025-09-23 01:18:13 - INFO - 移动到码垛复位位置 -2025-09-23 01:18:13 - 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 -2025-09-23 01:18:14 - 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"}]} -2025-09-23 01:18:14 - INFO - 拍照 -2025-09-23 01:18:14 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:14 - 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 -2025-09-23 01:18:14 - 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"}]} -2025-09-23 01:18:14 - INFO - 执行完成FPhoto -2025-09-23 01:18:14 - 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"}]} -2025-09-23 01:18:14 - INFO - 移动到中位位置 -2025-09-23 01:18:14 - 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 -2025-09-23 01:18:15 - INFO - 移动到中位位置 -2025-09-23 01:18:15 - 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 -2025-09-23 01:18:15 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:15 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:15 - INFO - 机器人已到达抓料点位 -2025-09-23 01:18:15 - 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 -2025-09-23 01:18:15 - 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"}]} -2025-09-23 01:18:15 - INFO - 移动到中位位置 -2025-09-23 01:18:15 - 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 -2025-09-23 01:18:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:16 - INFO - 移动到中位位置 -2025-09-23 01:18:16 - 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 -2025-09-23 01:18:16 - 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"}]} -2025-09-23 01:18:16 - INFO - 移动到中位位置 -2025-09-23 01:18:16 - 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 -2025-09-23 01:18:16 - 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"}]} -2025-09-23 01:18:16 - INFO - 移动到码垛中间点位置 -2025-09-23 01:18:16 - INFO - 移动到位置:姿势直线：X:1052.553-Y:179.308-Z:-1202.361-U:-148.482-V:3.0-W:0.0 -2025-09-23 01:18:17 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:17 - INFO - 移动到扔袋位置 -2025-09-23 01:18:17 - INFO - 移动到扔袋位置 -2025-09-23 01:18:17 - INFO - 移动到扔袋位置 -2025-09-23 01:18:17 - 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"}]} -2025-09-23 01:18:17 - INFO - 移动到扔袋位置 -2025-09-23 01:18:17 - INFO - 已码垛数量：3 -2025-09-23 01:18:17 - 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 -2025-09-23 01:18:17 - 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"}]} -2025-09-23 01:18:17 - INFO - 移动到码垛复位位置 -2025-09-23 01:18:18 - 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 -2025-09-23 01:18:18 - INFO - 拍照 -2025-09-23 01:18:18 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:18 - 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 -2025-09-23 01:18:18 - 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"}]} -2025-09-23 01:18:18 - INFO - 执行完成FPhoto -2025-09-23 01:18:18 - INFO - 移动到中位位置 -2025-09-23 01:18:18 - 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 -2025-09-23 01:18:18 - 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"}]} -2025-09-23 01:18:19 - INFO - 移动到中位位置 -2025-09-23 01:18:19 - 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 -2025-09-23 01:18:19 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:19 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:19 - INFO - 机器人已到达抓料点位 -2025-09-23 01:18:19 - 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 -2025-09-23 01:18:19 - 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"}]} -2025-09-23 01:18:19 - INFO - 移动到中位位置 -2025-09-23 01:18:19 - 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 -2025-09-23 01:18:20 - 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"}]} -2025-09-23 01:18:20 - INFO - 移动到中位位置 -2025-09-23 01:18:20 - 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 -2025-09-23 01:18:20 - 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"}]} -2025-09-23 01:18:20 - 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"}]} -2025-09-23 01:18:20 - INFO - 移动到中位位置 -2025-09-23 01:18:20 - 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 -2025-09-23 01:18:20 - INFO - 移动到码垛中间点位置 -2025-09-23 01:18:20 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-23 01:18:21 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:21 - INFO - 移动到扔袋位置 -2025-09-23 01:18:21 - INFO - 移动到扔袋位置 -2025-09-23 01:18:21 - INFO - 移动到扔袋位置 -2025-09-23 01:18:21 - INFO - 移动到扔袋位置 -2025-09-23 01:18:21 - INFO - 已码垛数量：4 -2025-09-23 01:18:21 - 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 -2025-09-23 01:18:21 - 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"}]} -2025-09-23 01:18:21 - 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"}]} -2025-09-23 01:18:22 - INFO - 移动到码垛复位位置 -2025-09-23 01:18:22 - 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 -2025-09-23 01:18:22 - INFO - 拍照 -2025-09-23 01:18:22 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:22 - 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 -2025-09-23 01:18:22 - 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"}]} -2025-09-23 01:18:22 - INFO - 执行完成FPhoto -2025-09-23 01:18:22 - INFO - 移动到中位位置 -2025-09-23 01:18:22 - 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 -2025-09-23 01:18:23 - 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"}]} -2025-09-23 01:18:23 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:23 - INFO - 移动到中位位置 -2025-09-23 01:18:23 - 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 -2025-09-23 01:18:23 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:23 - INFO - 机器人已到达抓料点位 -2025-09-23 01:18:23 - 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 -2025-09-23 01:18:23 - 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"}]} -2025-09-23 01:18:23 - 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"}]} -2025-09-23 01:18:23 - INFO - 移动到中位位置 -2025-09-23 01:18:24 - 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 -2025-09-23 01:18:24 - INFO - 移动到中位位置 -2025-09-23 01:18:24 - 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 -2025-09-23 01:18:24 - 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"}]} -2025-09-23 01:18:24 - INFO - 移动到中位位置 -2025-09-23 01:18:24 - 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 -2025-09-23 01:18:24 - 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"}]} -2025-09-23 01:18:24 - INFO - 移动到码垛中间点位置 -2025-09-23 01:18:24 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-23 01:18:25 - 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":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:25 - INFO - 移动到扔袋位置 -2025-09-23 01:18:25 - INFO - 移动到扔袋位置 -2025-09-23 01:18:25 - INFO - 移动到扔袋位置 -2025-09-23 01:18:25 - INFO - 移动到扔袋位置 -2025-09-23 01:18:25 - INFO - 已码垛数量：5 -2025-09-23 01:18:25 - 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 -2025-09-23 01:18:25 - 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"}]} -2025-09-23 01:18:25 - INFO - 移动到码垛复位位置 -2025-09-23 01:18:26 - 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 -2025-09-23 01:18:26 - 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"}]} -2025-09-23 01:18:26 - INFO - 拍照 -2025-09-23 01:18:26 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:26 - 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 -2025-09-23 01:18:26 - 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"}]} -2025-09-23 01:18:26 - INFO - 执行完成FPhoto -2025-09-23 01:18:26 - INFO - 移动到中位位置 -2025-09-23 01:18:26 - 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 -2025-09-23 01:18:27 - 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"}]} -2025-09-23 01:18:27 - INFO - 移动到中位位置 -2025-09-23 01:18:27 - 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 -2025-09-23 01:18:27 - 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"}]} -2025-09-23 01:18:27 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:27 - INFO - 机器人已到达抓料点位 -2025-09-23 01:18:27 - 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 -2025-09-23 01:18:27 - 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"}]} -2025-09-23 01:18:27 - INFO - 移动到中位位置 -2025-09-23 01:18:28 - 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 -2025-09-23 01:18:28 - 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"}]} -2025-09-23 01:18:28 - INFO - 移动到中位位置 -2025-09-23 01:18:28 - 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 -2025-09-23 01:18:28 - 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"}]} -2025-09-23 01:18:28 - INFO - 移动到中位位置 -2025-09-23 01:18:28 - 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 -2025-09-23 01:18:28 - 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"}]} -2025-09-23 01:18:28 - INFO - 移动到码垛中间点位置 -2025-09-23 01:18:29 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-23 01:18:29 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:29 - INFO - 移动到扔袋位置 -2025-09-23 01:18:29 - INFO - 移动到扔袋位置 -2025-09-23 01:18:29 - INFO - 移动到扔袋位置 -2025-09-23 01:18:29 - INFO - 移动到扔袋位置 -2025-09-23 01:18:29 - INFO - 已码垛数量：6 -2025-09-23 01:18:29 - 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 -2025-09-23 01:18:29 - 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"}]} -2025-09-23 01:18:29 - INFO - 移动到码垛复位位置 -2025-09-23 01:18:30 - 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 -2025-09-23 01:18:30 - 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"}]} -2025-09-23 01:18:30 - INFO - 拍照 -2025-09-23 01:18:30 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:30 - 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 -2025-09-23 01:18:30 - 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"}]} -2025-09-23 01:18:30 - INFO - 执行完成FPhoto -2025-09-23 01:18:30 - INFO - 移动到中位位置 -2025-09-23 01:18:30 - 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 -2025-09-23 01:18:31 - 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"}]} -2025-09-23 01:18:31 - INFO - 移动到中位位置 -2025-09-23 01:18:31 - 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 -2025-09-23 01:18:31 - 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"}]} -2025-09-23 01:18:31 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:31 - INFO - 机器人已到达抓料点位 -2025-09-23 01:18:31 - 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 -2025-09-23 01:18:31 - 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"}]} -2025-09-23 01:18:31 - INFO - 移动到中位位置 -2025-09-23 01:18:32 - 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 -2025-09-23 01:18:32 - 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"}]} -2025-09-23 01:18:32 - INFO - 移动到中位位置 -2025-09-23 01:18:32 - 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 -2025-09-23 01:18:32 - 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"}]} -2025-09-23 01:18:32 - INFO - 移动到中位位置 -2025-09-23 01:18:32 - 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 -2025-09-23 01:18:32 - 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"}]} -2025-09-23 01:18:32 - INFO - 移动到码垛中间点位置 -2025-09-23 01:18:33 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-23 01:18:33 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:33 - INFO - 移动到扔袋位置 -2025-09-23 01:18:33 - INFO - 移动到扔袋位置 -2025-09-23 01:18:33 - INFO - 移动到扔袋位置 -2025-09-23 01:18:33 - INFO - 移动到扔袋位置 -2025-09-23 01:18:33 - INFO - 已码垛数量：7 -2025-09-23 01:18:33 - 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 -2025-09-23 01:18:33 - 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"}]} -2025-09-23 01:18:34 - 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"}]} -2025-09-23 01:18:34 - INFO - 移动到码垛复位位置 -2025-09-23 01:18:34 - 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 -2025-09-23 01:18:34 - INFO - 拍照 -2025-09-23 01:18:34 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:34 - 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 -2025-09-23 01:18:34 - 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"}]} -2025-09-23 01:18:34 - INFO - 执行完成FPhoto -2025-09-23 01:18:34 - INFO - 移动到中位位置 -2025-09-23 01:18:34 - 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 -2025-09-23 01:18:35 - 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"}]} -2025-09-23 01:18:35 - INFO - 移动到中位位置 -2025-09-23 01:18:35 - 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 -2025-09-23 01:18:35 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:35 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:35 - INFO - 机器人已到达抓料点位 -2025-09-23 01:18:35 - 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 -2025-09-23 01:18:35 - 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"}]} -2025-09-23 01:18:35 - INFO - 移动到中位位置 -2025-09-23 01:18:36 - 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 -2025-09-23 01:18:36 - 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"}]} -2025-09-23 01:18:36 - INFO - 移动到中位位置 -2025-09-23 01:18:36 - 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 -2025-09-23 01:18:36 - 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"}]} -2025-09-23 01:18:36 - INFO - 移动到中位位置 -2025-09-23 01:18:36 - 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 -2025-09-23 01:18:36 - 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"}]} -2025-09-23 01:18:36 - INFO - 移动到码垛中间点位置 -2025-09-23 01:18:37 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-23 01:18:37 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:37 - INFO - 移动到扔袋位置 -2025-09-23 01:18:37 - INFO - 移动到扔袋位置 -2025-09-23 01:18:37 - INFO - 移动到扔袋位置 -2025-09-23 01:18:37 - INFO - 移动到扔袋位置 -2025-09-23 01:18:37 - INFO - 已码垛数量：8 -2025-09-23 01:18:37 - 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 -2025-09-23 01:18:37 - 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"}]} -2025-09-23 01:18:38 - INFO - 移动到码垛复位位置 -2025-09-23 01:18:38 - 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 -2025-09-23 01:18:38 - 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"}]} -2025-09-23 01:18:38 - INFO - 拍照 -2025-09-23 01:18:38 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:38 - 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 -2025-09-23 01:18:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:38 - INFO - 执行完成FPhoto -2025-09-23 01:18:38 - INFO - 移动到中位位置 -2025-09-23 01:18:39 - 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 -2025-09-23 01:18:39 - 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"}]} -2025-09-23 01:18:39 - INFO - 移动到中位位置 -2025-09-23 01:18:39 - 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 -2025-09-23 01:18:39 - 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"}]} -2025-09-23 01:18:39 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:39 - INFO - 机器人已到达抓料点位 -2025-09-23 01:18:39 - 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 -2025-09-23 01:18:39 - 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"}]} -2025-09-23 01:18:40 - 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"}]} -2025-09-23 01:18:40 - INFO - 移动到中位位置 -2025-09-23 01:18:40 - 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 -2025-09-23 01:18:40 - INFO - 移动到中位位置 -2025-09-23 01:18:40 - 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 -2025-09-23 01:18:40 - 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"}]} -2025-09-23 01:18:40 - INFO - 移动到中位位置 -2025-09-23 01:18:40 - 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 -2025-09-23 01:18:40 - 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"}]} -2025-09-23 01:18:41 - 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"}]} -2025-09-23 01:18:41 - INFO - 移动到码垛中间点位置 -2025-09-23 01:18:41 - 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 -2025-09-23 01:18:41 - INFO - 移动到扔袋位置 -2025-09-23 01:18:41 - INFO - 移动到扔袋位置 -2025-09-23 01:18:41 - INFO - 移动到扔袋位置 -2025-09-23 01:18:41 - INFO - 移动到扔袋位置 -2025-09-23 01:18:41 - INFO - 已码垛数量：9 -2025-09-23 01:18:41 - 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 -2025-09-23 01:18:41 - 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"}]} -2025-09-23 01:18:42 - INFO - 移动到码垛复位位置 -2025-09-23 01:18:42 - 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 -2025-09-23 01:18:42 - 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"}]} -2025-09-23 01:18:42 - INFO - 拍照 -2025-09-23 01:18:42 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:42 - 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 -2025-09-23 01:18:42 - 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"}]} -2025-09-23 01:18:42 - INFO - 执行完成FPhoto -2025-09-23 01:18:42 - INFO - 移动到中位位置 -2025-09-23 01:18:43 - 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 -2025-09-23 01:18:43 - 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"}]} -2025-09-23 01:18:43 - INFO - 移动到中位位置 -2025-09-23 01:18:43 - 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 -2025-09-23 01:18:43 - 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"}]} -2025-09-23 01:18:43 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:43 - INFO - 机器人已到达抓料点位 -2025-09-23 01:18:43 - 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 -2025-09-23 01:18:43 - 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"}]} -2025-09-23 01:18:44 - 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"}]} -2025-09-23 01:18:44 - INFO - 移动到中位位置 -2025-09-23 01:18:44 - 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 -2025-09-23 01:18:44 - INFO - 移动到中位位置 -2025-09-23 01:18:44 - 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 -2025-09-23 01:18:44 - 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"}]} -2025-09-23 01:18:44 - INFO - 移动到中位位置 -2025-09-23 01:18:44 - 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 -2025-09-23 01:18:44 - 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"}]} -2025-09-23 01:18:45 - INFO - 移动到码垛中间点位置 -2025-09-23 01:18:45 - 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 -2025-09-23 01:18:45 - 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"}]} -2025-09-23 01:18:45 - INFO - 移动到扔袋位置 -2025-09-23 01:18:45 - INFO - 移动到扔袋位置 -2025-09-23 01:18:45 - INFO - 移动到扔袋位置 -2025-09-23 01:18:45 - INFO - 移动到扔袋位置 -2025-09-23 01:18:45 - 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"}]} -2025-09-23 01:18:45 - INFO - 已码垛数量：10 -2025-09-23 01:18:46 - 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 -2025-09-23 01:18:46 - INFO - 移动到码垛复位位置 -2025-09-23 01:18:46 - 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 -2025-09-23 01:18:46 - 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"}]} -2025-09-23 01:18:46 - INFO - 投料结束 -2025-09-23 01:18:46 - 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 -2025-09-23 01:18:46 - 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"}]} -2025-09-23 01:18:46 - INFO - 移动到拍照位置 -2025-09-23 01:18:46 - INFO - 复位成功 -2025-09-23 01:18:49 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 01:18:50 - INFO - 切换到工具坐标 -2025-09-23 01:18:50 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 01:18:50 - INFO - 切换到自动运行状态 -2025-09-23 01:18:50 - INFO - 第一层确认生产 -2025-09-23 01:18:51 - INFO - 1号线:投料开始 -2025-09-23 01:18:51 - 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"}]} -2025-09-23 01:18:51 - INFO - 发送IO控制: 2，1 -2025-09-23 01:18:56 - 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"}]} -2025-09-23 01:18:56 - INFO - 发送IO控制: 2，0 -2025-09-23 01:18:56 - 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"}]} -2025-09-23 01:18:56 - INFO - 投料开始 -2025-09-23 01:18:56 - 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 -2025-09-23 01:18:56 - INFO - 投料开始 -2025-09-23 01:18:56 - 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"}]} -2025-09-23 01:18:57 - 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 -2025-09-23 01:18:57 - INFO - 移动到中位位置 -2025-09-23 01:18:57 - 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 -2025-09-23 01:18:57 - 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"}]} -2025-09-23 01:18:57 - INFO - 检测是否安全投料 -2025-09-23 01:18:57 - 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 -2025-09-23 01:18:57 - 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"}]} -2025-09-23 01:18:57 - 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"}]} -2025-09-23 01:18:57 - INFO - 检测是否安全投料 -2025-09-23 01:18:58 - 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 -2025-09-23 01:18:58 - INFO - 拍照 -2025-09-23 01:18:58 - INFO - 识别图像成功 -2025-09-23 01:18:58 - 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 -2025-09-23 01:18:58 - 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"}]} -2025-09-23 01:18:58 - INFO - 拍照 -2025-09-23 01:18:58 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:18:58 - 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 -2025-09-23 01:18:58 - 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"}]} -2025-09-23 01:18:59 - INFO - 执行完成FPhoto -2025-09-23 01:18:59 - INFO - 移动到中位位置 -2025-09-23 01:18:59 - 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 -2025-09-23 01:18:59 - 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"}]} -2025-09-23 01:18:59 - INFO - 移动到中位位置 -2025-09-23 01:18:59 - 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 -2025-09-23 01:18:59 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:18:59 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:18:59 - INFO - 机器人已到达抓料点位 -2025-09-23 01:19:00 - 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 -2025-09-23 01:19:00 - 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"}]} -2025-09-23 01:19:00 - INFO - 移动到中位位置 -2025-09-23 01:19:00 - 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 -2025-09-23 01:19:00 - 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"}]} -2025-09-23 01:19:00 - INFO - 移动到中位位置 -2025-09-23 01:19:00 - 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 -2025-09-23 01:19:00 - 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"}]} -2025-09-23 01:19:00 - INFO - 移动到中位位置 -2025-09-23 01:19:01 - 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 -2025-09-23 01:19:01 - 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"}]} -2025-09-23 01:19:01 - INFO - 移动到码垛中间点位置 -2025-09-23 01:19:01 - INFO - 移动到位置:姿势直线：X:1052.553-Y:-395.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-23 01:19:01 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:19:01 - INFO - 移动到扔袋位置 -2025-09-23 01:19:01 - INFO - 移动到扔袋位置 -2025-09-23 01:19:01 - INFO - 移动到扔袋位置 -2025-09-23 01:19:01 - INFO - 移动到扔袋位置 -2025-09-23 01:19:01 - INFO - 已码垛数量：1 -2025-09-23 01:19:02 - 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 -2025-09-23 01:19:02 - 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"}]} -2025-09-23 01:19:02 - INFO - 移动到码垛复位位置 -2025-09-23 01:19:02 - 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 -2025-09-23 01:19:02 - 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"}]} -2025-09-23 01:19:02 - INFO - 拍照 -2025-09-23 01:19:02 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 01:19:02 - 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 -2025-09-23 01:19:02 - 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"}]} -2025-09-23 01:19:03 - INFO - 执行完成FPhoto -2025-09-23 01:19:03 - INFO - 移动到中位位置 -2025-09-23 01:19:03 - 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 -2025-09-23 01:19:03 - 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"}]} -2025-09-23 01:19:03 - INFO - 移动到中位位置 -2025-09-23 01:19:03 - 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 -2025-09-23 01:19:03 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:19:03 - 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"}]} -2025-09-23 01:19:03 - INFO - str_feed_take移动到抓料位置 -2025-09-23 01:19:04 - INFO - 机器人已到达抓料点位 -2025-09-23 01:19:04 - 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 -2025-09-23 01:19:04 - 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"}]} -2025-09-23 01:19:04 - INFO - 移动到中位位置 -2025-09-23 01:19:04 - 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 -2025-09-23 01:19:04 - 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"}]} -2025-09-23 01:19:04 - INFO - 移动到中位位置 -2025-09-23 01:19:04 - 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 -2025-09-23 01:19:04 - INFO - 移动到中位位置 -2025-09-23 01:19:05 - 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 -2025-09-23 01:19:05 - 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"}]} -2025-09-23 01:19:05 - INFO - 移动到码垛中间点位置 -2025-09-23 01:19:05 - INFO - 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-23 01:19:05 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 01:19:05 - INFO - 移动到扔袋位置 -2025-09-23 01:19:05 - INFO - 移动到扔袋位置 -2025-09-23 01:19:05 - INFO - 移动到扔袋位置 -2025-09-23 01:19:05 - INFO - 清除报警 -2025-09-23 01:19:05 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 01:19:06 - INFO - 投料停止 -2025-09-23 01:19:06 - INFO - 清除报警 -2025-09-23 01:19:06 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 01:19:06 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 01:19:06 - 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"}]} -2025-09-23 01:19:06 - INFO - 发送IO控制: 2，1 -2025-09-23 01:19:06 - INFO - 按下急停 -2025-09-23 01:19:09 - INFO - 退出系统 -2025-09-23 01:19:24 - INFO - 进入系统 -2025-09-23 01:19:34 - INFO - 退出系统 -2025-09-23 16:21:48 - INFO - 进入系统 -2025-09-23 16:21:52 - INFO - 退出系统 -2025-09-23 16:22:13 - INFO - 进入系统 -2025-09-23 16:22:27 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 16:22:27 - INFO - 切换到工具坐标 -2025-09-23 16:22:27 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 16:22:27 - INFO - 切换到自动运行状态 -2025-09-23 16:22:28 - INFO - 第一层确认生产 -2025-09-23 16:22:29 - INFO - 1号线:投料开始 -2025-09-23 16:22:30 - 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"}]} -2025-09-23 16:22:30 - INFO - 发送IO控制: 2，1 -2025-09-23 16:22:35 - 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"}]} -2025-09-23 16:22:35 - INFO - 发送IO控制: 2，0 -2025-09-23 16:22:35 - 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"}]} -2025-09-23 16:22:35 - INFO - 投料开始 -2025-09-23 16:22:35 - 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 -2025-09-23 16:22:35 - INFO - 投料开始 -2025-09-23 16:22:35 - 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 -2025-09-23 16:22:35 - 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"}]} -2025-09-23 16:22:35 - INFO - 移动到中位位置 -2025-09-23 16:22:36 - 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 -2025-09-23 16:22:36 - 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"}]} -2025-09-23 16:22:36 - 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第一层确认生产 -2025-09-23 22:06:08 - INFO - 1号线:投料开始 -2025-09-23 22:06:08 - 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"}]} -2025-09-23 22:06:08 - INFO - 发送IO控制: 2，1 -2025-09-23 22:06:13 - 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"}]} -2025-09-23 22:06:13 - INFO - 发送IO控制: 2，0 -2025-09-23 22:06:13 - 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"}]} -2025-09-23 22:06:13 - INFO - 投料开始 -2025-09-23 22:06:13 - 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 -2025-09-23 22:06:13 - INFO - 投料开始 -2025-09-23 22:06:14 - 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INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 22:09:29 - INFO - 切换到自动运行状态 -2025-09-23 22:09:30 - INFO - 第一层确认生产 -2025-09-23 22:09:31 - INFO - 1号线:投料开始 -2025-09-23 22:09:32 - 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"}]} -2025-09-23 22:09:32 - INFO - 发送IO控制: 2，1 -2025-09-23 22:09:36 - 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"}]} -2025-09-23 22:09:37 - INFO - 发送IO控制: 2，0 -2025-09-23 22:09:37 - 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"}]} -2025-09-23 22:09:37 - INFO - 投料开始 -2025-09-23 22:09:37 - 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 -2025-09-23 22:09:37 - INFO - 投料开始 -2025-09-23 22:09:37 - 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 -2025-09-23 22:09:37 - 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"}]} -2025-09-23 22:09:37 - INFO - 移动到中位位置 -2025-09-23 22:09:37 - 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 -2025-09-23 22:09:38 - 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"}]} -2025-09-23 22:09:57 - INFO - 检测是否安全投料 -2025-09-23 22:09:57 - 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 -2025-09-23 22:09:57 - 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"}]} -2025-09-23 22:09:57 - INFO - 检测是否安全投料 -2025-09-23 22:09:57 - 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 -2025-09-23 22:09:57 - 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"}]} -2025-09-23 22:09:57 - INFO - 拍照 -2025-09-23 22:09:57 - INFO - 识别图像成功 -2025-09-23 22:09:57 - 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 -2025-09-23 22:09:58 - 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"}]} -2025-09-23 22:09:58 - INFO - 拍照 -2025-09-23 22:09:58 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:09:58 - 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"}]} -2025-09-23 22:09:58 - 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 -2025-09-23 22:09:58 - INFO - 执行完成FPhoto -2025-09-23 22:09:58 - INFO - 移动到中位位置 -2025-09-23 22:09:58 - 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 -2025-09-23 22:09:58 - 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"}]} -2025-09-23 22:09:59 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:09:59 - INFO - 移动到中位位置 -2025-09-23 22:09:59 - 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 -2025-09-23 22:09:59 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:09:59 - INFO - 机器人已到达抓料点位 -2025-09-23 22:09:59 - 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 -2025-09-23 22:09:59 - 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"}]} -2025-09-23 22:09:59 - INFO - 移动到中位位置 -2025-09-23 22:09:59 - 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 -2025-09-23 22:10:00 - 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"}]} -2025-09-23 22:10:00 - 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"}]} -2025-09-23 22:10:00 - INFO - 移动到中位位置 -2025-09-23 22:10:00 - 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 -2025-09-23 22:10:00 - INFO - 移动到中位位置 -2025-09-23 22:10:00 - 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 -2025-09-23 22:10:00 - 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"}]} -2025-09-23 22:10:00 - INFO - 移动到码垛中间点位置 -2025-09-23 22:10:00 - INFO - 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-23 22:10:01 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:01 - INFO - 移动到扔袋位置 -2025-09-23 22:10:01 - INFO - 移动到扔袋位置 -2025-09-23 22:10:01 - INFO - 移动到扔袋位置 -2025-09-23 22:10:01 - 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"}]} -2025-09-23 22:10:01 - INFO - 移动到扔袋位置 -2025-09-23 22:10:01 - INFO - 已码垛数量：2 -2025-09-23 22:10:01 - 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 -2025-09-23 22:10:01 - INFO - 移动到码垛复位位置 -2025-09-23 22:10:01 - 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 -2025-09-23 22:10:02 - 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"}]} -2025-09-23 22:10:02 - INFO - 拍照 -2025-09-23 22:10:02 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:10:02 - 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 -2025-09-23 22:10:02 - 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"}]} -2025-09-23 22:10:02 - INFO - 执行完成FPhoto -2025-09-23 22:10:02 - 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"}]} -2025-09-23 22:10:02 - INFO - 移动到中位位置 -2025-09-23 22:10:02 - 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 -2025-09-23 22:10:03 - INFO - 移动到中位位置 -2025-09-23 22:10:03 - 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 -2025-09-23 22:10:03 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:03 - 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"}]} -2025-09-23 22:10:03 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:10:03 - INFO - 机器人已到达抓料点位 -2025-09-23 22:10:03 - 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 -2025-09-23 22:10:03 - INFO - 移动到中位位置 -2025-09-23 22:10:03 - 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 -2025-09-23 22:10:04 - 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"}]} -2025-09-23 22:10:04 - INFO - 移动到中位位置 -2025-09-23 22:10:04 - 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"}]} -2025-09-23 22:10:04 - 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 -2025-09-23 22:10:04 - INFO - 移动到中位位置 -2025-09-23 22:10:04 - 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 -2025-09-23 22:10:04 - 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"}]} -2025-09-23 22:10:04 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:04 - INFO - 移动到码垛中间点位置 -2025-09-23 22:10:05 - INFO - 移动到位置:姿势直线：X:1052.553-Y:179.308-Z:-1202.361-U:-148.482-V:3.0-W:0.0 -2025-09-23 22:10:05 - INFO - 移动到扔袋位置 -2025-09-23 22:10:05 - INFO - 移动到扔袋位置 -2025-09-23 22:10:05 - INFO - 移动到扔袋位置 -2025-09-23 22:10:05 - INFO - 移动到扔袋位置 -2025-09-23 22:10:05 - INFO - 已码垛数量：3 -2025-09-23 22:10:05 - 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 -2025-09-23 22:10:05 - 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"}]} -2025-09-23 22:10:05 - INFO - 移动到码垛复位位置 -2025-09-23 22:10:06 - 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 -2025-09-23 22:10:06 - 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"}]} -2025-09-23 22:10:06 - INFO - 拍照 -2025-09-23 22:10:06 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:10:06 - 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 -2025-09-23 22:10:06 - 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"}]} -2025-09-23 22:10:06 - INFO - 执行完成FPhoto -2025-09-23 22:10:06 - 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"}]} -2025-09-23 22:10:06 - INFO - 移动到中位位置 -2025-09-23 22:10:06 - 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 -2025-09-23 22:10:07 - INFO - 移动到中位位置 -2025-09-23 22:10:07 - 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 -2025-09-23 22:10:07 - 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"}]} -2025-09-23 22:10:07 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:10:07 - INFO - 机器人已到达抓料点位 -2025-09-23 22:10:07 - 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 -2025-09-23 22:10:07 - 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"}]} -2025-09-23 22:10:07 - INFO - 移动到中位位置 -2025-09-23 22:10:07 - 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 -2025-09-23 22:10:08 - 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"}]} -2025-09-23 22:10:08 - INFO - 移动到中位位置 -2025-09-23 22:10:08 - 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 -2025-09-23 22:10:08 - 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"}]} -2025-09-23 22:10:08 - INFO - 移动到中位位置 -2025-09-23 22:10:08 - 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 -2025-09-23 22:10:08 - 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"}]} -2025-09-23 22:10:08 - INFO - 移动到码垛中间点位置 -2025-09-23 22:10:08 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-23 22:10:09 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:09 - INFO - 移动到扔袋位置 -2025-09-23 22:10:09 - INFO - 移动到扔袋位置 -2025-09-23 22:10:09 - INFO - 移动到扔袋位置 -2025-09-23 22:10:09 - 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"}]} -2025-09-23 22:10:09 - INFO - 移动到扔袋位置 -2025-09-23 22:10:09 - INFO - 已码垛数量：4 -2025-09-23 22:10:09 - 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 -2025-09-23 22:10:09 - INFO - 移动到码垛复位位置 -2025-09-23 22:10:10 - 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 -2025-09-23 22:10:10 - 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"}]} -2025-09-23 22:10:10 - INFO - 拍照 -2025-09-23 22:10:10 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:10:10 - 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"}]} -2025-09-23 22:10:10 - 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 -2025-09-23 22:10:10 - INFO - 执行完成FPhoto -2025-09-23 22:10:10 - INFO - 移动到中位位置 -2025-09-23 22:10:10 - 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 -2025-09-23 22:10:10 - 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"}]} -2025-09-23 22:10:11 - 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"}]} -2025-09-23 22:10:11 - INFO - 移动到中位位置 -2025-09-23 22:10:11 - 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 -2025-09-23 22:10:11 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:10:11 - INFO - 机器人已到达抓料点位 -2025-09-23 22:10:11 - 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"}]} -2025-09-23 22:10:11 - 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 -2025-09-23 22:10:11 - INFO - 移动到中位位置 -2025-09-23 22:10:11 - 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 -2025-09-23 22:10:12 - 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"}]} -2025-09-23 22:10:12 - INFO - 移动到中位位置 -2025-09-23 22:10:12 - 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 -2025-09-23 22:10:12 - 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"}]} -2025-09-23 22:10:12 - INFO - 移动到中位位置 -2025-09-23 22:10:12 - 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 -2025-09-23 22:10:12 - 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"}]} -2025-09-23 22:10:12 - INFO - 移动到码垛中间点位置 -2025-09-23 22:10:12 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-23 22:10:13 - 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":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:13 - INFO - 移动到扔袋位置 -2025-09-23 22:10:13 - INFO - 移动到扔袋位置 -2025-09-23 22:10:13 - INFO - 移动到扔袋位置 -2025-09-23 22:10:13 - INFO - 移动到扔袋位置 -2025-09-23 22:10:13 - INFO - 已码垛数量：5 -2025-09-23 22:10:13 - 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 -2025-09-23 22:10:13 - 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"}]} -2025-09-23 22:10:13 - INFO - 移动到码垛复位位置 -2025-09-23 22:10:14 - 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 -2025-09-23 22:10:14 - 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"}]} -2025-09-23 22:10:14 - INFO - 拍照 -2025-09-23 22:10:14 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:10:14 - 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 -2025-09-23 22:10:14 - 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"}]} -2025-09-23 22:10:14 - INFO - 执行完成FPhoto -2025-09-23 22:10:14 - INFO - 移动到中位位置 -2025-09-23 22:10:14 - 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 -2025-09-23 22:10:15 - 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"}]} -2025-09-23 22:10:15 - INFO - 移动到中位位置 -2025-09-23 22:10:15 - 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 -2025-09-23 22:10:15 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:15 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:10:15 - INFO - 机器人已到达抓料点位 -2025-09-23 22:10:15 - 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 -2025-09-23 22:10:15 - 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"}]} -2025-09-23 22:10:15 - INFO - 移动到中位位置 -2025-09-23 22:10:15 - 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 -2025-09-23 22:10:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:16 - INFO - 移动到中位位置 -2025-09-23 22:10:16 - 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 -2025-09-23 22:10:16 - 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"}]} -2025-09-23 22:10:16 - INFO - 移动到中位位置 -2025-09-23 22:10:16 - 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 -2025-09-23 22:10:16 - 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"}]} -2025-09-23 22:10:16 - INFO - 移动到码垛中间点位置 -2025-09-23 22:10:16 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-23 22:10:17 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:17 - INFO - 移动到扔袋位置 -2025-09-23 22:10:17 - INFO - 移动到扔袋位置 -2025-09-23 22:10:17 - INFO - 移动到扔袋位置 -2025-09-23 22:10:17 - INFO - 移动到扔袋位置 -2025-09-23 22:10:17 - INFO - 已码垛数量：6 -2025-09-23 22:10:17 - 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 -2025-09-23 22:10:17 - 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"}]} -2025-09-23 22:10:17 - INFO - 移动到码垛复位位置 -2025-09-23 22:10:18 - 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 -2025-09-23 22:10:18 - 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"}]} -2025-09-23 22:10:18 - INFO - 拍照 -2025-09-23 22:10:18 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:10:18 - 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 -2025-09-23 22:10:18 - 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"}]} -2025-09-23 22:10:18 - INFO - 执行完成FPhoto -2025-09-23 22:10:18 - INFO - 移动到中位位置 -2025-09-23 22:10:18 - 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 -2025-09-23 22:10:19 - 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"}]} -2025-09-23 22:10:19 - INFO - 移动到中位位置 -2025-09-23 22:10:19 - 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 -2025-09-23 22:10:19 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:19 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:10:19 - INFO - 机器人已到达抓料点位 -2025-09-23 22:10:19 - 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 -2025-09-23 22:10:19 - 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"}]} -2025-09-23 22:10:19 - INFO - 移动到中位位置 -2025-09-23 22:10:20 - 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 -2025-09-23 22:10:20 - 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"}]} -2025-09-23 22:10:20 - INFO - 移动到中位位置 -2025-09-23 22:10:20 - 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 -2025-09-23 22:10:20 - 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"}]} -2025-09-23 22:10:20 - 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"}]} -2025-09-23 22:10:20 - INFO - 移动到中位位置 -2025-09-23 22:10:20 - 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 -2025-09-23 22:10:20 - INFO - 移动到码垛中间点位置 -2025-09-23 22:10:20 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-23 22:10:21 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:21 - INFO - 移动到扔袋位置 -2025-09-23 22:10:21 - INFO - 移动到扔袋位置 -2025-09-23 22:10:21 - INFO - 移动到扔袋位置 -2025-09-23 22:10:21 - INFO - 移动到扔袋位置 -2025-09-23 22:10:21 - INFO - 已码垛数量：7 -2025-09-23 22:10:21 - 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 -2025-09-23 22:10:21 - 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"}]} -2025-09-23 22:10:21 - INFO - 移动到码垛复位位置 -2025-09-23 22:10:22 - 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 -2025-09-23 22:10:22 - 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"}]} -2025-09-23 22:10:22 - INFO - 拍照 -2025-09-23 22:10:22 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:10:22 - 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 -2025-09-23 22:10:22 - 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"}]} -2025-09-23 22:10:22 - INFO - 执行完成FPhoto -2025-09-23 22:10:22 - INFO - 移动到中位位置 -2025-09-23 22:10:22 - 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 -2025-09-23 22:10:23 - 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"}]} -2025-09-23 22:10:23 - INFO - 移动到中位位置 -2025-09-23 22:10:23 - 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 -2025-09-23 22:10:23 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:23 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:10:23 - INFO - 机器人已到达抓料点位 -2025-09-23 22:10:23 - 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 -2025-09-23 22:10:23 - 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"}]} -2025-09-23 22:10:23 - INFO - 移动到中位位置 -2025-09-23 22:10:24 - 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 -2025-09-23 22:10:24 - 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"}]} -2025-09-23 22:10:24 - INFO - 移动到中位位置 -2025-09-23 22:10:24 - 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 -2025-09-23 22:10:24 - 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"}]} -2025-09-23 22:10:24 - INFO - 移动到中位位置 -2025-09-23 22:10:24 - 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 -2025-09-23 22:10:24 - 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"}]} -2025-09-23 22:10:24 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:25 - INFO - 移动到码垛中间点位置 -2025-09-23 22:10:25 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-23 22:10:25 - INFO - 移动到扔袋位置 -2025-09-23 22:10:25 - INFO - 移动到扔袋位置 -2025-09-23 22:10:25 - INFO - 移动到扔袋位置 -2025-09-23 22:10:25 - 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"}]} -2025-09-23 22:10:25 - INFO - 移动到扔袋位置 -2025-09-23 22:10:25 - INFO - 已码垛数量：8 -2025-09-23 22:10:25 - 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 -2025-09-23 22:10:25 - INFO - 移动到码垛复位位置 -2025-09-23 22:10:26 - 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 -2025-09-23 22:10:26 - 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"}]} -2025-09-23 22:10:26 - INFO - 拍照 -2025-09-23 22:10:26 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:10:26 - 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"}]} -2025-09-23 22:10:26 - 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 -2025-09-23 22:10:26 - INFO - 执行完成FPhoto -2025-09-23 22:10:26 - INFO - 移动到中位位置 -2025-09-23 22:10:26 - 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 -2025-09-23 22:10:27 - 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"}]} -2025-09-23 22:10:27 - INFO - 移动到中位位置 -2025-09-23 22:10:27 - 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 -2025-09-23 22:10:27 - 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"}]} -2025-09-23 22:10:27 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:10:27 - INFO - 机器人已到达抓料点位 -2025-09-23 22:10:27 - 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"}]} -2025-09-23 22:10:27 - 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 -2025-09-23 22:10:27 - 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"}]} -2025-09-23 22:10:28 - INFO - 移动到中位位置 -2025-09-23 22:10:28 - 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 -2025-09-23 22:10:28 - INFO - 移动到中位位置 -2025-09-23 22:10:28 - 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 -2025-09-23 22:10:28 - 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"}]} -2025-09-23 22:10:28 - INFO - 移动到中位位置 -2025-09-23 22:10:28 - 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 -2025-09-23 22:10:28 - 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"}]} -2025-09-23 22:10:28 - INFO - 移动到码垛中间点位置 -2025-09-23 22:10:29 - 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 -2025-09-23 22:10:29 - 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"}]} -2025-09-23 22:10:29 - INFO - 移动到扔袋位置 -2025-09-23 22:10:29 - INFO - 移动到扔袋位置 -2025-09-23 22:10:29 - INFO - 移动到扔袋位置 -2025-09-23 22:10:29 - 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"}]} -2025-09-23 22:10:29 - INFO - 移动到扔袋位置 -2025-09-23 22:10:29 - INFO - 已码垛数量：9 -2025-09-23 22:10:29 - 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 -2025-09-23 22:10:30 - INFO - 移动到码垛复位位置 -2025-09-23 22:10:30 - 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 -2025-09-23 22:10:30 - 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"}]} -2025-09-23 22:10:30 - INFO - 拍照 -2025-09-23 22:10:30 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:10:30 - 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 -2025-09-23 22:10:30 - 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"}]} -2025-09-23 22:10:30 - INFO - 执行完成FPhoto -2025-09-23 22:10:30 - INFO - 移动到中位位置 -2025-09-23 22:10:30 - 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 -2025-09-23 22:10:31 - 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"}]} -2025-09-23 22:10:31 - INFO - 移动到中位位置 -2025-09-23 22:10:31 - 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 -2025-09-23 22:10:31 - 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"}]} -2025-09-23 22:10:31 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:10:31 - INFO - 机器人已到达抓料点位 -2025-09-23 22:10:31 - 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 -2025-09-23 22:10:31 - 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"}]} -2025-09-23 22:10:31 - INFO - 移动到中位位置 -2025-09-23 22:10:32 - 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 -2025-09-23 22:10:32 - 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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"}]} -2025-09-23 22:10:33 - INFO - 移动到码垛中间点位置 -2025-09-23 22:10:33 - 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 -2025-09-23 22:10:33 - INFO - 移动到扔袋位置 -2025-09-23 22:10:33 - INFO - 移动到扔袋位置 -2025-09-23 22:10:33 - INFO - 移动到扔袋位置 -2025-09-23 22:10:33 - INFO - 移动到扔袋位置 -2025-09-23 22:10:33 - INFO - 已码垛数量：10 -2025-09-23 22:10:33 - 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 -2025-09-23 22:10:33 - 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"}]} -2025-09-23 22:10:34 - INFO - 移动到码垛复位位置 -2025-09-23 22:10:34 - 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 -2025-09-23 22:10:34 - 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"}]} -2025-09-23 22:10:34 - INFO - 投料结束 -2025-09-23 22:10:34 - 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 -2025-09-23 22:10:34 - 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"}]} -2025-09-23 22:10:34 - INFO - 移动到拍照位置 -2025-09-23 22:10:34 - INFO - 复位成功 -2025-09-23 22:10:53 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 22:10:53 - 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INFO - 移动到中位位置 -2025-09-23 22:13:01 - 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 -2025-09-23 22:13:01 - INFO - 检测是否安全投料 -2025-09-23 22:13:01 - 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 -2025-09-23 22:13:02 - 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"}]} -2025-09-23 22:13:02 - INFO - 检测是否安全投料 -2025-09-23 22:13:02 - 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 -2025-09-23 22:13:02 - 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"}]} -2025-09-23 22:13:02 - INFO - 拍照 -2025-09-23 22:13:02 - 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"}]} -2025-09-23 22:13:02 - INFO - 识别图像成功 -2025-09-23 22:13:02 - 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 -2025-09-23 22:13:02 - INFO - 拍照 -2025-09-23 22:13:03 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:13:03 - 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 -2025-09-23 22:13:03 - 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"}]} -2025-09-23 22:13:03 - INFO - 执行完成FPhoto -2025-09-23 22:13:03 - 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投料开始 -2025-09-23 22:14:17 - 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 -2025-09-23 22:14:17 - 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"}]} -2025-09-23 22:14:17 - INFO - 移动到中位位置 -2025-09-23 22:14:17 - 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 -2025-09-23 22:14:18 - 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"}]} -2025-09-23 22:14:18 - INFO - 检测是否安全投料 -2025-09-23 22:14:18 - 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 -2025-09-23 22:14:18 - 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"}]} -2025-09-23 22:14:18 - INFO - 检测是否安全投料 -2025-09-23 22:14:18 - 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 -2025-09-23 22:14:18 - 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"}]} -2025-09-23 22:14:18 - 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"}]} -2025-09-23 22:14:18 - INFO - 拍照 -2025-09-23 22:14:18 - INFO - 识别图像成功 -2025-09-23 22:14:19 - 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 -2025-09-23 22:14:19 - INFO - 拍照 -2025-09-23 22:14:19 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:14:19 - 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 -2025-09-23 22:14:19 - 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"}]} -2025-09-23 22:14:19 - INFO - 执行完成FPhoto -2025-09-23 22:14:19 - INFO - 移动到中位位置 -2025-09-23 22:14:19 - 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 -2025-09-23 22:14:19 - 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"}]} -2025-09-23 22:14:20 - INFO - 移动到中位位置 -2025-09-23 22:14:20 - 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 -2025-09-23 22:14:20 - 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"}]} -2025-09-23 22:14:20 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:14:20 - INFO - 机器人已到达抓料点位 -2025-09-23 22:14:20 - 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 -2025-09-23 22:14:20 - 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"}]} -2025-09-23 22:14:20 - INFO - 移动到中位位置 -2025-09-23 22:14:20 - 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 -2025-09-23 22:14:21 - 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"}]} -2025-09-23 22:14:21 - INFO - 移动到中位位置 -2025-09-23 22:14:21 - 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 -2025-09-23 22:14:21 - 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"}]} -2025-09-23 22:14:21 - INFO - 移动到中位位置 -2025-09-23 22:14:21 - 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 -2025-09-23 22:14:21 - 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"}]} -2025-09-23 22:14:21 - INFO - 移动到码垛中间点位置 -2025-09-23 22:14:21 - INFO - 移动到位置:姿势直线：X:1052.553-Y:-395.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-23 22:14:22 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:14:22 - INFO - 移动到扔袋位置 -2025-09-23 22:14:22 - INFO - 移动到扔袋位置 -2025-09-23 22:14:28 - INFO - 移动到扔袋位置 -2025-09-23 22:14:28 - INFO - 移动到扔袋位置 -2025-09-23 22:14:28 - INFO - 已码垛数量：1 -2025-09-23 22:14:28 - 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 -2025-09-23 22:14:29 - 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"}]} -2025-09-23 22:14:29 - INFO - 移动到码垛复位位置 -2025-09-23 22:14:29 - 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 -2025-09-23 22:14:29 - 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"}]} -2025-09-23 22:14:29 - INFO - 拍照 -2025-09-23 22:14:29 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:14:29 - 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 -2025-09-23 22:14:29 - 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"}]} -2025-09-23 22:14:29 - INFO - 执行完成FPhoto -2025-09-23 22:14:30 - INFO - 移动到中位位置 -2025-09-23 22:14:30 - 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 -2025-09-23 22:14:30 - 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"}]} -2025-09-23 22:14:30 - INFO - 移动到中位位置 -2025-09-23 22:14:30 - 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 -2025-09-23 22:14:30 - 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"}]} -2025-09-23 22:14:30 - 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"}]} -2025-09-23 22:14:30 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:14:30 - INFO - 机器人已到达抓料点位 -2025-09-23 22:14:30 - 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 -2025-09-23 22:14:31 - 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"}]} -2025-09-23 22:14:31 - INFO - 移动到中位位置 -2025-09-23 22:14:31 - 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 -2025-09-23 22:14:31 - 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"}]} -2025-09-23 22:14:31 - INFO - 移动到中位位置 -2025-09-23 22:14:31 - 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 -2025-09-23 22:14:31 - INFO - 移动到中位位置 -2025-09-23 22:14:31 - 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 -2025-09-23 22:14:31 - 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"}]} -2025-09-23 22:14:32 - INFO - 移动到码垛中间点位置 -2025-09-23 22:14:32 - INFO - 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-23 22:14:32 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:14:32 - INFO - 移动到扔袋位置 -2025-09-23 22:14:32 - INFO - 移动到扔袋位置 -2025-09-23 22:14:32 - INFO - 移动到扔袋位置 -2025-09-23 22:14:32 - INFO - 移动到扔袋位置 -2025-09-23 22:14:32 - INFO - 已码垛数量：2 -2025-09-23 22:14:32 - 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 -2025-09-23 22:14:33 - 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"}]} -2025-09-23 22:14:33 - INFO - 移动到码垛复位位置 -2025-09-23 22:14:33 - 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 -2025-09-23 22:14:33 - 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"}]} -2025-09-23 22:14:33 - INFO - 拍照 -2025-09-23 22:14:33 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:14:33 - 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"}]} -2025-09-23 22:14:33 - 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 -2025-09-23 22:14:33 - INFO - 执行完成FPhoto -2025-09-23 22:14:34 - INFO - 移动到中位位置 -2025-09-23 22:14:34 - 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 -2025-09-23 22:14:34 - 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"}]} -2025-09-23 22:14:34 - INFO - 移动到中位位置 -2025-09-23 22:14:34 - 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 -2025-09-23 22:14:34 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:14:34 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:14:34 - INFO - 机器人已到达抓料点位 -2025-09-23 22:14:34 - 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 -2025-09-23 22:14:35 - 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"}]} -2025-09-23 22:14:35 - 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"}]} -2025-09-23 22:14:35 - INFO - 移动到中位位置 -2025-09-23 22:14:35 - 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 -2025-09-23 22:14:35 - INFO - 移动到中位位置 -2025-09-23 22:14:35 - 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 -2025-09-23 22:14:35 - 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"}]} -2025-09-23 22:14:35 - INFO - 移动到中位位置 -2025-09-23 22:14:35 - 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 -2025-09-23 22:14:36 - 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"}]} -2025-09-23 22:14:36 - INFO - 移动到码垛中间点位置 -2025-09-23 22:14:36 - INFO - 移动到位置:姿势直线：X:1052.553-Y:179.308-Z:-1202.361-U:-148.482-V:3.0-W:0.0 -2025-09-23 22:14:36 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:14:36 - INFO - 移动到扔袋位置 -2025-09-23 22:14:36 - INFO - 移动到扔袋位置 -2025-09-23 22:14:36 - INFO - 移动到扔袋位置 -2025-09-23 22:14:36 - INFO - 移动到扔袋位置 -2025-09-23 22:14:36 - INFO - 已码垛数量：3 -2025-09-23 22:14:36 - 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 -2025-09-23 22:14:37 - 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"}]} -2025-09-23 22:14:37 - INFO - 移动到码垛复位位置 -2025-09-23 22:14:37 - 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 -2025-09-23 22:14:37 - 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"}]} -2025-09-23 22:14:37 - INFO - 拍照 -2025-09-23 22:14:37 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:14:37 - 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"}]} -2025-09-23 22:14:37 - 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 -2025-09-23 22:14:37 - INFO - 执行完成FPhoto -2025-09-23 22:14:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:14:38 - INFO - 移动到中位位置 -2025-09-23 22:14:38 - 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 -2025-09-23 22:14:38 - INFO - 移动到中位位置 -2025-09-23 22:14:38 - 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"}]} -2025-09-23 22:14:38 - 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 -2025-09-23 22:14:38 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:14:38 - INFO - 机器人已到达抓料点位 -2025-09-23 22:14:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:14:39 - 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 -2025-09-23 22:14:39 - INFO - 移动到中位位置 -2025-09-23 22:14:39 - 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 -2025-09-23 22:14:39 - 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"}]} -2025-09-23 22:14:39 - INFO - 移动到中位位置 -2025-09-23 22:14:39 - 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 -2025-09-23 22:14:39 - 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"}]} -2025-09-23 22:14:39 - INFO - 移动到中位位置 -2025-09-23 22:14:39 - 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 -2025-09-23 22:14:40 - 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"}]} -2025-09-23 22:14:40 - INFO - 移动到码垛中间点位置 -2025-09-23 22:14:40 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-23 22:14:40 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:14:40 - INFO - 移动到扔袋位置 -2025-09-23 22:14:40 - INFO - 移动到扔袋位置 -2025-09-23 22:14:40 - INFO - 移动到扔袋位置 -2025-09-23 22:14:40 - INFO - 移动到扔袋位置 -2025-09-23 22:14:40 - INFO - 已码垛数量：4 -2025-09-23 22:14:41 - 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 -2025-09-23 22:14:41 - 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"}]} -2025-09-23 22:14:41 - INFO - 移动到码垛复位位置 -2025-09-23 22:14:41 - 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 -2025-09-23 22:14:41 - 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"}]} -2025-09-23 22:14:41 - INFO - 拍照 -2025-09-23 22:14:41 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:14:41 - 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 -2025-09-23 22:14:41 - 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"}]} -2025-09-23 22:14:42 - INFO - 执行完成FPhoto -2025-09-23 22:14:42 - 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"}]} -2025-09-23 22:14:42 - INFO - 移动到中位位置 -2025-09-23 22:14:42 - 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 -2025-09-23 22:14:42 - INFO - 移动到中位位置 -2025-09-23 22:14:42 - 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 -2025-09-23 22:14:42 - 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"}]} -2025-09-23 22:14:42 - 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"}]} -2025-09-23 22:14:42 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:14:42 - INFO - 机器人已到达抓料点位 -2025-09-23 22:14:43 - 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 -2025-09-23 22:14:43 - INFO - 移动到中位位置 -2025-09-23 22:14:43 - 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 -2025-09-23 22:14:43 - 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"}]} -2025-09-23 22:14:43 - INFO - 移动到中位位置 -2025-09-23 22:15:11 - INFO - 进入系统 -2025-09-23 22:15:12 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 22:15:12 - INFO - 切换到工具坐标 -2025-09-23 22:15:13 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 22:15:13 - INFO - 切换到自动运行状态 -2025-09-23 22:15:13 - INFO - 第一层确认生产 -2025-09-23 22:15:14 - INFO - 1号线:投料开始 -2025-09-23 22:15:14 - 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"}]} -2025-09-23 22:15:14 - INFO - 发送IO控制: 2，1 -2025-09-23 22:15:19 - 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"}]} -2025-09-23 22:15:19 - INFO - 发送IO控制: 2，0 -2025-09-23 22:15:19 - 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"}]} -2025-09-23 22:15:19 - INFO - 投料开始 -2025-09-23 22:15:19 - 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 -2025-09-23 22:15:20 - INFO - 投料开始 -2025-09-23 22:15:20 - 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 -2025-09-23 22:15:20 - 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"}]} -2025-09-23 22:15:20 - INFO - 移动到中位位置 -2025-09-23 22:15:20 - 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 -2025-09-23 22:15:20 - 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"}]} -2025-09-23 22:15:20 - INFO - 检测是否安全投料 -2025-09-23 22:15:20 - 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 -2025-09-23 22:15:20 - 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"}]} -2025-09-23 22:15:21 - INFO - 检测是否安全投料 -2025-09-23 22:15:27 - 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 -2025-09-23 22:15:27 - 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"}]} -2025-09-23 22:15:28 - 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"}]} -2025-09-23 22:15:28 - INFO - 拍照 -2025-09-23 22:15:28 - INFO - 识别图像成功 -2025-09-23 22:15:28 - 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 -2025-09-23 22:15:28 - INFO - 拍照 -2025-09-23 22:15:28 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:15:28 - 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 -2025-09-23 22:15:28 - 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"}]} -2025-09-23 22:15:28 - INFO - 执行完成FPhoto -2025-09-23 22:15:29 - INFO - 移动到中位位置 -2025-09-23 22:15:29 - 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 -2025-09-23 22:15:29 - 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"}]} -2025-09-23 22:15:29 - INFO - 移动到中位位置 -2025-09-23 22:15:29 - 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 -2025-09-23 22:15:29 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:15:29 - 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"}]} -2025-09-23 22:15:29 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:15:29 - INFO - 机器人已到达抓料点位 -2025-09-23 22:15:30 - 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 -2025-09-23 22:15:30 - 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"}]} -2025-09-23 22:15:30 - 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"}]} -2025-09-23 22:15:30 - INFO - 移动到中位位置 -2025-09-23 22:15:30 - 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 -2025-09-23 22:15:30 - INFO - 移动到中位位置 -2025-09-23 22:15:30 - 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 -2025-09-23 22:15:30 - INFO - 移动到中位位置 -2025-09-23 22:15:30 - 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 -2025-09-23 22:15:31 - 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"}]} -2025-09-23 22:15:31 - INFO - 移动到码垛中间点位置 -2025-09-23 22:15:31 - INFO - 移动到位置:姿势直线：X:1052.553-Y:-395.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-23 22:15:31 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:15:31 - INFO - 移动到扔袋位置 -2025-09-23 22:15:31 - INFO - 移动到扔袋位置 -2025-09-23 22:15:31 - INFO - 移动到扔袋位置 -2025-09-23 22:15:31 - INFO - 移动到扔袋位置 -2025-09-23 22:15:31 - 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"}]} -2025-09-23 22:15:31 - INFO - 已码垛数量：1 -2025-09-23 22:15:32 - 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 -2025-09-23 22:15:32 - INFO - 移动到码垛复位位置 -2025-09-23 22:15:32 - 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 -2025-09-23 22:15:32 - 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"}]} -2025-09-23 22:15:32 - INFO - 拍照 -2025-09-23 22:15:32 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:15:32 - 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 -2025-09-23 22:15:32 - 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"}]} -2025-09-23 22:15:32 - INFO - 执行完成FPhoto -2025-09-23 22:15:33 - 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"}]} -2025-09-23 22:15:33 - INFO - 移动到中位位置 -2025-09-23 22:15:33 - 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 -2025-09-23 22:15:33 - INFO - 移动到中位位置 -2025-09-23 22:15:33 - 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 -2025-09-23 22:15:33 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:15:33 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:15:33 - INFO - 机器人已到达抓料点位 -2025-09-23 22:15:33 - 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 -2025-09-23 22:15:34 - 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"}]} -2025-09-23 22:15:34 - INFO - 移动到中位位置 -2025-09-23 22:15:34 - 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 -2025-09-23 22:15:34 - 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"}]} -2025-09-23 22:15:34 - INFO - 移动到中位位置 -2025-09-23 22:15:34 - 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 -2025-09-23 22:15:34 - 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"}]} -2025-09-23 22:15:34 - INFO - 移动到中位位置 -2025-09-23 22:15:34 - 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 -2025-09-23 22:15:35 - 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"}]} -2025-09-23 22:15:35 - INFO - 移动到码垛中间点位置 -2025-09-23 22:15:35 - INFO - 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-23 22:15:35 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:15:35 - INFO - 移动到扔袋位置 -2025-09-23 22:15:35 - INFO - 移动到扔袋位置 -2025-09-23 22:15:35 - INFO - 移动到扔袋位置 -2025-09-23 22:15:35 - INFO - 移动到扔袋位置 -2025-09-23 22:15:35 - INFO - 已码垛数量：2 -2025-09-23 22:15:36 - 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 -2025-09-23 22:15:36 - 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"}]} -2025-09-23 22:15:36 - INFO - 移动到码垛复位位置 -2025-09-23 22:15:36 - 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"}]} -2025-09-23 22:15:36 - 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 -2025-09-23 22:15:36 - INFO - 拍照 -2025-09-23 22:15:36 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:15:36 - 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"}]} -2025-09-23 22:15:36 - 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 -2025-09-23 22:15:36 - INFO - 执行完成FPhoto -2025-09-23 22:15:37 - INFO - 移动到中位位置 -2025-09-23 22:15:37 - 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 -2025-09-23 22:15:37 - 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"}]} -2025-09-23 22:15:37 - INFO - 移动到中位位置 -2025-09-23 22:15:37 - 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 -2025-09-23 22:15:37 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:15:37 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:15:37 - INFO - 机器人已到达抓料点位 -2025-09-23 22:15:37 - 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"}]} -2025-09-23 22:15:38 - 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 -2025-09-23 22:15:38 - INFO - 移动到中位位置 -2025-09-23 22:15:38 - 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 -2025-09-23 22:15:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:15:38 - INFO - 移动到中位位置 -2025-09-23 22:15:38 - 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 -2025-09-23 22:15:38 - 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"}]} -2025-09-23 22:15:38 - INFO - 移动到中位位置 -2025-09-23 22:15:38 - 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 -2025-09-23 22:15:39 - 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"}]} -2025-09-23 22:15:39 - INFO - 移动到码垛中间点位置 -2025-09-23 22:15:39 - INFO - 移动到位置:姿势直线：X:1052.553-Y:179.308-Z:-1202.361-U:-148.482-V:3.0-W:0.0 -2025-09-23 22:15:39 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:15:39 - INFO - 移动到扔袋位置 -2025-09-23 22:15:39 - INFO - 移动到扔袋位置 -2025-09-23 22:15:39 - INFO - 移动到扔袋位置 -2025-09-23 22:15:39 - INFO - 移动到扔袋位置 -2025-09-23 22:15:39 - INFO - 已码垛数量：3 -2025-09-23 22:15:40 - 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 -2025-09-23 22:15:40 - 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"}]} -2025-09-23 22:15:40 - INFO - 移动到码垛复位位置 -2025-09-23 22:15:40 - 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 -2025-09-23 22:15:40 - 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"}]} -2025-09-23 22:15:40 - INFO - 拍照 -2025-09-23 22:15:40 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:15:40 - 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 -2025-09-23 22:15:40 - 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"}]} -2025-09-23 22:15:41 - INFO - 执行完成FPhoto -2025-09-23 22:15:41 - 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"}]} -2025-09-23 22:15:41 - INFO - 移动到中位位置 -2025-09-23 22:15:41 - 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 -2025-09-23 22:15:41 - INFO - 移动到中位位置 -2025-09-23 22:15:41 - 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 -2025-09-23 22:15:41 - 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"}]} -2025-09-23 22:15:41 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:15:41 - INFO - 机器人已到达抓料点位 -2025-09-23 22:15:42 - 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 -2025-09-23 22:15:42 - 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"}]} -2025-09-23 22:15:42 - INFO - 移动到中位位置 -2025-09-23 22:15:42 - 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 -2025-09-23 22:15:42 - 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"}]} -2025-09-23 22:15:42 - 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"}]} -2025-09-23 22:15:42 - INFO - 移动到中位位置 -2025-09-23 22:15:42 - 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 -2025-09-23 22:15:42 - INFO - 移动到中位位置 -2025-09-23 22:15:43 - 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"}]} -2025-09-23 22:15:43 - 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 -2025-09-23 22:15:43 - INFO - 移动到码垛中间点位置 -2025-09-23 22:15:43 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-23 22:15:43 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:15:43 - INFO - 移动到扔袋位置 -2025-09-23 22:15:43 - INFO - 移动到扔袋位置 -2025-09-23 22:15:43 - INFO - 移动到扔袋位置 -2025-09-23 22:15:43 - INFO - 移动到扔袋位置 -2025-09-23 22:15:43 - INFO - 已码垛数量：4 -2025-09-23 22:15:44 - 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 -2025-09-23 22:15:44 - 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"}]} -2025-09-23 22:15:44 - INFO - 移动到码垛复位位置 -2025-09-23 22:15:44 - 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 -2025-09-23 22:15:44 - 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"}]} -2025-09-23 22:15:44 - INFO - 拍照 -2025-09-23 22:15:44 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:15:44 - 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 -2025-09-23 22:15:44 - 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"}]} -2025-09-23 22:15:45 - INFO - 执行完成FPhoto -2025-09-23 22:15:45 - INFO - 移动到中位位置 -2025-09-23 22:15:45 - 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 -2025-09-23 22:15:45 - 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"}]} -2025-09-23 22:15:45 - INFO - 移动到中位位置 -2025-09-23 22:15:45 - 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 -2025-09-23 22:15:45 - 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"}]} -2025-09-23 22:15:45 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:15:45 - INFO - 机器人已到达抓料点位 -2025-09-23 22:15:46 - 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 -2025-09-23 22:15:46 - 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"}]} -2025-09-23 22:15:46 - INFO - 移动到中位位置 -2025-09-23 22:15:46 - 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 -2025-09-23 22:15:46 - 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"}]} -2025-09-23 22:15:46 - INFO - 移动到中位位置 -2025-09-23 22:15:46 - 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 -2025-09-23 22:15:46 - 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"}]} -2025-09-23 22:15:46 - INFO - 移动到中位位置 -2025-09-23 22:15:47 - 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 -2025-09-23 22:15:47 - 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"}]} -2025-09-23 22:15:47 - INFO - 移动到码垛中间点位置 -2025-09-23 22:15:47 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-23 22:15:47 - 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":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:15:47 - INFO - 移动到扔袋位置 -2025-09-23 22:15:47 - INFO - 移动到扔袋位置 -2025-09-23 22:15:47 - INFO - 移动到扔袋位置 -2025-09-23 22:15:47 - INFO - 移动到扔袋位置 -2025-09-23 22:15:48 - INFO - 已码垛数量：5 -2025-09-23 22:15:48 - 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 -2025-09-23 22:15:48 - 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"}]} -2025-09-23 22:15:48 - INFO - 移动到码垛复位位置 -2025-09-23 22:15:48 - 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 -2025-09-23 22:15:48 - 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"}]} -2025-09-23 22:15:48 - INFO - 拍照 -2025-09-23 22:15:48 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:15:48 - 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 -2025-09-23 22:15:48 - 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"}]} -2025-09-23 22:15:49 - INFO - 执行完成FPhoto -2025-09-23 22:15:49 - INFO - 移动到中位位置 -2025-09-23 22:15:49 - 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 -2025-09-23 22:15:49 - 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"}]} -2025-09-23 22:15:49 - INFO - 移动到中位位置 -2025-09-23 22:15:49 - 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 -2025-09-23 22:15:49 - 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"}]} -2025-09-23 22:15:49 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:15:49 - INFO - 机器人已到达抓料点位 -2025-09-23 22:15:50 - 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 -2025-09-23 22:15:50 - 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"}]} -2025-09-23 22:15:50 - INFO - 移动到中位位置 -2025-09-23 22:15:50 - 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 -2025-09-23 22:15:50 - 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"}]} -2025-09-23 22:15:50 - INFO - 移动到中位位置 -2025-09-23 22:15:50 - 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 -2025-09-23 22:15:50 - 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"}]} -2025-09-23 22:15:50 - INFO - 移动到中位位置 -2025-09-23 22:15:51 - 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 -2025-09-23 22:15:51 - 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"}]} -2025-09-23 22:15:51 - INFO - 移动到码垛中间点位置 -2025-09-23 22:15:51 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-23 22:15:51 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:15:51 - INFO - 移动到扔袋位置 -2025-09-23 22:15:51 - INFO - 移动到扔袋位置 -2025-09-23 22:15:51 - INFO - 移动到扔袋位置 -2025-09-23 22:15:51 - INFO - 移动到扔袋位置 -2025-09-23 22:15:52 - INFO - 已码垛数量：6 -2025-09-23 22:15:52 - 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"}]} -2025-09-23 22:15:52 - 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 -2025-09-23 22:15:52 - INFO - 移动到码垛复位位置 -2025-09-23 22:15:52 - 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 -2025-09-23 22:15:52 - 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"}]} -2025-09-23 22:15:52 - INFO - 拍照 -2025-09-23 22:15:52 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:15:52 - 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 -2025-09-23 22:16:01 - 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"}]} -2025-09-23 22:16:01 - INFO - 执行完成FPhoto -2025-09-23 22:16:01 - INFO - 移动到中位位置 -2025-09-23 22:16:01 - 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 -2025-09-23 22:16:02 - 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"}]} -2025-09-23 22:16:02 - INFO - 移动到中位位置 -2025-09-23 22:16:02 - 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 -2025-09-23 22:16:02 - 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"}]} -2025-09-23 22:16:02 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:16:02 - INFO - 机器人已到达抓料点位 -2025-09-23 22:16:02 - 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 -2025-09-23 22:16:02 - 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"}]} -2025-09-23 22:16:02 - INFO - 移动到中位位置 -2025-09-23 22:16:03 - 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 -2025-09-23 22:16:03 - 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"}]} -2025-09-23 22:16:03 - INFO - 移动到中位位置 -2025-09-23 22:16:03 - 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 -2025-09-23 22:16:03 - 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"}]} -2025-09-23 22:16:03 - INFO - 移动到中位位置 -2025-09-23 22:16:03 - 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 -2025-09-23 22:16:03 - 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"}]} -2025-09-23 22:16:03 - INFO - 移动到码垛中间点位置 -2025-09-23 22:16:04 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-23 22:16:04 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:16:04 - INFO - 移动到扔袋位置 -2025-09-23 22:16:04 - INFO - 移动到扔袋位置 -2025-09-23 22:16:04 - INFO - 移动到扔袋位置 -2025-09-23 22:16:04 - 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"}]} -2025-09-23 22:16:04 - INFO - 移动到扔袋位置 -2025-09-23 22:16:04 - INFO - 已码垛数量：7 -2025-09-23 22:16:04 - 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 -2025-09-23 22:16:05 - 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"}]} -2025-09-23 22:16:05 - INFO - 移动到码垛复位位置 -2025-09-23 22:16:05 - 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 -2025-09-23 22:16:05 - INFO - 拍照 -2025-09-23 22:16:05 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:16:05 - 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 -2025-09-23 22:16:05 - 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"}]} -2025-09-23 22:16:05 - INFO - 执行完成FPhoto -2025-09-23 22:16:05 - INFO - 移动到中位位置 -2025-09-23 22:16:05 - 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 -2025-09-23 22:16:06 - 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"}]} -2025-09-23 22:16:06 - INFO - 移动到中位位置 -2025-09-23 22:16:06 - 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 -2025-09-23 22:16:06 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:16:06 - 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"}]} -2025-09-23 22:16:06 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:16:10 - INFO - 机器人已到达抓料点位 -2025-09-23 22:16:10 - 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 -2025-09-23 22:16:10 - INFO - 移动到中位位置 -2025-09-23 22:16:10 - 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 -2025-09-23 22:16:10 - 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"}]} -2025-09-23 22:16:10 - 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"}]} -2025-09-23 22:16:10 - INFO - 移动到中位位置 -2025-09-23 22:16:11 - 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 -2025-09-23 22:16:11 - INFO - 移动到中位位置 -2025-09-23 22:16:11 - 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 -2025-09-23 22:16:11 - 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"}]} -2025-09-23 22:16:11 - INFO - 移动到码垛中间点位置 -2025-09-23 22:16:11 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-23 22:16:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1582.553","m1":"179.308","m2":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:16:11 - INFO - 移动到扔袋位置 -2025-09-23 22:16:11 - INFO - 移动到扔袋位置 -2025-09-23 22:16:11 - INFO - 移动到扔袋位置 -2025-09-23 22:16:12 - 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"}]} -2025-09-23 22:16:12 - INFO - 移动到扔袋位置 -2025-09-23 22:16:12 - INFO - 已码垛数量：8 -2025-09-23 22:16:12 - 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 -2025-09-23 22:16:12 - 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"}]} -2025-09-23 22:16:12 - INFO - 移动到码垛复位位置 -2025-09-23 22:16:12 - 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 -2025-09-23 22:16:12 - INFO - 拍照 -2025-09-23 22:16:12 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:16:13 - 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 -2025-09-23 22:16:13 - 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"}]} -2025-09-23 22:16:13 - INFO - 执行完成FPhoto -2025-09-23 22:16:13 - INFO - 移动到中位位置 -2025-09-23 22:16:13 - 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 -2025-09-23 22:16:13 - 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"}]} -2025-09-23 22:16:13 - INFO - 移动到中位位置 -2025-09-23 22:16:13 - 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 -2025-09-23 22:16:13 - 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"}]} -2025-09-23 22:16:14 - 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"}]} -2025-09-23 22:16:14 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:16:14 - INFO - 机器人已到达抓料点位 -2025-09-23 22:16:14 - 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 -2025-09-23 22:16:14 - 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"}]} -2025-09-23 22:16:14 - INFO - 移动到中位位置 -2025-09-23 22:16:14 - 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 -2025-09-23 22:16:14 - 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"}]} -2025-09-23 22:16:14 - INFO - 移动到中位位置 -2025-09-23 22:16:15 - 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 -2025-09-23 22:16:15 - INFO - 移动到中位位置 -2025-09-23 22:16:24 - 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 -2025-09-23 22:16:24 - 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"}]} -2025-09-23 22:16:25 - INFO - 移动到码垛中间点位置 -2025-09-23 22:16:25 - 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 -2025-09-23 22:16:25 - 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"}]} -2025-09-23 22:16:25 - INFO - 移动到扔袋位置 -2025-09-23 22:16:25 - INFO - 移动到扔袋位置 -2025-09-23 22:16:25 - INFO - 移动到扔袋位置 -2025-09-23 22:16:25 - 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"}]} -2025-09-23 22:16:25 - INFO - 移动到扔袋位置 -2025-09-23 22:16:25 - INFO - 已码垛数量：9 -2025-09-23 22:16:26 - 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 -2025-09-23 22:16:26 - INFO - 移动到码垛复位位置 -2025-09-23 22:16:26 - 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 -2025-09-23 22:16:26 - 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"}]} -2025-09-23 22:16:26 - INFO - 拍照 -2025-09-23 22:16:26 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:16:26 - 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 -2025-09-23 22:16:26 - 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"}]} -2025-09-23 22:16:26 - INFO - 执行完成FPhoto -2025-09-23 22:16:27 - INFO - 移动到中位位置 -2025-09-23 22:16:27 - 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 -2025-09-23 22:16:27 - 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"}]} -2025-09-23 22:16:27 - INFO - 移动到中位位置 -2025-09-23 22:16:27 - 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 -2025-09-23 22:16:27 - 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"}]} -2025-09-23 22:16:27 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:16:27 - INFO - 机器人已到达抓料点位 -2025-09-23 22:16:27 - 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 -2025-09-23 22:16:28 - 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"}]} -2025-09-23 22:16:28 - 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"}]} -2025-09-23 22:16:28 - INFO - 移动到中位位置 -2025-09-23 22:16:28 - 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 -2025-09-23 22:16:28 - 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"}]} -2025-09-23 22:16:28 - INFO - 移动到中位位置 -2025-09-23 22:16:28 - 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 -2025-09-23 22:16:28 - INFO - 移动到中位位置 -2025-09-23 22:16:28 - 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 -2025-09-23 22:16:29 - 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"}]} -2025-09-23 22:16:29 - INFO - 移动到码垛中间点位置 -2025-09-23 22:16:29 - 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 -2025-09-23 22:16:29 - 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"}]} -2025-09-23 22:16:29 - INFO - 移动到扔袋位置 -2025-09-23 22:16:29 - INFO - 移动到扔袋位置 -2025-09-23 22:16:29 - INFO - 移动到扔袋位置 -2025-09-23 22:16:29 - INFO - 移动到扔袋位置 -2025-09-23 22:16:29 - INFO - 已码垛数量：10 -2025-09-23 22:16:30 - 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 -2025-09-23 22:16:30 - 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"}]} -2025-09-23 22:16:30 - INFO - 移动到码垛复位位置 -2025-09-23 22:16:30 - 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 -2025-09-23 22:16:30 - 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"}]} -2025-09-23 22:16:30 - 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"}]} -2025-09-23 22:16:30 - INFO - 投料结束 -2025-09-23 22:16:30 - 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 -2025-09-23 22:16:30 - INFO - 移动到拍照位置 -2025-09-23 22:16:31 - INFO - 复位成功 -2025-09-23 22:16:58 - INFO - 进入系统 -2025-09-23 22:17:03 - INFO - 退出系统 -2025-09-23 22:19:02 - INFO - 进入系统 -2025-09-23 22:19:04 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 22:19:04 - INFO - 切换到工具坐标 -2025-09-23 22:19:04 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 22:19:04 - INFO - 切换到自动运行状态 -2025-09-23 22:19:05 - INFO - 第一层确认生产 -2025-09-23 22:19:06 - INFO - 1号线:投料开始 -2025-09-23 22:19:06 - 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"}]} -2025-09-23 22:19:06 - INFO - 发送IO控制: 2，1 -2025-09-23 22:19:11 - 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"}]} -2025-09-23 22:19:11 - INFO - 发送IO控制: 2，0 -2025-09-23 22:19:11 - INFO - 投料开始 -2025-09-23 22:19:11 - 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 -2025-09-23 22:19:11 - 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"}]} -2025-09-23 22:19:11 - INFO - 投料开始 -2025-09-23 22:19:12 - 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"}]} -2025-09-23 22:19:12 - 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 -2025-09-23 22:19:12 - INFO - 移动到中位位置 -2025-09-23 22:19:12 - 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 -2025-09-23 22:19:12 - 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"}]} -2025-09-23 22:19:12 - INFO - 检测是否安全投料 -2025-09-23 22:19:12 - 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 -2025-09-23 22:19:12 - 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"}]} -2025-09-23 22:19:12 - INFO - 检测是否安全投料 -2025-09-23 22:19:13 - 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 -2025-09-23 22:19:13 - 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"}]} -2025-09-23 22:19:13 - INFO - 拍照 -2025-09-23 22:19:13 - 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"}]} -2025-09-23 22:19:13 - INFO - 识别图像成功 -2025-09-23 22:19:13 - 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 -2025-09-23 22:19:13 - INFO - 拍照 -2025-09-23 22:19:13 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:19:13 - 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 -2025-09-23 22:19:13 - 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"}]} -2025-09-23 22:19:14 - INFO - 执行完成FPhoto -2025-09-23 22:19:14 - 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INFO - 移动到中位位置 -2025-09-23 22:19:16 - 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 -2025-09-23 22:19:16 - 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"}]} -2025-09-23 22:19:16 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:19:16 - INFO - 移动到码垛中间点位置 -2025-09-23 22:19:16 - INFO - 移动到位置:姿势直线：X:1052.553-Y:-395.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-23 22:19:16 - INFO - 移动到扔袋位置 -2025-09-23 22:19:16 - INFO - 移动到扔袋位置 -2025-09-23 22:19:16 - INFO - 移动到扔袋位置 -2025-09-23 22:19:16 - INFO - 移动到扔袋位置 -2025-09-23 22:19:17 - INFO - 已码垛数量：1 -2025-09-23 22:19:17 - 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 -2025-09-23 22:19:17 - 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"}]} -2025-09-23 22:19:17 - INFO - 移动到码垛复位位置 -2025-09-23 22:19:17 - 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 -2025-09-23 22:19:17 - 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"}]} -2025-09-23 22:19:17 - INFO - 拍照 -2025-09-23 22:19:17 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:19:17 - 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"}]} -2025-09-23 22:19:18 - 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 -2025-09-23 22:19:18 - INFO - 执行完成FPhoto -2025-09-23 22:19:18 - INFO - 移动到中位位置 -2025-09-23 22:19:18 - 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 -2025-09-23 22:19:18 - 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"}]} -2025-09-23 22:19:18 - INFO - 移动到中位位置 -2025-09-23 22:19:18 - 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 -2025-09-23 22:19:18 - 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"}]} -2025-09-23 22:19:18 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:19:19 - INFO - 机器人已到达抓料点位 -2025-09-23 22:19:19 - 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 -2025-09-23 22:19:19 - 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"}]} -2025-09-23 22:19:19 - INFO - 移动到中位位置 -2025-09-23 22:19:19 - 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 -2025-09-23 22:19:19 - 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"}]} -2025-09-23 22:19:19 - INFO - 移动到中位位置 -2025-09-23 22:19:19 - 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 -2025-09-23 22:19:19 - 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"}]} -2025-09-23 22:19:19 - INFO - 移动到中位位置 -2025-09-23 22:19:20 - 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 -2025-09-23 22:19:20 - 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"}]} -2025-09-23 22:19:20 - INFO - 移动到码垛中间点位置 -2025-09-23 22:19:20 - INFO - 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-23 22:19:20 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:19:20 - INFO - 移动到扔袋位置 -2025-09-23 22:19:20 - INFO - 移动到扔袋位置 -2025-09-23 22:19:20 - INFO - 移动到扔袋位置 -2025-09-23 22:19:20 - INFO - 移动到扔袋位置 -2025-09-23 22:19:21 - INFO - 已码垛数量：2 -2025-09-23 22:19:21 - 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 -2025-09-23 22:19:21 - 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"}]} -2025-09-23 22:19:21 - INFO - 移动到码垛复位位置 -2025-09-23 22:19:21 - 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 -2025-09-23 22:19:21 - 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"}]} -2025-09-23 22:19:21 - INFO - 拍照 -2025-09-23 22:19:21 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:19:21 - 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 -2025-09-23 22:19:22 - 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"}]} -2025-09-23 22:19:22 - INFO - 执行完成FPhoto -2025-09-23 22:19:22 - INFO - 移动到中位位置 -2025-09-23 22:19:22 - 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 -2025-09-23 22:19:22 - 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"}]} -2025-09-23 22:19:22 - INFO - 移动到中位位置 -2025-09-23 22:19:22 - 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 -2025-09-23 22:19:22 - 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"}]} -2025-09-23 22:19:22 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:19:23 - INFO - 机器人已到达抓料点位 -2025-09-23 22:19:23 - 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 -2025-09-23 22:19:23 - 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"}]} -2025-09-23 22:19:23 - INFO - 移动到中位位置 -2025-09-23 22:19:23 - 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 -2025-09-23 22:19:23 - 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"}]} -2025-09-23 22:19:23 - INFO - 移动到中位位置 -2025-09-23 22:19:23 - 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 -2025-09-23 22:19:23 - 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"}]} -2025-09-23 22:19:24 - INFO - 移动到中位位置 -2025-09-23 22:19:24 - 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 -2025-09-23 22:19:24 - 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"}]} -2025-09-23 22:19:24 - INFO - 移动到码垛中间点位置 -2025-09-23 22:19:24 - INFO - 移动到位置:姿势直线：X:1052.553-Y:179.308-Z:-1202.361-U:-148.482-V:3.0-W:0.0 -2025-09-23 22:19:24 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:19:24 - INFO - 移动到扔袋位置 -2025-09-23 22:19:24 - INFO - 移动到扔袋位置 -2025-09-23 22:19:24 - INFO - 移动到扔袋位置 -2025-09-23 22:19:24 - INFO - 移动到扔袋位置 -2025-09-23 22:19:25 - INFO - 已码垛数量：3 -2025-09-23 22:19:25 - 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 -2025-09-23 22:19:25 - 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"}]} -2025-09-23 22:19:25 - 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"}]} -2025-09-23 22:19:25 - INFO - 移动到码垛复位位置 -2025-09-23 22:19:25 - 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 -2025-09-23 22:19:25 - INFO - 拍照 -2025-09-23 22:19:25 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-23 22:19:25 - 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"}]} -2025-09-23 22:19:26 - 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 -2025-09-23 22:19:26 - INFO - 执行完成FPhoto -2025-09-23 22:19:26 - INFO - 移动到中位位置 -2025-09-23 22:19:26 - 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 -2025-09-23 22:19:26 - 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"}]} -2025-09-23 22:19:26 - INFO - 移动到中位位置 -2025-09-23 22:19:26 - 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 -2025-09-23 22:19:26 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:19:26 - 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"}]} -2025-09-23 22:19:27 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:19:27 - INFO - 机器人已到达抓料点位 -2025-09-23 22:19:27 - 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 -2025-09-23 22:19:27 - INFO - 移动到中位位置 -2025-09-23 22:19:27 - 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 -2025-09-23 22:19:27 - 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"}]} -2025-09-23 22:19:27 - INFO - 移动到中位位置 -2025-09-23 22:19:27 - 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 -2025-09-23 22:19:27 - 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"}]} -2025-09-23 22:19:28 - INFO - 移动到中位位置 -2025-09-23 22:19:28 - 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 -2025-09-23 22:19:28 - 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"}]} -2025-09-23 22:19:28 - INFO - 移动到码垛中间点位置 -2025-09-23 22:19:28 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-23 22:19:28 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:19:28 - INFO - 移动到扔袋位置 -2025-09-23 22:19:28 - INFO - 移动到扔袋位置 -2025-09-23 22:19:28 - INFO - 移动到扔袋位置 -2025-09-23 22:19:29 - INFO - 清除报警 -2025-09-23 22:19:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 22:19:29 - INFO - 投料停止 -2025-09-23 22:19:30 - INFO - 退出系统 -2025-09-23 22:21:12 - INFO - 进入系统 -2025-09-23 22:23:29 - INFO - 退出系统 -2025-09-23 22:53:49 - INFO - 进入系统 -2025-09-23 22:53:56 - INFO - 清除报警 -2025-09-23 22:53:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 22:53:57 - INFO - 投料停止 -2025-09-23 22:54:32 - INFO - 清除报警 -2025-09-23 22:54:32 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 22:54:32 - INFO - 投料停止 -2025-09-23 22:55:30 - INFO - 清除报警 -2025-09-23 22:55:30 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 22:55:30 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 22:55:30 - 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"}]} -2025-09-23 22:55:30 - INFO - 发送IO控制: 2，1 -2025-09-23 22:55:30 - INFO - 按下急停 -2025-09-23 23:38:09 - INFO - 清除报警 -2025-09-23 23:38:10 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 23:38:10 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["StopButton","1"]} -2025-09-23 23:38:16 - INFO - 清除报警 -2025-09-23 23:38:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 23:38:17 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["StopButton","1"]} -2025-09-23 23:52:53 - INFO - 退出系统 -2025-09-23 23:53:10 - INFO - 进入系统 -2025-09-23 23:53:18 - INFO - 清除报警 -2025-09-23 23:53:18 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 23:53:18 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 23:53:18 - 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"}]} -2025-09-23 23:53:18 - INFO - 发送IO控制: 2，1 -2025-09-23 23:53:18 - INFO - 按下急停 -2025-09-23 23:53:19 - INFO - 退出系统 -2025-09-23 23:53:58 - INFO - 进入系统 -2025-09-23 23:54:05 - INFO - 退出系统 -2025-09-23 23:56:10 - INFO - 进入系统 -2025-09-23 23:56:22 - INFO - 退出系统 -2025-09-24 00:01:40 - INFO - 进入系统 -2025-09-24 00:01:48 - INFO - 清除报警 -2025-09-24 00:01:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 00:01:49 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 00:01:49 - 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"}]} -2025-09-24 00:01:49 - INFO - 发送IO控制: 2，1 -2025-09-24 00:01:49 - INFO - 按下急停 -2025-09-24 00:02:02 - INFO - 清除报警 -2025-09-24 00:02:03 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 00:02:03 - INFO - 投料停止 -2025-09-24 00:09:46 - INFO - 退出系统 -2025-09-24 00:09:57 - INFO - 进入系统 -2025-09-24 00:14:35 - INFO - 退出系统 -2025-09-24 00:14:46 - INFO - 进入系统 -2025-09-24 00:15:04 - INFO - 退出系统 -2025-09-24 00:15:21 - INFO - 进入系统 -2025-09-24 00:23:23 - INFO - 退出系统 -2025-09-24 00:23:43 - INFO - 进入系统 -2025-09-24 00:24:59 - INFO - 退出系统 -2025-09-24 00:25:19 - INFO - 进入系统 -2025-09-24 00:28:44 - INFO - 进入系统 -2025-09-24 00:30:03 - INFO - 进入系统 -2025-09-24 00:41:05 - INFO - 进入系统 -2025-09-24 00:47:05 - INFO - 进入系统 -2025-09-24 00:51:25 - INFO - 退出系统 -2025-09-24 00:51:36 - INFO - 进入系统 -2025-09-24 00:55:58 - INFO - 退出系统 -2025-09-24 00:56:13 - INFO - 进入系统 -2025-09-24 00:56:43 - INFO - 退出系统 -2025-09-24 00:56:55 - INFO - 进入系统 -2025-09-24 01:00:27 - INFO - 退出系统 -2025-09-24 01:01:09 - INFO - 进入系统 -2025-09-24 01:03:17 - INFO - 退出系统 -2025-09-24 01:03:28 - INFO - 进入系统 -2025-09-24 01:03:39 - ERROR - invalid literal for int() with base 10: '' -2025-09-24 01:03:43 - ERROR - invalid literal for int() with base 10: '' -2025-09-24 01:04:14 - INFO - 退出系统 -2025-09-24 01:04:51 - INFO - 进入系统 -2025-09-24 01:04:57 - INFO - 退出系统 -2025-09-24 01:08:41 - INFO - 进入系统 -2025-09-24 01:10:33 - INFO - 退出系统 -2025-09-24 01:12:25 - INFO - 进入系统 -2025-09-24 01:18:23 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 01:18:23 - INFO - 切换到工具坐标 -2025-09-24 01:18:23 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 01:18:23 - INFO - 切换到自动运行状态 -2025-09-24 01:18:24 - INFO - 第一层确认生产 -2025-09-24 01:18:25 - INFO - 1号线:投料开始 -2025-09-24 01:18:25 - 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"}]} -2025-09-24 01:18:25 - INFO - 发送IO控制: 2，1 -2025-09-24 01:18:30 - 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"}]} -2025-09-24 01:18:30 - INFO - 发送IO控制: 2，0 -2025-09-24 01:18:30 - 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"}]} -2025-09-24 01:18:30 - INFO - 投料开始 -2025-09-24 01:18:30 - 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 -2025-09-24 01:18:30 - INFO - 投料开始 -2025-09-24 01:18:30 - 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 -2025-09-24 01:18:30 - 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"}]} -2025-09-24 01:18:31 - INFO - 移动到中位位置 -2025-09-24 01:18:31 - 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 -2025-09-24 01:18:31 - 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"}]} -2025-09-24 01:18:31 - INFO - 检测是否安全投料 -2025-09-24 01:18:31 - 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"}]} -2025-09-24 01:18:31 - 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 -2025-09-24 01:18:31 - INFO - 检测是否安全投料 -2025-09-24 01:18:31 - 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 -2025-09-24 01:18:31 - 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"}]} -2025-09-24 01:18:32 - INFO - 拍照 -2025-09-24 01:18:32 - INFO - 识别图像成功 -2025-09-24 01:18:32 - 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"}]} -2025-09-24 01:18:32 - 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 -2025-09-24 01:18:32 - INFO - 拍照 -2025-09-24 01:18:32 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 01:18:32 - 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"}]} -2025-09-24 01:18:32 - 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 -2025-09-24 01:18:32 - INFO - 执行完成FPhoto -2025-09-24 01:18:33 - INFO - 移动到中位位置 -2025-09-24 01:18:33 - 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 -2025-09-24 01:18:33 - 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"}]} -2025-09-24 01:18:33 - INFO - 移动到中位位置 -2025-09-24 01:18:33 - 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 -2025-09-24 01:18:33 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 01:18:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 01:18:33 - INFO - 机器人已到达抓料点位 -2025-09-24 01:18:33 - 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 -2025-09-24 01:18:34 - 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"}]} -2025-09-24 01:18:34 - INFO - 移动到中位位置 -2025-09-24 01:18:34 - 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 -2025-09-24 01:18:34 - 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"}]} -2025-09-24 01:18:34 - INFO - 移动到中位位置 -2025-09-24 01:18:34 - 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 -2025-09-24 01:18:34 - 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"}]} -2025-09-24 01:18:34 - INFO - 移动到中位位置 -2025-09-24 01:18:34 - 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 -2025-09-24 01:18:35 - 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"}]} -2025-09-24 01:18:35 - INFO - 移动到码垛中间点位置 -2025-09-24 01:18:35 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-24 01:18:35 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 01:18:35 - INFO - 移动到扔袋位置 -2025-09-24 01:18:35 - INFO - 投料暂停 -2025-09-24 01:18:35 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 01:18:53 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]} -2025-09-24 01:18:53 - INFO - 投料继续 -2025-09-24 01:18:53 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 01:18:53 - INFO - 切换到自动运行状态 -2025-09-24 01:18:53 - INFO - 移动到扔袋位置 -2025-09-24 01:18:54 - INFO - 已码垛数量：4 -2025-09-24 01:18:54 - 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"}]} -2025-09-24 01:18:54 - 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 -2025-09-24 01:18:54 - 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"}]} -2025-09-24 01:18:54 - INFO - 移动到码垛复位位置 -2025-09-24 01:18:54 - 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 -2025-09-24 01:18:54 - INFO - 拍照 -2025-09-24 01:18:54 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 01:18:54 - 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 -2025-09-24 01:18:55 - 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"}]} -2025-09-24 01:18:55 - INFO - 执行完成FPhoto -2025-09-24 01:18:55 - 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"}]} -2025-09-24 01:18:55 - INFO - 移动到中位位置 -2025-09-24 01:18:55 - 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 -2025-09-24 01:18:55 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 01:18:55 - INFO - 移动到中位位置 -2025-09-24 01:18:55 - 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 -2025-09-24 01:18:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 01:18:56 - INFO - 机器人已到达抓料点位 -2025-09-24 01:18:56 - 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 -2025-09-24 01:18:56 - 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"}]} -2025-09-24 01:18:56 - INFO - 移动到中位位置 -2025-09-24 01:18:56 - 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 -2025-09-24 01:18:56 - 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"}]} -2025-09-24 01:18:56 - INFO - 移动到中位位置 -2025-09-24 01:18:56 - 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 -2025-09-24 01:18:56 - 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"}]} -2025-09-24 01:18:57 - INFO - 移动到中位位置 -2025-09-24 01:18:57 - 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 -2025-09-24 01:18:57 - 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"}]} -2025-09-24 01:18:57 - INFO - 移动到码垛中间点位置 -2025-09-24 01:18:57 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-24 01:18:57 - 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":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 01:18:57 - INFO - 移动到扔袋位置 -2025-09-24 01:18:57 - INFO - 投料暂停 -2025-09-24 01:18:57 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 01:18:58 - INFO - 清除报警 -2025-09-24 01:18:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 01:18:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 01:18:58 - 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"}]} -2025-09-24 01:18:58 - INFO - 发送IO控制: 2，1 -2025-09-24 01:18:58 - INFO - 按下急停 -2025-09-24 01:21:48 - INFO - 进入系统 -2025-09-24 01:22:59 - INFO - 进入系统 -2025-09-24 01:23:05 - INFO - 退出系统 -2025-09-24 01:26:20 - INFO - 进入系统 -2025-09-24 01:27:57 - INFO - 进入系统 -2025-09-24 01:28:17 - INFO - 退出系统 -2025-09-24 01:28:52 - INFO - 进入系统 -2025-09-24 01:29:51 - INFO - 进入系统 -2025-09-24 01:31:05 - INFO - 进入系统 -2025-09-24 01:31:15 - INFO - 退出系统 -2025-09-24 01:31:37 - INFO - 进入系统 -2025-09-24 01:36:08 - INFO - 进入系统 -2025-09-24 01:36:21 - INFO - 退出系统 -2025-09-24 01:36:47 - INFO - 进入系统 -2025-09-24 01:37:39 - INFO - 退出系统 -2025-09-24 01:37:54 - INFO - 进入系统 -2025-09-24 01:38:17 - INFO - 退出系统 -2025-09-24 09:04:07 - INFO - 进入系统 -2025-09-24 09:04:12 - INFO - 退出系统 -2025-09-24 09:04:27 - INFO - 进入系统 -2025-09-24 09:04:35 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 09:04:35 - INFO - 切换到工具坐标 -2025-09-24 09:04:35 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 09:04:35 - INFO - 切换到自动运行状态 -2025-09-24 09:04:44 - INFO - 第一层确认生产 -2025-09-24 09:04:45 - INFO - 1号线:投料开始 -2025-09-24 09:04:46 - 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"}]} -2025-09-24 09:04:46 - INFO - 发送IO控制: 2，1 -2025-09-24 09:04:51 - 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"}]} -2025-09-24 09:04:51 - INFO - 发送IO控制: 2，0 -2025-09-24 09:04:51 - 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"}]} -2025-09-24 09:04:51 - INFO - 投料开始 -2025-09-24 09:04:51 - 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 -2025-09-24 09:04:51 - INFO - 投料开始 -2025-09-24 09:04:51 - 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 -2025-09-24 09:04:51 - 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"}]} -2025-09-24 09:04:51 - INFO - 移动到中位位置 -2025-09-24 09:04:52 - 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 -2025-09-24 09:04:52 - 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"}]} -2025-09-24 09:04:52 - INFO - 检测是否安全投料 -2025-09-24 09:04:52 - 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 -2025-09-24 09:04:52 - 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"}]} -2025-09-24 09:04:52 - INFO - 检测是否安全投料 -2025-09-24 09:04:52 - 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 -2025-09-24 09:04:52 - 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"}]} -2025-09-24 09:04:52 - INFO - 拍照 -2025-09-24 09:04:53 - INFO - 识别图像成功 -2025-09-24 09:04:53 - 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 -2025-09-24 09:04:53 - 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"}]} -2025-09-24 09:04:53 - INFO - 拍照 -2025-09-24 09:05:23 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:05:23 - 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"}]} -2025-09-24 09:05:23 - 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 -2025-09-24 09:05:23 - INFO - 执行完成FPhoto -2025-09-24 09:05:25 - INFO - 移动到中位位置 -2025-09-24 09:05:25 - 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 -2025-09-24 09:05:26 - 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"}]} -2025-09-24 09:05:26 - INFO - 移动到中位位置 -2025-09-24 09:05:26 - 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 -2025-09-24 09:05:26 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:05:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:05:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:05:32 - INFO - 机器人已到达抓料点位 -2025-09-24 09:05:32 - 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 -2025-09-24 09:05:32 - 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"}]} -2025-09-24 09:05:32 - INFO - 移动到中位位置 -2025-09-24 09:05:32 - 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 -2025-09-24 09:05:33 - 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"}]} -2025-09-24 09:05:33 - INFO - 移动到中位位置 -2025-09-24 09:05:33 - 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 -2025-09-24 09:05:33 - 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"}]} -2025-09-24 09:05:35 - INFO - 移动到中位位置 -2025-09-24 09:05:35 - 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 -2025-09-24 09:05:35 - 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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"}]} -2025-09-24 09:05:59 - INFO - 移动到码垛复位位置 -2025-09-24 09:05:59 - 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 -2025-09-24 09:05:59 - 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"}]} -2025-09-24 09:05:59 - INFO - 拍照 -2025-09-24 09:11:16 - INFO - 投料暂停 -2025-09-24 09:11:17 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 09:11:48 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]} -2025-09-24 09:11:49 - 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INFO - 移动到中位位置 -2025-09-24 09:14:38 - 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 -2025-09-24 09:14:38 - 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"}]} -2025-09-24 09:14:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:14:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:14:44 - INFO - 机器人已到达抓料点位 -2025-09-24 09:14:44 - 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"}]} -2025-09-24 09:14:44 - 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 -2025-09-24 09:14:44 - INFO - 移动到中位位置 -2025-09-24 09:14:44 - 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 -2025-09-24 09:14:44 - 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"}]} -2025-09-24 09:14:44 - INFO - 移动到中位位置 -2025-09-24 09:14:44 - 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 -2025-09-24 09:14:44 - 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"}]} -2025-09-24 09:14:45 - INFO - 移动到中位位置 -2025-09-24 09:14:45 - 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 -2025-09-24 09:14:45 - 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"}]} -2025-09-24 09:14:49 - INFO - 移动到码垛中间点位置 -2025-09-24 09:14:49 - INFO - 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-24 09:14:50 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:14:53 - INFO - 移动到扔袋位置 -2025-09-24 09:14:54 - INFO - 移动到扔袋位置 -2025-09-24 09:14:54 - INFO - 移动到扔袋位置 -2025-09-24 09:14:56 - INFO - 移动到扔袋位置 -2025-09-24 09:14:56 - INFO - 已码垛数量：2 -2025-09-24 09:14:56 - 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 -2025-09-24 09:14:56 - 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"}]} -2025-09-24 09:15:00 - INFO - 移动到码垛复位位置 -2025-09-24 09:15:00 - 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 -2025-09-24 09:15:01 - 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"}]} -2025-09-24 09:15:01 - INFO - 拍照 -2025-09-24 09:15:18 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:15:18 - 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"}]} -2025-09-24 09:15:18 - 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 -2025-09-24 09:15:19 - INFO - 执行完成FPhoto -2025-09-24 09:15:20 - 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"}]} -2025-09-24 09:15:20 - INFO - 移动到中位位置 -2025-09-24 09:15:20 - 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 -2025-09-24 09:15:20 - INFO - 移动到中位位置 -2025-09-24 09:15:21 - 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 -2025-09-24 09:15:21 - 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"}]} -2025-09-24 09:15:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:26 - INFO - 机器人已到达抓料点位 -2025-09-24 09:15:26 - 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 -2025-09-24 09:15:26 - 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"}]} -2025-09-24 09:15:26 - INFO - 移动到中位位置 -2025-09-24 09:15:26 - 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 -2025-09-24 09:15:26 - 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"}]} -2025-09-24 09:15:26 - INFO - 移动到中位位置 -2025-09-24 09:15:26 - 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 -2025-09-24 09:15:26 - 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"}]} -2025-09-24 09:15:27 - INFO - 移动到中位位置 -2025-09-24 09:15:27 - 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 -2025-09-24 09:15:28 - 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"}]} -2025-09-24 09:15:32 - INFO - 移动到码垛中间点位置 -2025-09-24 09:15:32 - INFO - 移动到位置:姿势直线：X:1052.553-Y:179.308-Z:-1202.361-U:-148.482-V:3.0-W:0.0 -2025-09-24 09:15:32 - 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":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:15:36 - INFO - 移动到扔袋位置 -2025-09-24 09:15:37 - INFO - 移动到扔袋位置 -2025-09-24 09:15:37 - INFO - 移动到扔袋位置 -2025-09-24 09:15:38 - INFO - 移动到扔袋位置 -2025-09-24 09:15:38 - INFO - 已码垛数量：3 -2025-09-24 09:15:38 - 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 -2025-09-24 09:15:39 - 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"}]} -2025-09-24 09:15:43 - INFO - 移动到码垛复位位置 -2025-09-24 09:15:43 - 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 -2025-09-24 09:15:43 - 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"}]} -2025-09-24 09:15:43 - INFO - 拍照 -2025-09-24 09:15:55 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:15:55 - 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"}]} -2025-09-24 09:15:55 - 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 -2025-09-24 09:15:55 - INFO - 执行完成FPhoto -2025-09-24 09:15:57 - INFO - 移动到中位位置 -2025-09-24 09:15:57 - 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 -2025-09-24 09:15:57 - 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"}]} -2025-09-24 09:15:57 - INFO - 移动到中位位置 -2025-09-24 09:15:57 - 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 -2025-09-24 09:15:57 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:15:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:15:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:15:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:02 - INFO - 机器人已到达抓料点位 -2025-09-24 09:16:03 - 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INFO - 移动到中位位置 -2025-09-24 09:16:04 - 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 -2025-09-24 09:16:04 - 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"}]} -2025-09-24 09:16:09 - INFO - 移动到码垛中间点位置 -2025-09-24 09:16:09 - INFO - 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-24 09:16:09 - 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":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:16:13 - INFO - 移动到扔袋位置 -2025-09-24 09:16:14 - INFO - 移动到扔袋位置 -2025-09-24 09:16:14 - INFO - 移动到扔袋位置 -2025-09-24 09:16:15 - INFO - 移动到扔袋位置 -2025-09-24 09:16:15 - INFO - 已码垛数量：4 -2025-09-24 09:16:16 - 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 -2025-09-24 09:16:16 - 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"}]} -2025-09-24 09:16:20 - INFO - 移动到码垛复位位置 -2025-09-24 09:16:20 - 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 -2025-09-24 09:16:20 - 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"}]} -2025-09-24 09:16:20 - INFO - 拍照 -2025-09-24 09:16:29 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:16:29 - 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 -2025-09-24 09:16:30 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:16:37 - 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INFO - 移动到码垛中间点位置 -2025-09-24 09:16:43 - INFO - 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-24 09:16:46 - INFO - 移动到扔袋位置 -2025-09-24 09:16:47 - INFO - 移动到扔袋位置 -2025-09-24 09:16:48 - INFO - 移动到扔袋位置 -2025-09-24 09:16:49 - INFO - 移动到扔袋位置 -2025-09-24 09:16:49 - INFO - 已码垛数量：5 -2025-09-24 09:16:49 - 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 -2025-09-24 09:16:49 - 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"}]} -2025-09-24 09:16:53 - INFO - 移动到码垛复位位置 -2025-09-24 09:16:53 - 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 -2025-09-24 09:16:54 - 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"}]} -2025-09-24 09:16:54 - INFO - 拍照 -2025-09-24 09:17:07 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:17:07 - 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"}]} -2025-09-24 09:17:07 - 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 -2025-09-24 09:17:07 - INFO - 执行完成FPhoto -2025-09-24 09:17:09 - INFO - 移动到中位位置 -2025-09-24 09:17:09 - 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 -2025-09-24 09:17:09 - 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"}]} -2025-09-24 09:17:09 - INFO - 移动到中位位置 -2025-09-24 09:17:09 - 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 -2025-09-24 09:17:10 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:17:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:14 - INFO - 机器人已到达抓料点位 -2025-09-24 09:17:15 - 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 -2025-09-24 09:17:15 - 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"}]} -2025-09-24 09:17:15 - INFO - 移动到中位位置 -2025-09-24 09:17:15 - 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 -2025-09-24 09:17:15 - 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"}]} -2025-09-24 09:17:15 - INFO - 移动到中位位置 -2025-09-24 09:17:15 - 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 -2025-09-24 09:17:15 - 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"}]} -2025-09-24 09:17:16 - INFO - 移动到中位位置 -2025-09-24 09:17:16 - 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 -2025-09-24 09:17:16 - 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"}]} -2025-09-24 09:17:20 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:17:20 - INFO - 移动到码垛中间点位置 -2025-09-24 09:17:20 - INFO - 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-1052.361-U:31.518-V:6.0-W:0.0 -2025-09-24 09:17:24 - INFO - 移动到扔袋位置 -2025-09-24 09:17:25 - INFO - 移动到扔袋位置 -2025-09-24 09:17:25 - INFO - 移动到扔袋位置 -2025-09-24 09:17:27 - INFO - 移动到扔袋位置 -2025-09-24 09:17:27 - INFO - 已码垛数量：6 -2025-09-24 09:17:27 - 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 -2025-09-24 09:17:27 - 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"}]} -2025-09-24 09:17:30 - INFO - 移动到码垛复位位置 -2025-09-24 09:17:30 - 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 -2025-09-24 09:17:30 - 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"}]} -2025-09-24 09:17:30 - INFO - 拍照 -2025-09-24 09:17:49 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:17:49 - 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"}]} -2025-09-24 09:17:49 - 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 -2025-09-24 09:17:49 - INFO - 执行完成FPhoto -2025-09-24 09:17:51 - INFO - 移动到中位位置 -2025-09-24 09:17:51 - 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 -2025-09-24 09:17:51 - 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"}]} -2025-09-24 09:17:51 - INFO - 移动到中位位置 -2025-09-24 09:17:52 - 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 -2025-09-24 09:17:52 - 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"}]} -2025-09-24 09:17:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:17:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:17:57 - INFO - 机器人已到达抓料点位 -2025-09-24 09:17:58 - 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 -2025-09-24 09:17:58 - 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"}]} -2025-09-24 09:17:58 - INFO - 移动到中位位置 -2025-09-24 09:17:58 - 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 -2025-09-24 09:17:58 - 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"}]} -2025-09-24 09:17:58 - INFO - 移动到中位位置 -2025-09-24 09:17:58 - 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 -2025-09-24 09:17:58 - 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"}]} -2025-09-24 09:17:58 - INFO - 移动到中位位置 -2025-09-24 09:17:59 - 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 -2025-09-24 09:17:59 - 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"}]} -2025-09-24 09:18:03 - INFO - 移动到码垛中间点位置 -2025-09-24 09:18:03 - INFO - 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-1052.361-U:31.518-V:7.0-W:0.0 -2025-09-24 09:18:03 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:18:07 - INFO - 移动到扔袋位置 -2025-09-24 09:18:08 - INFO - 移动到扔袋位置 -2025-09-24 09:18:08 - INFO - 移动到扔袋位置 -2025-09-24 09:18:09 - INFO - 移动到扔袋位置 -2025-09-24 09:18:09 - INFO - 已码垛数量：7 -2025-09-24 09:18:09 - 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 -2025-09-24 09:18:09 - 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"}]} -2025-09-24 09:18:13 - INFO - 移动到码垛复位位置 -2025-09-24 09:18:13 - 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 -2025-09-24 09:18:13 - 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"}]} -2025-09-24 09:18:13 - INFO - 拍照 -2025-09-24 09:18:28 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:18:29 - 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"}]} -2025-09-24 09:18:29 - 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 -2025-09-24 09:18:29 - INFO - 执行完成FPhoto -2025-09-24 09:18:30 - 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"}]} -2025-09-24 09:18:30 - INFO - 移动到中位位置 -2025-09-24 09:18:31 - 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 -2025-09-24 09:18:31 - INFO - 移动到中位位置 -2025-09-24 09:18:31 - 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 -2025-09-24 09:18:31 - 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"}]} -2025-09-24 09:18:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:18:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:18:36 - INFO - 机器人已到达抓料点位 -2025-09-24 09:18:36 - 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 -2025-09-24 09:18:36 - 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"}]} -2025-09-24 09:18:36 - INFO - 移动到中位位置 -2025-09-24 09:18:36 - 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 -2025-09-24 09:18:36 - 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"}]} -2025-09-24 09:18:36 - INFO - 移动到中位位置 -2025-09-24 09:18:37 - 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 -2025-09-24 09:18:37 - 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"}]} -2025-09-24 09:18:37 - INFO - 移动到中位位置 -2025-09-24 09:18:37 - 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 -2025-09-24 09:18:37 - 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"}]} -2025-09-24 09:18:41 - INFO - 移动到码垛中间点位置 -2025-09-24 09:18:41 - INFO - 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-1052.361-U:31.518-V:8.0-W:0.0 -2025-09-24 09:18:42 - 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":"-1052.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:18:45 - INFO - 移动到扔袋位置 -2025-09-24 09:18:47 - INFO - 移动到扔袋位置 -2025-09-24 09:18:47 - INFO - 移动到扔袋位置 -2025-09-24 09:18:48 - INFO - 移动到扔袋位置 -2025-09-24 09:18:48 - INFO - 已码垛数量：8 -2025-09-24 09:18:48 - 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 -2025-09-24 09:18:48 - 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"}]} -2025-09-24 09:18:51 - INFO - 移动到码垛复位位置 -2025-09-24 09:18:51 - 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 -2025-09-24 09:18:52 - 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"}]} -2025-09-24 09:18:52 - INFO - 拍照 -2025-09-24 09:19:11 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:19:11 - 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"}]} -2025-09-24 09:19:11 - 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 -2025-09-24 09:19:12 - INFO - 执行完成FPhoto -2025-09-24 09:19:13 - INFO - 移动到中位位置 -2025-09-24 09:19:13 - 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 -2025-09-24 09:19:13 - 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"}]} -2025-09-24 09:19:13 - INFO - 移动到中位位置 -2025-09-24 09:19:14 - 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 -2025-09-24 09:19:14 - 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"}]} -2025-09-24 09:19:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:19 - INFO - 机器人已到达抓料点位 -2025-09-24 09:19:19 - 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 -2025-09-24 09:19:19 - 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"}]} -2025-09-24 09:19:19 - INFO - 移动到中位位置 -2025-09-24 09:19:19 - 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 -2025-09-24 09:19:19 - 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"}]} -2025-09-24 09:19:19 - INFO - 移动到中位位置 -2025-09-24 09:19:19 - 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 -2025-09-24 09:19:20 - 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"}]} -2025-09-24 09:19:20 - INFO - 移动到中位位置 -2025-09-24 09:19:20 - 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 -2025-09-24 09:19:20 - 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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"}]} -2025-09-24 09:19:34 - INFO - 移动到码垛复位位置 -2025-09-24 09:19:34 - 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 -2025-09-24 09:19:34 - 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"}]} -2025-09-24 09:19:34 - INFO - 拍照 -2025-09-24 09:19:51 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:19:51 - 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"}]} -2025-09-24 09:19:51 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:19:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:19:58 - INFO - 机器人已到达抓料点位 -2025-09-24 09:19:59 - 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"}]} -2025-09-24 09:19:59 - 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 -2025-09-24 09:19:59 - INFO - 移动到中位位置 -2025-09-24 09:19:59 - 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 -2025-09-24 09:19:59 - 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"}]} -2025-09-24 09:19:59 - INFO - 移动到中位位置 -2025-09-24 09:19:59 - 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 -2025-09-24 09:19:59 - 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"}]} -2025-09-24 09:20:00 - INFO - 移动到中位位置 -2025-09-24 09:20:00 - 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 -2025-09-24 09:20:00 - 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"}]} -2025-09-24 09:20:04 - INFO - 移动到码垛中间点位置 -2025-09-24 09:20:04 - 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 -2025-09-24 09:20:04 - 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"}]} -2025-09-24 09:20:07 - INFO - 移动到扔袋位置 -2025-09-24 09:20:08 - INFO - 移动到扔袋位置 -2025-09-24 09:20:08 - INFO - 移动到扔袋位置 -2025-09-24 09:20:10 - INFO - 移动到扔袋位置 -2025-09-24 09:20:10 - INFO - 已码垛数量：10 -2025-09-24 09:20:10 - 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 -2025-09-24 09:20:10 - 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"}]} -2025-09-24 09:20:13 - INFO - 移动到码垛复位位置 -2025-09-24 09:20:14 - 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 -2025-09-24 09:20:14 - 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"}]} -2025-09-24 09:20:14 - INFO - 拍照 -2025-09-24 09:20:31 - INFO - 投料暂停 -2025-09-24 09:20:31 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 09:20:54 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]} -2025-09-24 09:20:55 - INFO - 投料继续 -2025-09-24 09:20:55 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 09:20:55 - INFO - 切换到自动运行状态 -2025-09-24 09:22:37 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:22:37 - 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"}]} -2025-09-24 09:22:38 - 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 -2025-09-24 09:22:38 - INFO - 执行完成FPhoto -2025-09-24 09:22:39 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:22:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:22:45 - INFO - 机器人已到达抓料点位 -2025-09-24 09:22:45 - 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 -2025-09-24 09:22:45 - 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"}]} -2025-09-24 09:22:45 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:23:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:23:39 - INFO - 机器人已到达抓料点位 -2025-09-24 09:23:39 - 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 -2025-09-24 09:23:40 - 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"}]} -2025-09-24 09:23:40 - INFO - 移动到中位位置 -2025-09-24 09:23:40 - 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 -2025-09-24 09:23:40 - 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"}]} -2025-09-24 09:23:40 - INFO - 移动到中位位置 -2025-09-24 09:23:40 - 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 -2025-09-24 09:23:40 - 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"}]} -2025-09-24 09:23:41 - INFO - 移动到中位位置 -2025-09-24 09:23:41 - 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 -2025-09-24 09:23:41 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:24:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:24:20 - INFO - 机器人已到达抓料点位 -2025-09-24 09:24:21 - 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 -2025-09-24 09:24:21 - 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"}]} -2025-09-24 09:24:21 - 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"}]} -2025-09-24 09:24:21 - INFO - 移动到中位位置 -2025-09-24 09:24:21 - 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 -2025-09-24 09:24:21 - INFO - 移动到中位位置 -2025-09-24 09:24:21 - 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 -2025-09-24 09:24:21 - 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"}]} -2025-09-24 09:24:22 - INFO - 移动到中位位置 -2025-09-24 09:24:22 - 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 -2025-09-24 09:24:22 - 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"}]} -2025-09-24 09:24:26 - INFO - 移动到码垛中间点位置 -2025-09-24 09:24:26 - 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 -2025-09-24 09:24:26 - 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"}]} -2025-09-24 09:24:29 - INFO - 移动到扔袋位置 -2025-09-24 09:24:31 - INFO - 移动到扔袋位置 -2025-09-24 09:24:31 - INFO - 移动到扔袋位置 -2025-09-24 09:24:32 - INFO - 移动到扔袋位置 -2025-09-24 09:24:32 - INFO - 已码垛数量：13 -2025-09-24 09:24:32 - 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 -2025-09-24 09:24:32 - 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"}]} -2025-09-24 09:24:34 - INFO - 移动到码垛复位位置 -2025-09-24 09:24:35 - 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 -2025-09-24 09:24:35 - 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"}]} -2025-09-24 09:24:35 - INFO - 拍照 -2025-09-24 09:25:47 - INFO - 投料暂停 -2025-09-24 09:25:47 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 09:25:50 - INFO - 清除报警 -2025-09-24 09:25:51 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 09:25:51 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 09:25:51 - 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"}]} -2025-09-24 09:25:51 - INFO - 发送IO控制: 2，1 -2025-09-24 09:25:51 - INFO - 按下急停 -2025-09-24 09:25:54 - INFO - 退出系统 -2025-09-24 09:26:42 - INFO - 进入系统 -2025-09-24 09:27:34 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 09:27:34 - INFO - 切换到工具坐标 -2025-09-24 09:27:35 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 09:27:35 - INFO - 切换到自动运行状态 -2025-09-24 09:27:38 - INFO - 第一层确认生产 -2025-09-24 09:27:40 - INFO - 1号线:投料开始 -2025-09-24 09:27:40 - 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"}]} -2025-09-24 09:27:40 - INFO - 发送IO控制: 2，1 -2025-09-24 09:27:45 - 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"}]} -2025-09-24 09:27:45 - INFO - 发送IO控制: 2，0 -2025-09-24 09:27:46 - INFO - 投料开始 -2025-09-24 09:27:46 - 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 -2025-09-24 09:27:46 - 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"}]} -2025-09-24 09:27:46 - INFO - 投料开始 -2025-09-24 09:27:46 - 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 -2025-09-24 09:27:46 - 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"}]} -2025-09-24 09:27:46 - INFO - 移动到中位位置 -2025-09-24 09:27:46 - 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 -2025-09-24 09:27:46 - 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"}]} -2025-09-24 09:27:47 - INFO - 检测是否安全投料 -2025-09-24 09:27:47 - 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 -2025-09-24 09:27:47 - 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"}]} -2025-09-24 09:27:47 - INFO - 检测是否安全投料 -2025-09-24 09:27:47 - 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 -2025-09-24 09:27:47 - 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"}]} -2025-09-24 09:27:47 - INFO - 拍照 -2025-09-24 09:27:47 - INFO - 识别图像成功 -2025-09-24 09:27:47 - 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 -2025-09-24 09:27:48 - 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"}]} -2025-09-24 09:27:48 - INFO - 拍照 -2025-09-24 09:28:00 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:28:00 - 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"}]} -2025-09-24 09:28:00 - 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 -2025-09-24 09:28:00 - INFO - 执行完成FPhoto -2025-09-24 09:28:01 - INFO - 移动到中位位置 -2025-09-24 09:28:02 - 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 -2025-09-24 09:28:02 - 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"}]} -2025-09-24 09:28:02 - INFO - 移动到中位位置 -2025-09-24 09:28:02 - 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 -2025-09-24 09:28:02 - 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"}]} -2025-09-24 09:28:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:07 - INFO - 机器人已到达抓料点位 -2025-09-24 09:28:07 - 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 -2025-09-24 09:28:07 - 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"}]} -2025-09-24 09:28:07 - INFO - 移动到中位位置 -2025-09-24 09:28:07 - 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 -2025-09-24 09:28:07 - 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"}]} -2025-09-24 09:28:08 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:28:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:28:54 - INFO - 机器人已到达抓料点位 -2025-09-24 09:28:54 - 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 -2025-09-24 09:28:54 - 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"}]} -2025-09-24 09:28:54 - INFO - 移动到中位位置 -2025-09-24 09:28:54 - 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 -2025-09-24 09:28:54 - 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"}]} -2025-09-24 09:28:55 - INFO - 移动到中位位置 -2025-09-24 09:28:55 - 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 -2025-09-24 09:28:55 - 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"}]} -2025-09-24 09:28:55 - INFO - 移动到中位位置 -2025-09-24 09:28:55 - 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 -2025-09-24 09:28:55 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:29:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:29:42 - INFO - 机器人已到达抓料点位 -2025-09-24 09:29:42 - 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 -2025-09-24 09:29:42 - 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"}]} -2025-09-24 09:29:42 - INFO - 移动到中位位置 -2025-09-24 09:29:43 - 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 -2025-09-24 09:29:43 - 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"}]} -2025-09-24 09:29:43 - INFO - 移动到中位位置 -2025-09-24 09:29:43 - 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 -2025-09-24 09:29:43 - 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"}]} -2025-09-24 09:29:43 - INFO - 移动到中位位置 -2025-09-24 09:29:43 - 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 -2025-09-24 09:29:44 - 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"}]} -2025-09-24 09:29:48 - INFO - 移动到码垛中间点位置 -2025-09-24 09:29:48 - INFO - 移动到位置:姿势直线：X:1607.553-Y:-420.692-Z:-602.361-U:31.518-V:16.0-W:0.0 -2025-09-24 09:29:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"-420.692","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:29:52 - INFO - 移动到扔袋位置 -2025-09-24 09:29:53 - INFO - 移动到扔袋位置 -2025-09-24 09:29:53 - INFO - 移动到扔袋位置 -2025-09-24 09:29:54 - INFO - 移动到扔袋位置 -2025-09-24 09:29:54 - INFO - 已码垛数量：16 -2025-09-24 09:29:54 - 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 -2025-09-24 09:29:55 - 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"}]} -2025-09-24 09:29:55 - INFO - 移动到码垛复位位置 -2025-09-24 09:29:55 - 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 -2025-09-24 09:29:55 - 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"}]} -2025-09-24 09:29:56 - INFO - 拍照 -2025-09-24 09:30:13 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:30:13 - 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 -2025-09-24 09:30:13 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:20 - INFO - 机器人已到达抓料点位 -2025-09-24 09:30:21 - 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 -2025-09-24 09:30:21 - 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"}]} -2025-09-24 09:30:21 - INFO - 移动到中位位置 -2025-09-24 09:30:21 - 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 -2025-09-24 09:30:21 - 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"}]} -2025-09-24 09:30:21 - INFO - 移动到中位位置 -2025-09-24 09:30:21 - 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 -2025-09-24 09:30:21 - 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"}]} -2025-09-24 09:30:22 - INFO - 移动到中位位置 -2025-09-24 09:30:22 - 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 -2025-09-24 09:30:22 - 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"}]} -2025-09-24 09:30:26 - INFO - 移动到码垛中间点位置 -2025-09-24 09:30:26 - INFO - 移动到位置:姿势直线：X:1607.553-Y:729.308-Z:-602.361-U:31.518-V:17.0-W:0.0 -2025-09-24 09:30:26 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"729.308","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:30:30 - INFO - 移动到扔袋位置 -2025-09-24 09:30:31 - INFO - 移动到扔袋位置 -2025-09-24 09:30:32 - INFO - 移动到扔袋位置 -2025-09-24 09:30:33 - INFO - 移动到扔袋位置 -2025-09-24 09:30:33 - INFO - 已码垛数量：17 -2025-09-24 09:30:33 - 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 -2025-09-24 09:30:33 - 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"}]} -2025-09-24 09:30:34 - INFO - 移动到码垛复位位置 -2025-09-24 09:30:34 - 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 -2025-09-24 09:30:34 - 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"}]} -2025-09-24 09:30:34 - INFO - 拍照 -2025-09-24 09:30:50 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:30:50 - 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 -2025-09-24 09:30:50 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:30:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:30:57 - INFO - 机器人已到达抓料点位 -2025-09-24 09:30:57 - 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 -2025-09-24 09:30:58 - 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"}]} -2025-09-24 09:30:58 - INFO - 移动到中位位置 -2025-09-24 09:30:58 - 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 -2025-09-24 09:30:58 - 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"}]} -2025-09-24 09:30:58 - INFO - 移动到中位位置 -2025-09-24 09:30:58 - 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 -2025-09-24 09:30:58 - 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"}]} -2025-09-24 09:30:58 - INFO - 移动到中位位置 -2025-09-24 09:30:59 - 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 -2025-09-24 09:30:59 - 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"}]} -2025-09-24 09:31:03 - INFO - 移动到码垛中间点位置 -2025-09-24 09:31:03 - INFO - 移动到位置:姿势直线：X:1607.553-Y:179.308-Z:-602.361-U:31.518-V:18.0-W:0.0 -2025-09-24 09:31:03 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"179.308","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:31:07 - INFO - 移动到扔袋位置 -2025-09-24 09:31:08 - INFO - 移动到扔袋位置 -2025-09-24 09:31:08 - INFO - 移动到扔袋位置 -2025-09-24 09:31:09 - 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"}]} -2025-09-24 09:31:09 - INFO - 移动到扔袋位置 -2025-09-24 09:31:10 - INFO - 已码垛数量：18 -2025-09-24 09:31:10 - 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 -2025-09-24 09:31:10 - INFO - 移动到码垛复位位置 -2025-09-24 09:31:10 - 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 -2025-09-24 09:31:10 - 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"}]} -2025-09-24 09:31:11 - INFO - 拍照 -2025-09-24 09:31:32 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:31:32 - 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"}]} -2025-09-24 09:31:32 - 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 -2025-09-24 09:31:32 - INFO - 执行完成FPhoto -2025-09-24 09:31:34 - INFO - 移动到中位位置 -2025-09-24 09:31:34 - 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 -2025-09-24 09:31:34 - 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"}]} -2025-09-24 09:31:35 - INFO - 移动到中位位置 -2025-09-24 09:31:35 - 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 -2025-09-24 09:31:35 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:31:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:31:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:31:40 - INFO - 机器人已到达抓料点位 -2025-09-24 09:31:40 - 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 -2025-09-24 09:31:40 - 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"}]} -2025-09-24 09:31:40 - INFO - 移动到中位位置 -2025-09-24 09:31:40 - 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 -2025-09-24 09:31:40 - 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"}]} -2025-09-24 09:31:40 - INFO - 移动到中位位置 -2025-09-24 09:31:41 - 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 -2025-09-24 09:31:41 - 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"}]} -2025-09-24 09:31:41 - INFO - 移动到中位位置 -2025-09-24 09:31:41 - 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 -2025-09-24 09:31:41 - 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"}]} -2025-09-24 09:31:45 - INFO - 移动到码垛中间点位置 -2025-09-24 09:31:45 - INFO - 移动到位置:姿势直线：X:817.553-Y:-210.692-Z:-602.361-U:-58.482-V:19.0-W:0.0 -2025-09-24 09:31:45 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"817.553","m1":"-210.692","m2":"-602.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:31:49 - INFO - 移动到扔袋位置 -2025-09-24 09:31:50 - INFO - 移动到扔袋位置 -2025-09-24 09:31:50 - INFO - 移动到扔袋位置 -2025-09-24 09:31:51 - INFO - 移动到扔袋位置 -2025-09-24 09:31:51 - INFO - 已码垛数量：19 -2025-09-24 09:31:51 - 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 -2025-09-24 09:31:51 - 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"}]} -2025-09-24 09:31:52 - 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"}]} -2025-09-24 09:31:53 - INFO - 移动到码垛复位位置 -2025-09-24 09:31:53 - 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 -2025-09-24 09:31:53 - INFO - 拍照 -2025-09-24 09:32:07 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:32:07 - 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"}]} -2025-09-24 09:32:07 - 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 -2025-09-24 09:32:08 - INFO - 执行完成FPhoto -2025-09-24 09:32:09 - INFO - 移动到中位位置 -2025-09-24 09:32:09 - 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 -2025-09-24 09:32:09 - 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"}]} -2025-09-24 09:32:09 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:32:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:32:15 - INFO - 机器人已到达抓料点位 -2025-09-24 09:32:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:32:16 - 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 -2025-09-24 09:32:16 - INFO - 移动到中位位置 -2025-09-24 09:32:16 - 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 -2025-09-24 09:32:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:32:16 - INFO - 移动到中位位置 -2025-09-24 09:32:16 - 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 -2025-09-24 09:32:16 - 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"}]} -2025-09-24 09:32:16 - INFO - 移动到中位位置 -2025-09-24 09:32:17 - 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 -2025-09-24 09:32:17 - 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"}]} -2025-09-24 09:32:21 - INFO - 移动到码垛中间点位置 -2025-09-24 09:32:21 - INFO - 移动到位置:姿势直线：X:817.553-Y:519.308-Z:-602.361-U:-238.482-V:20.0-W:0.0 -2025-09-24 09:32:21 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"817.553","m1":"519.308","m2":"-602.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:32:23 - INFO - 移动到扔袋位置 -2025-09-24 09:32:25 - INFO - 移动到扔袋位置 -2025-09-24 09:32:25 - INFO - 移动到扔袋位置 -2025-09-24 09:32:26 - INFO - 移动到扔袋位置 -2025-09-24 09:32:26 - INFO - 已码垛数量：20 -2025-09-24 09:32:26 - 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"}]} -2025-09-24 09:32:26 - 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 -2025-09-24 09:32:28 - INFO - 移动到码垛复位位置 -2025-09-24 09:32:28 - 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 -2025-09-24 09:32:28 - 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"}]} -2025-09-24 09:32:28 - INFO - 拍照 -2025-09-24 09:33:18 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:33:18 - 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"}]} -2025-09-24 09:33:18 - 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 -2025-09-24 09:33:18 - INFO - 执行完成FPhoto -2025-09-24 09:33:20 - INFO - 移动到中位位置 -2025-09-24 09:33:20 - 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 -2025-09-24 09:33:20 - 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"}]} -2025-09-24 09:33:20 - INFO - 移动到中位位置 -2025-09-24 09:33:20 - 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 -2025-09-24 09:33:20 - 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"}]} -2025-09-24 09:33:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:33:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:33:26 - INFO - 机器人已到达抓料点位 -2025-09-24 09:33:26 - 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 -2025-09-24 09:33:26 - 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"}]} -2025-09-24 09:33:26 - INFO - 移动到中位位置 -2025-09-24 09:33:26 - 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 -2025-09-24 09:33:26 - 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"}]} -2025-09-24 09:33:26 - INFO - 移动到中位位置 -2025-09-24 09:33:26 - 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 -2025-09-24 09:33:26 - 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"}]} -2025-09-24 09:33:27 - INFO - 移动到中位位置 -2025-09-24 09:33:27 - 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"}]} -2025-09-24 09:33:27 - 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 -2025-09-24 09:33:31 - INFO - 移动到码垛中间点位置 -2025-09-24 09:33:31 - INFO - 移动到位置:姿势直线：X:1027.553-Y:-420.692-Z:-402.361-U:-148.482-V:21.0-W:0.0 -2025-09-24 09:33:31 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"-420.692","m2":"-402.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:33:34 - INFO - 移动到扔袋位置 -2025-09-24 09:33:35 - INFO - 移动到扔袋位置 -2025-09-24 09:33:36 - INFO - 移动到扔袋位置 -2025-09-24 09:33:37 - INFO - 移动到扔袋位置 -2025-09-24 09:33:37 - INFO - 已码垛数量：21 -2025-09-24 09:33:37 - 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 -2025-09-24 09:33:37 - 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"}]} -2025-09-24 09:33:37 - INFO - 移动到码垛复位位置 -2025-09-24 09:33:37 - 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 -2025-09-24 09:33:37 - 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"}]} -2025-09-24 09:33:37 - INFO - 拍照 -2025-09-24 09:34:03 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:34:03 - 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"}]} -2025-09-24 09:34:03 - 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 -2025-09-24 09:34:03 - INFO - 执行完成FPhoto -2025-09-24 09:34:05 - INFO - 移动到中位位置 -2025-09-24 09:34:05 - 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 -2025-09-24 09:34:05 - 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"}]} -2025-09-24 09:34:05 - INFO - 移动到中位位置 -2025-09-24 09:34:05 - 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 -2025-09-24 09:34:05 - 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"}]} -2025-09-24 09:34:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:34:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:34:10 - INFO - 机器人已到达抓料点位 -2025-09-24 09:34:10 - 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 -2025-09-24 09:34:10 - 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"}]} -2025-09-24 09:34:10 - INFO - 移动到中位位置 -2025-09-24 09:34:11 - 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"}]} -2025-09-24 09:34:11 - 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 -2025-09-24 09:34:11 - INFO - 移动到中位位置 -2025-09-24 09:34:11 - 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 -2025-09-24 09:34:11 - 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"}]} -2025-09-24 09:34:11 - INFO - 移动到中位位置 -2025-09-24 09:34:11 - 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 -2025-09-24 09:34:12 - 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"}]} -2025-09-24 09:34:16 - INFO - 移动到码垛中间点位置 -2025-09-24 09:34:16 - INFO - 移动到位置:姿势直线：X:1027.553-Y:729.308-Z:-402.361-U:-148.482-V:22.0-W:0.0 -2025-09-24 09:34:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"729.308","m2":"-402.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:34:18 - INFO - 移动到扔袋位置 -2025-09-24 09:34:19 - INFO - 移动到扔袋位置 -2025-09-24 09:34:19 - INFO - 移动到扔袋位置 -2025-09-24 09:34:20 - INFO - 移动到扔袋位置 -2025-09-24 09:34:20 - INFO - 已码垛数量：22 -2025-09-24 09:34:20 - 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 -2025-09-24 09:34:20 - 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"}]} -2025-09-24 09:34:21 - 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"}]} -2025-09-24 09:34:21 - INFO - 移动到码垛复位位置 -2025-09-24 09:34:21 - 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 -2025-09-24 09:34:21 - INFO - 拍照 -2025-09-24 09:35:29 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:35:30 - 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"}]} -2025-09-24 09:35:30 - 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 -2025-09-24 09:35:30 - INFO - 执行完成FPhoto -2025-09-24 09:35:32 - INFO - 移动到中位位置 -2025-09-24 09:35:32 - 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 -2025-09-24 09:35:32 - 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"}]} -2025-09-24 09:35:32 - INFO - 移动到中位位置 -2025-09-24 09:35:32 - 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 -2025-09-24 09:35:32 - 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"}]} -2025-09-24 09:35:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:35:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:35:37 - INFO - 机器人已到达抓料点位 -2025-09-24 09:35:37 - 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 -2025-09-24 09:35:37 - 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"}]} -2025-09-24 09:35:37 - INFO - 移动到中位位置 -2025-09-24 09:35:38 - 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 -2025-09-24 09:35:38 - 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INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"179.308","m2":"-402.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:35:43 - INFO - 移动到码垛中间点位置 -2025-09-24 09:35:43 - INFO - 移动到位置:姿势直线：X:1027.553-Y:179.308-Z:-402.361-U:-148.482-V:23.0-W:0.0 -2025-09-24 09:35:45 - INFO - 移动到扔袋位置 -2025-09-24 09:35:46 - INFO - 移动到扔袋位置 -2025-09-24 09:35:46 - INFO - 移动到扔袋位置 -2025-09-24 09:35:48 - INFO - 移动到扔袋位置 -2025-09-24 09:35:48 - INFO - 已码垛数量：23 -2025-09-24 09:35:48 - 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 -2025-09-24 09:35:48 - 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"}]} -2025-09-24 09:35:48 - INFO - 移动到码垛复位位置 -2025-09-24 09:35:48 - 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 -2025-09-24 09:35:48 - 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"}]} -2025-09-24 09:35:48 - INFO - 拍照 -2025-09-24 09:36:05 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:36:06 - 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"}]} -2025-09-24 09:36:06 - 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 -2025-09-24 09:36:06 - INFO - 执行完成FPhoto -2025-09-24 09:36:07 - INFO - 移动到中位位置 -2025-09-24 09:36:07 - 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 -2025-09-24 09:36:08 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:13 - INFO - 机器人已到达抓料点位 -2025-09-24 09:36:13 - 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 -2025-09-24 09:36:13 - 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"}]} -2025-09-24 09:36:13 - INFO - 移动到中位位置 -2025-09-24 09:36:13 - 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 -2025-09-24 09:36:14 - 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"}]} -2025-09-24 09:36:14 - INFO - 移动到中位位置 -2025-09-24 09:36:14 - 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 -2025-09-24 09:36:14 - 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"}]} -2025-09-24 09:36:14 - INFO - 移动到中位位置 -2025-09-24 09:36:14 - 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 -2025-09-24 09:36:14 - 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"}]} -2025-09-24 09:36:18 - INFO - 移动到码垛中间点位置 -2025-09-24 09:36:18 - INFO - 移动到位置:姿势直线：X:1767.553-Y:-210.692-Z:-402.361-U:-58.482-V:24.0-W:0.0 -2025-09-24 09:36:19 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"-210.692","m2":"-402.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:36:22 - INFO - 移动到扔袋位置 -2025-09-24 09:36:23 - INFO - 移动到扔袋位置 -2025-09-24 09:36:23 - INFO - 移动到扔袋位置 -2025-09-24 09:36:24 - INFO - 移动到扔袋位置 -2025-09-24 09:36:24 - INFO - 已码垛数量：24 -2025-09-24 09:36:24 - 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 -2025-09-24 09:36:25 - INFO - 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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 -2025-09-24 09:36:53 - INFO - 执行完成FPhoto -2025-09-24 09:36:54 - INFO - 移动到中位位置 -2025-09-24 09:36:54 - 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 -2025-09-24 09:36:54 - 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"}]} -2025-09-24 09:36:54 - INFO - 移动到中位位置 -2025-09-24 09:36:55 - 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 -2025-09-24 09:36:55 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:36:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:00 - INFO - 机器人已到达抓料点位 -2025-09-24 09:37:00 - 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"}]} -2025-09-24 09:37:00 - 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 -2025-09-24 09:37:00 - INFO - 移动到中位位置 -2025-09-24 09:37:00 - 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 -2025-09-24 09:37:00 - 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"}]} -2025-09-24 09:37:00 - INFO - 移动到中位位置 -2025-09-24 09:37:01 - 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 -2025-09-24 09:37:01 - 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"}]} -2025-09-24 09:37:01 - INFO - 移动到中位位置 -2025-09-24 09:37:01 - 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 -2025-09-24 09:37:01 - 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"}]} -2025-09-24 09:37:05 - INFO - 移动到码垛中间点位置 -2025-09-24 09:37:05 - INFO - 移动到位置:姿势直线：X:1767.553-Y:519.308-Z:-402.361-U:-238.482-V:25.0-W:0.0 -2025-09-24 09:37:05 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"519.308","m2":"-402.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:37:08 - INFO - 移动到扔袋位置 -2025-09-24 09:37:09 - INFO - 移动到扔袋位置 -2025-09-24 09:37:09 - INFO - 移动到扔袋位置 -2025-09-24 09:37:11 - INFO - 移动到扔袋位置 -2025-09-24 09:37:11 - INFO - 已码垛数量：25 -2025-09-24 09:37:11 - 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 -2025-09-24 09:37:11 - 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"}]} -2025-09-24 09:37:11 - INFO - 移动到码垛复位位置 -2025-09-24 09:37:11 - 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"}]} -2025-09-24 09:37:11 - 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 -2025-09-24 09:37:11 - INFO - 拍照 -2025-09-24 09:37:30 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:37:31 - 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"}]} -2025-09-24 09:37:31 - 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 -2025-09-24 09:37:31 - INFO - 执行完成FPhoto -2025-09-24 09:37:33 - INFO - 移动到中位位置 -2025-09-24 09:37:33 - 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 -2025-09-24 09:37:33 - 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"}]} -2025-09-24 09:37:33 - INFO - 移动到中位位置 -2025-09-24 09:37:33 - 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 -2025-09-24 09:37:33 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:37:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:37:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:37:39 - INFO - 机器人已到达抓料点位 -2025-09-24 09:37:39 - 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"}]} -2025-09-24 09:37:39 - 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 -2025-09-24 09:37:39 - 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"}]} -2025-09-24 09:37:39 - INFO - 移动到中位位置 -2025-09-24 09:37:39 - 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 -2025-09-24 09:37:39 - INFO - 移动到中位位置 -2025-09-24 09:37:40 - 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 -2025-09-24 09:37:40 - 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"}]} -2025-09-24 09:37:40 - INFO - 移动到中位位置 -2025-09-24 09:37:40 - 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 -2025-09-24 09:37:40 - 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"}]} -2025-09-24 09:37:44 - INFO - 移动到码垛中间点位置 -2025-09-24 09:37:44 - INFO - 移动到位置:姿势直线：X:1607.553-Y:-420.692-Z:-282.361-U:31.518-V:26.0-W:0.0 -2025-09-24 09:37:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"-420.692","m2":"-282.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:37:48 - INFO - 移动到扔袋位置 -2025-09-24 09:37:49 - INFO - 移动到扔袋位置 -2025-09-24 09:37:49 - INFO - 移动到扔袋位置 -2025-09-24 09:37:51 - INFO - 移动到扔袋位置 -2025-09-24 09:37:51 - 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"}]} -2025-09-24 09:37:51 - INFO - 已码垛数量：26 -2025-09-24 09:37:51 - 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 -2025-09-24 09:37:51 - INFO - 移动到码垛复位位置 -2025-09-24 09:37:51 - 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 -2025-09-24 09:37:51 - 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INFO - 移动到中位位置 -2025-09-24 09:38:17 - 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 -2025-09-24 09:38:17 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:38:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:38:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:38:22 - INFO - 机器人已到达抓料点位 -2025-09-24 09:38:22 - 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 -2025-09-24 09:38:22 - 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"}]} -2025-09-24 09:38:22 - INFO - 移动到中位位置 -2025-09-24 09:38:22 - INFO - 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INFO - 移动到码垛中间点位置 -2025-09-24 09:38:28 - INFO - 移动到位置:姿势直线：X:1607.553-Y:729.308-Z:-282.361-U:31.518-V:27.0-W:0.0 -2025-09-24 09:38:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"729.308","m2":"-282.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:38:31 - INFO - 移动到扔袋位置 -2025-09-24 09:38:32 - INFO - 移动到扔袋位置 -2025-09-24 09:38:32 - INFO - 移动到扔袋位置 -2025-09-24 09:38:34 - INFO - 移动到扔袋位置 -2025-09-24 09:38:34 - INFO - 已码垛数量：27 -2025-09-24 09:38:34 - 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 -2025-09-24 09:38:34 - 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"}]} -2025-09-24 09:38:34 - INFO - 移动到码垛复位位置 -2025-09-24 09:38:34 - 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 -2025-09-24 09:38:34 - 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"}]} -2025-09-24 09:38:34 - INFO - 拍照 -2025-09-24 09:39:03 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:39:03 - 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"}]} -2025-09-24 09:39:03 - 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 -2025-09-24 09:39:03 - INFO - 执行完成FPhoto -2025-09-24 09:39:05 - INFO - 移动到中位位置 -2025-09-24 09:39:05 - 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 -2025-09-24 09:39:05 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:10 - INFO - 机器人已到达抓料点位 -2025-09-24 09:39:10 - 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 -2025-09-24 09:39:10 - 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"}]} -2025-09-24 09:39:11 - INFO - 移动到中位位置 -2025-09-24 09:39:11 - 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 -2025-09-24 09:39:11 - 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"}]} -2025-09-24 09:39:11 - INFO - 移动到中位位置 -2025-09-24 09:39:11 - 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 -2025-09-24 09:39:11 - 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"}]} -2025-09-24 09:39:11 - 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"}]} -2025-09-24 09:39:12 - INFO - 移动到中位位置 -2025-09-24 09:39:12 - 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 -2025-09-24 09:39:16 - INFO - 移动到码垛中间点位置 -2025-09-24 09:39:16 - INFO - 移动到位置:姿势直线：X:1607.553-Y:179.308-Z:-282.361-U:31.518-V:28.0-W:0.0 -2025-09-24 09:39:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"179.308","m2":"-282.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:39:20 - INFO - 移动到扔袋位置 -2025-09-24 09:39:21 - INFO - 移动到扔袋位置 -2025-09-24 09:39:21 - INFO - 移动到扔袋位置 -2025-09-24 09:39:22 - INFO - 移动到扔袋位置 -2025-09-24 09:39:23 - INFO - 已码垛数量：28 -2025-09-24 09:39:23 - 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 -2025-09-24 09:39:23 - 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"}]} -2025-09-24 09:39:23 - INFO - 移动到码垛复位位置 -2025-09-24 09:39:23 - 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 -2025-09-24 09:39:23 - 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"}]} -2025-09-24 09:39:23 - INFO - 拍照 -2025-09-24 09:39:44 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:39:44 - 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"}]} -2025-09-24 09:39:45 - 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 -2025-09-24 09:39:45 - INFO - 执行完成FPhoto -2025-09-24 09:39:46 - INFO - 移动到中位位置 -2025-09-24 09:39:47 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:39:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:39:52 - INFO - 机器人已到达抓料点位 -2025-09-24 09:39:52 - 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 -2025-09-24 09:39:52 - 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"}]} -2025-09-24 09:39:52 - INFO - 移动到中位位置 -2025-09-24 09:39:52 - 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 -2025-09-24 09:39:53 - 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"}]} -2025-09-24 09:39:53 - INFO - 移动到中位位置 -2025-09-24 09:39:53 - 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 -2025-09-24 09:39:53 - 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"}]} -2025-09-24 09:39:53 - INFO - 移动到中位位置 -2025-09-24 09:39:53 - 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 -2025-09-24 09:39:53 - 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"}]} -2025-09-24 09:39:57 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"817.553","m1":"-210.692","m2":"-282.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:39:58 - INFO - 移动到码垛中间点位置 -2025-09-24 09:39:58 - INFO - 移动到位置:姿势直线：X:817.553-Y:-210.692-Z:-282.361-U:-58.482-V:29.0-W:0.0 -2025-09-24 09:40:00 - INFO - 移动到扔袋位置 -2025-09-24 09:40:02 - INFO - 移动到扔袋位置 -2025-09-24 09:40:02 - INFO - 移动到扔袋位置 -2025-09-24 09:40:03 - INFO - 移动到扔袋位置 -2025-09-24 09:40:03 - INFO - 已码垛数量：29 -2025-09-24 09:40:03 - 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 -2025-09-24 09:40:03 - 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"}]} -2025-09-24 09:40:03 - INFO - 移动到码垛复位位置 -2025-09-24 09:40:03 - 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 -2025-09-24 09:40:03 - 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"}]} -2025-09-24 09:40:04 - INFO - 拍照 -2025-09-24 09:40:25 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:40:25 - 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"}]} -2025-09-24 09:40:25 - 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 -2025-09-24 09:40:25 - INFO - 执行完成FPhoto -2025-09-24 09:40:27 - INFO - 移动到中位位置 -2025-09-24 09:40:27 - 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 -2025-09-24 09:40:27 - 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"}]} -2025-09-24 09:40:27 - INFO - 移动到中位位置 -2025-09-24 09:40:27 - 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 -2025-09-24 09:40:27 - 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"}]} -2025-09-24 09:40:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:40:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:40:33 - INFO - 机器人已到达抓料点位 -2025-09-24 09:40:33 - 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 -2025-09-24 09:40:34 - 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"}]} -2025-09-24 09:40:34 - INFO - 移动到中位位置 -2025-09-24 09:40:34 - 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 -2025-09-24 09:40:34 - 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"}]} -2025-09-24 09:40:34 - INFO - 移动到中位位置 -2025-09-24 09:40:34 - 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 -2025-09-24 09:40:34 - 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"}]} -2025-09-24 09:40:34 - INFO - 移动到中位位置 -2025-09-24 09:40:34 - 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 -2025-09-24 09:40:35 - 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"}]} -2025-09-24 09:40:38 - INFO - 移动到码垛中间点位置 -2025-09-24 09:40:38 - INFO - 移动到位置:姿势直线：X:817.553-Y:519.308-Z:-202.361-U:-238.482-V:30.0-W:0.0 -2025-09-24 09:40:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"817.553","m1":"519.308","m2":"-202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:40:41 - INFO - 移动到扔袋位置 -2025-09-24 09:40:42 - INFO - 移动到扔袋位置 -2025-09-24 09:40:43 - INFO - 移动到扔袋位置 -2025-09-24 09:40:44 - INFO - 移动到扔袋位置 -2025-09-24 09:40:44 - INFO - 已码垛数量：30 -2025-09-24 09:40:44 - 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 -2025-09-24 09:40:44 - 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"}]} -2025-09-24 09:40:44 - INFO - 移动到码垛复位位置 -2025-09-24 09:40:44 - 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 -2025-09-24 09:40:44 - 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"}]} -2025-09-24 09:40:45 - INFO - 投料结束 -2025-09-24 09:40:45 - 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 -2025-09-24 09:40:45 - 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"}]} -2025-09-24 09:40:45 - INFO - 移动到拍照位置 -2025-09-24 09:40:48 - INFO - 复位成功 -2025-09-24 09:41:31 - INFO - 清除报警 -2025-09-24 09:41:31 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 09:41:31 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 09:41:31 - 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"}]} -2025-09-24 09:41:32 - INFO - 发送IO控制: 2，1 -2025-09-24 09:41:32 - INFO - 按下急停 -2025-09-24 09:41:40 - INFO - 清除报警 -2025-09-24 09:41:40 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 09:41:40 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 09:41:40 - 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"}]} -2025-09-24 09:41:40 - INFO - 发送IO控制: 2，1 -2025-09-24 09:41:41 - INFO - 按下急停 -2025-09-24 09:44:47 - INFO - 退出系统 -2025-09-24 09:45:02 - INFO - 进入系统 -2025-09-24 09:45:08 - INFO - 清除报警 -2025-09-24 09:45:09 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 09:45:09 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 09:45:09 - INFO - 按下急停 -2025-09-24 09:45:19 - INFO - 退出系统 -2025-09-24 10:00:58 - INFO - 进入系统 -2025-09-24 10:01:39 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 10:01:39 - INFO - 切换到工具坐标 -2025-09-24 10:01:39 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 10:01:39 - INFO - 切换到自动运行状态 -2025-09-24 10:01:40 - INFO - 第一层确认生产 -2025-09-24 10:01:41 - INFO - 1号线:投料开始 -2025-09-24 10:01:41 - INFO - 投料开始 -2025-09-24 10:01:41 - 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 -2025-09-24 10:01:41 - 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"}]} -2025-09-24 10:01:41 - 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"}]} -2025-09-24 10:01:41 - INFO - 投料开始 -2025-09-24 10:01:41 - 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 -2025-09-24 10:01:41 - INFO - 移动到中位位置 -2025-09-24 10:01:42 - 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 -2025-09-24 10:01:42 - 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"}]} -2025-09-24 10:01:42 - INFO - 检测是否安全投料 -2025-09-24 10:01:42 - 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 -2025-09-24 10:01:42 - 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"}]} -2025-09-24 10:01:42 - INFO - 检测是否安全投料 -2025-09-24 10:01:42 - 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 -2025-09-24 10:01:42 - 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"}]} -2025-09-24 10:01:42 - INFO - 拍照 -2025-09-24 10:01:43 - INFO - 识别图像成功 -2025-09-24 10:01:43 - 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 -2025-09-24 10:01:43 - 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"}]} -2025-09-24 10:01:43 - INFO - 拍照 -2025-09-24 10:01:46 - INFO - 清除报警 -2025-09-24 10:01:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 10:01:46 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 10:01:46 - INFO - 按下急停 -2025-09-24 10:01:51 - INFO - 退出系统 -2025-09-24 10:11:00 - INFO - 进入系统 -2025-09-24 10:11:55 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 10:11:55 - INFO - 切换到工具坐标 -2025-09-24 10:11:55 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 10:11:55 - INFO - 切换到自动运行状态 -2025-09-24 10:11:56 - INFO - 第一层确认生产 -2025-09-24 10:11:58 - INFO - 1号线:投料开始 -2025-09-24 10:11:58 - 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"}]} -2025-09-24 10:11:58 - INFO - 发送IO控制: 2，1 -2025-09-24 10:12:03 - 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"}]} -2025-09-24 10:12:03 - INFO - 发送IO控制: 2，0 -2025-09-24 10:12:03 - 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"}]} -2025-09-24 10:12:03 - INFO - 投料开始 -2025-09-24 10:12:03 - 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 -2025-09-24 10:12:03 - INFO - 投料开始 -2025-09-24 10:12:04 - 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 -2025-09-24 10:12:04 - 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"}]} -2025-09-24 10:12:04 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:14:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:14:29 - 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INFO - 拍照 -2025-09-24 10:16:00 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:16:00 - 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 -2025-09-24 10:16:00 - 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"}]} -2025-09-24 10:16:00 - INFO - 执行完成FPhoto -2025-09-24 10:16:02 - INFO - 移动到中位位置 -2025-09-24 10:16:02 - 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 -2025-09-24 10:16:02 - 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"}]} -2025-09-24 10:16:02 - INFO - 移动到中位位置 -2025-09-24 10:16:02 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:08 - INFO - 机器人已到达抓料点位 -2025-09-24 10:16:08 - 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 -2025-09-24 10:16:08 - 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"}]} -2025-09-24 10:16:08 - INFO - 移动到中位位置 -2025-09-24 10:16:08 - 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 -2025-09-24 10:16:08 - 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INFO - 移动到码垛中间点位置 -2025-09-24 10:16:13 - INFO - 移动到位置:姿势直线：X:1027.553-Y:-420.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-24 10:16:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"-420.692","m2":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:16:17 - INFO - 移动到扔袋位置 -2025-09-24 10:16:18 - INFO - 移动到扔袋位置 -2025-09-24 10:16:18 - INFO - 移动到扔袋位置 -2025-09-24 10:16:19 - INFO - 移动到扔袋位置 -2025-09-24 10:16:19 - INFO - 已码垛数量：1 -2025-09-24 10:16:19 - 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"}]} -2025-09-24 10:16:20 - 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 -2025-09-24 10:16:23 - INFO - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:47 - INFO - 机器人已到达抓料点位 -2025-09-24 10:16:48 - 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 -2025-09-24 10:16:48 - 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"}]} -2025-09-24 10:16:48 - INFO - 移动到中位位置 -2025-09-24 10:16:48 - 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 -2025-09-24 10:16:48 - 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"}]} -2025-09-24 10:16:48 - INFO - 移动到中位位置 -2025-09-24 10:16:48 - 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 -2025-09-24 10:16:48 - 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"}]} -2025-09-24 10:16:49 - INFO - 移动到中位位置 -2025-09-24 10:16:49 - 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 -2025-09-24 10:16:49 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:17:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:17:41 - INFO - 机器人已到达抓料点位 -2025-09-24 10:17:41 - 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 -2025-09-24 10:17:41 - 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已码垛数量：3 -2025-09-24 10:17:53 - 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 -2025-09-24 10:17:53 - 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"}]} -2025-09-24 10:17:57 - INFO - 移动到码垛复位位置 -2025-09-24 10:17:57 - 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 -2025-09-24 10:17:57 - 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"}]} -2025-09-24 10:17:58 - INFO - 拍照 -2025-09-24 10:18:25 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:18:25 - 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 -2025-09-24 10:18:25 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:18:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:18:33 - 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INFO - 拍照 -2025-09-24 10:19:06 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:19:06 - 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 -2025-09-24 10:19:06 - 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"}]} -2025-09-24 10:19:06 - INFO - 执行完成FPhoto -2025-09-24 10:19:08 - INFO - 移动到中位位置 -2025-09-24 10:19:08 - 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 -2025-09-24 10:19:08 - 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"}]} -2025-09-24 10:19:08 - INFO - 移动到中位位置 -2025-09-24 10:19:09 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:19:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:19:14 - INFO - 机器人已到达抓料点位 -2025-09-24 10:19:14 - 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 -2025-09-24 10:19:14 - 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"}]} -2025-09-24 10:19:14 - INFO - 移动到中位位置 -2025-09-24 10:19:14 - 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 -2025-09-24 10:19:14 - 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"}]} -2025-09-24 10:19:14 - 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INFO - 移动到中位位置 -2025-09-24 10:21:06 - 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 -2025-09-24 10:21:06 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:21:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:21:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:21:12 - INFO - 机器人已到达抓料点位 -2025-09-24 10:21:12 - 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"}]} -2025-09-24 10:21:12 - 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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 -2025-09-24 10:21:13 - 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"}]} -2025-09-24 10:21:17 - INFO - 移动到码垛中间点位置 -2025-09-24 10:21:17 - INFO - 移动到位置:姿势直线：X:1607.553-Y:-420.692-Z:-1002.361-U:31.518-V:6.0-W:0.0 -2025-09-24 10:21:17 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"-420.692","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:21:21 - INFO - 移动到扔袋位置 -2025-09-24 10:21:22 - INFO - 移动到扔袋位置 -2025-09-24 10:21:22 - INFO - 移动到扔袋位置 -2025-09-24 10:21:23 - INFO - 移动到扔袋位置 -2025-09-24 10:21:24 - INFO - 已码垛数量：6 -2025-09-24 10:21:24 - 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 -2025-09-24 10:21:24 - 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"}]} -2025-09-24 10:21:27 - INFO - 移动到码垛复位位置 -2025-09-24 10:21:27 - 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 -2025-09-24 10:21:27 - 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"}]} -2025-09-24 10:21:27 - INFO - 拍照 -2025-09-24 10:22:03 - INFO - 投料暂停 -2025-09-24 10:22:03 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 10:26:34 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]} -2025-09-24 10:26:34 - INFO - 投料继续 -2025-09-24 10:26:34 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 10:26:34 - INFO - 切换到自动运行状态 -2025-09-24 10:27:50 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:27:50 - 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 -2025-09-24 10:27:50 - 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"}]} -2025-09-24 10:27:50 - INFO - 执行完成FPhoto -2025-09-24 10:27:52 - INFO - 移动到中位位置 -2025-09-24 10:27:52 - 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 -2025-09-24 10:27:52 - 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"}]} -2025-09-24 10:27:52 - INFO - 移动到中位位置 -2025-09-24 10:27:52 - 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 -2025-09-24 10:27:52 - 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"}]} -2025-09-24 10:27:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:27:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:27:57 - INFO - 机器人已到达抓料点位 -2025-09-24 10:27:57 - 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 -2025-09-24 10:27:57 - 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"}]} -2025-09-24 10:27:57 - INFO - 移动到中位位置 -2025-09-24 10:27:58 - 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 -2025-09-24 10:27:58 - 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"}]} -2025-09-24 10:27:58 - INFO - 移动到中位位置 -2025-09-24 10:27:58 - 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 -2025-09-24 10:27:58 - 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"}]} -2025-09-24 10:27:58 - INFO - 移动到中位位置 -2025-09-24 10:27:59 - 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 -2025-09-24 10:27:59 - 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"}]} -2025-09-24 10:28:03 - INFO - 移动到码垛中间点位置 -2025-09-24 10:28:03 - INFO - 移动到位置:姿势直线：X:1607.553-Y:729.308-Z:-1002.361-U:31.518-V:7.0-W:0.0 -2025-09-24 10:28:03 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"729.308","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:28:07 - INFO - 移动到扔袋位置 -2025-09-24 10:28:08 - INFO - 移动到扔袋位置 -2025-09-24 10:28:08 - INFO - 移动到扔袋位置 -2025-09-24 10:28:09 - INFO - 移动到扔袋位置 -2025-09-24 10:28:09 - INFO - 已码垛数量：7 -2025-09-24 10:28:10 - 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 -2025-09-24 10:28:10 - 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"}]} -2025-09-24 10:28:12 - INFO - 移动到码垛复位位置 -2025-09-24 10:28:13 - 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 -2025-09-24 10:28:13 - 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"}]} -2025-09-24 10:28:13 - INFO - 拍照 -2025-09-24 10:28:30 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:28:30 - 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 -2025-09-24 10:28:30 - 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"}]} -2025-09-24 10:28:31 - INFO - 执行完成FPhoto -2025-09-24 10:28:32 - INFO - 移动到中位位置 -2025-09-24 10:28:32 - 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 -2025-09-24 10:28:32 - 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"}]} -2025-09-24 10:28:32 - INFO - 移动到中位位置 -2025-09-24 10:28:33 - 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 -2025-09-24 10:28:33 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:28:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:28:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:28:38 - INFO - 机器人已到达抓料点位 -2025-09-24 10:28:38 - 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 -2025-09-24 10:28:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:28:38 - INFO - 移动到中位位置 -2025-09-24 10:28:38 - 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 -2025-09-24 10:28:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:28:38 - 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"}]} -2025-09-24 10:28:38 - INFO - 移动到中位位置 -2025-09-24 10:28:38 - 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 -2025-09-24 10:28:39 - INFO - 移动到中位位置 -2025-09-24 10:28:39 - 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 -2025-09-24 10:28:39 - 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"}]} -2025-09-24 10:28:43 - INFO - 移动到码垛中间点位置 -2025-09-24 10:28:43 - INFO - 移动到位置:姿势直线：X:1607.553-Y:179.308-Z:-1002.361-U:31.518-V:8.0-W:0.0 -2025-09-24 10:28:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"179.308","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:28:47 - INFO - 移动到扔袋位置 -2025-09-24 10:28:48 - INFO - 移动到扔袋位置 -2025-09-24 10:28:49 - INFO - 移动到扔袋位置 -2025-09-24 10:28:50 - INFO - 移动到扔袋位置 -2025-09-24 10:28:50 - INFO - 已码垛数量：8 -2025-09-24 10:28:50 - 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 -2025-09-24 10:28:50 - 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"}]} -2025-09-24 10:28:53 - INFO - 移动到码垛复位位置 -2025-09-24 10:28:53 - 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 -2025-09-24 10:28:53 - 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"}]} -2025-09-24 10:28:53 - INFO - 拍照 -2025-09-24 10:29:11 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:29:11 - 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 -2025-09-24 10:29:11 - 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"}]} -2025-09-24 10:29:11 - INFO - 执行完成FPhoto -2025-09-24 10:29:13 - INFO - 移动到中位位置 -2025-09-24 10:29:13 - 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 -2025-09-24 10:29:13 - 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"}]} -2025-09-24 10:29:13 - INFO - 移动到中位位置 -2025-09-24 10:29:13 - 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 -2025-09-24 10:29:13 - 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"}]} -2025-09-24 10:29:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:18 - INFO - 机器人已到达抓料点位 -2025-09-24 10:29:18 - 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 -2025-09-24 10:29:18 - 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"}]} -2025-09-24 10:29:18 - INFO - 移动到中位位置 -2025-09-24 10:29:18 - 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 -2025-09-24 10:29:18 - 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"}]} -2025-09-24 10:29:19 - INFO - 移动到中位位置 -2025-09-24 10:29:19 - 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 -2025-09-24 10:29:19 - 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"}]} -2025-09-24 10:29:19 - INFO - 移动到中位位置 -2025-09-24 10:29:19 - 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 -2025-09-24 10:29:20 - 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"}]} -2025-09-24 10:29:24 - INFO - 移动到码垛中间点位置 -2025-09-24 10:29:24 - INFO - 移动到位置:姿势直线：X:817.553-Y:-210.692-Z:-1002.361-U:-58.482-V:9.0-W:0.0 -2025-09-24 10:29:24 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"817.553","m1":"-210.692","m2":"-1002.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:29:27 - INFO - 移动到扔袋位置 -2025-09-24 10:29:28 - INFO - 移动到扔袋位置 -2025-09-24 10:29:29 - INFO - 移动到扔袋位置 -2025-09-24 10:29:30 - INFO - 移动到扔袋位置 -2025-09-24 10:29:30 - INFO - 已码垛数量：9 -2025-09-24 10:29:30 - 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 -2025-09-24 10:29:30 - 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"}]} -2025-09-24 10:29:33 - INFO - 移动到码垛复位位置 -2025-09-24 10:29:33 - 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 -2025-09-24 10:29:33 - 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"}]} -2025-09-24 10:29:33 - INFO - 拍照 -2025-09-24 10:29:50 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:29:50 - 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 -2025-09-24 10:29:50 - 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"}]} -2025-09-24 10:29:50 - INFO - 执行完成FPhoto -2025-09-24 10:29:52 - INFO - 移动到中位位置 -2025-09-24 10:29:52 - 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"}]} -2025-09-24 10:29:52 - 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 -2025-09-24 10:29:52 - INFO - 移动到中位位置 -2025-09-24 10:29:52 - 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 -2025-09-24 10:29:52 - 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"}]} -2025-09-24 10:29:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:29:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:29:57 - INFO - 机器人已到达抓料点位 -2025-09-24 10:29:57 - 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 -2025-09-24 10:29:57 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:30:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:30:36 - INFO - 机器人已到达抓料点位 -2025-09-24 10:30:36 - 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已码垛数量：11 -2025-09-24 10:30:47 - 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 -2025-09-24 10:30:48 - 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"}]} -2025-09-24 10:30:50 - INFO - 移动到码垛复位位置 -2025-09-24 10:30:50 - 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 -2025-09-24 10:30:50 - 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"}]} -2025-09-24 10:30:50 - INFO - 拍照 -2025-09-24 10:31:05 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:31:05 - 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 -2025-09-24 10:31:06 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:13 - INFO - 机器人已到达抓料点位 -2025-09-24 10:31:13 - 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 -2025-09-24 10:31:13 - 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"}]} -2025-09-24 10:31:13 - INFO - 移动到中位位置 -2025-09-24 10:31:13 - 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 -2025-09-24 10:31:13 - 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"}]} -2025-09-24 10:31:13 - INFO - 移动到中位位置 -2025-09-24 10:31:13 - 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 -2025-09-24 10:31:14 - 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"}]} -2025-09-24 10:31:14 - 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已码垛数量：12 -2025-09-24 10:31:24 - 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 -2025-09-24 10:31:24 - 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"}]} -2025-09-24 10:31:26 - INFO - 移动到码垛复位位置 -2025-09-24 10:31:26 - 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 -2025-09-24 10:31:26 - 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"}]} -2025-09-24 10:31:26 - INFO - 拍照 -2025-09-24 10:31:44 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:31:44 - 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 -2025-09-24 10:31:44 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:31:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:31:51 - INFO - 机器人已到达抓料点位 -2025-09-24 10:31:52 - 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INFO - 移动到中位位置 -2025-09-24 10:31:53 - 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 -2025-09-24 10:31:53 - 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"}]} -2025-09-24 10:31:57 - INFO - 移动到码垛中间点位置 -2025-09-24 10:31:57 - INFO - 移动到位置:姿势直线：X:1027.553-Y:179.308-Z:-802.361-U:-148.482-V:13.0-W:0.0 -2025-09-24 10:31:57 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"179.308","m2":"-802.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:32:00 - INFO - 移动到扔袋位置 -2025-09-24 10:32:01 - INFO - 移动到扔袋位置 -2025-09-24 10:32:01 - INFO - 移动到扔袋位置 -2025-09-24 10:32:02 - INFO - 移动到扔袋位置 -2025-09-24 10:32:02 - INFO - 已码垛数量：13 -2025-09-24 10:32:03 - 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 -2025-09-24 10:32:03 - 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"}]} -2025-09-24 10:32:05 - INFO - 移动到码垛复位位置 -2025-09-24 10:32:05 - 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 -2025-09-24 10:32:05 - 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"}]} -2025-09-24 10:32:05 - INFO - 拍照 -2025-09-24 10:32:21 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:32:21 - 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 -2025-09-24 10:32:21 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:32:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:32:29 - INFO - 机器人已到达抓料点位 -2025-09-24 10:32:29 - 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 -2025-09-24 10:32:29 - 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"}]} -2025-09-24 10:32:29 - INFO - 移动到中位位置 -2025-09-24 10:32:29 - 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 -2025-09-24 10:32:29 - 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"}]} -2025-09-24 10:32:29 - INFO - 移动到中位位置 -2025-09-24 10:32:29 - 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 -2025-09-24 10:32:29 - 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"}]} -2025-09-24 10:32:30 - INFO - 移动到中位位置 -2025-09-24 10:32:30 - 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 -2025-09-24 10:32:30 - 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"}]} -2025-09-24 10:32:34 - INFO - 移动到码垛中间点位置 -2025-09-24 10:32:34 - INFO - 移动到位置:姿势直线：X:1767.553-Y:-210.692-Z:-802.361-U:-58.482-V:14.0-W:0.0 -2025-09-24 10:32:34 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"-210.692","m2":"-802.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:32:37 - INFO - 移动到扔袋位置 -2025-09-24 10:32:38 - INFO - 移动到扔袋位置 -2025-09-24 10:32:39 - INFO - 移动到扔袋位置 -2025-09-24 10:32:40 - INFO - 移动到扔袋位置 -2025-09-24 10:32:40 - INFO - 已码垛数量：14 -2025-09-24 10:32:40 - 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 -2025-09-24 10:32:40 - 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"}]} -2025-09-24 10:32:42 - INFO - 移动到码垛复位位置 -2025-09-24 10:32:42 - 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 -2025-09-24 10:32:42 - 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"}]} -2025-09-24 10:32:42 - INFO - 拍照 -2025-09-24 10:33:03 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:33:03 - 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 -2025-09-24 10:33:03 - 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"}]} -2025-09-24 10:33:03 - INFO - 执行完成FPhoto -2025-09-24 10:33:05 - INFO - 移动到中位位置 -2025-09-24 10:33:05 - 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 -2025-09-24 10:33:05 - 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"}]} -2025-09-24 10:33:05 - INFO - 移动到中位位置 -2025-09-24 10:33:05 - 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 -2025-09-24 10:33:05 - 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"}]} -2025-09-24 10:33:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:11 - INFO - 机器人已到达抓料点位 -2025-09-24 10:33:11 - 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 -2025-09-24 10:33:11 - 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"}]} -2025-09-24 10:33:11 - INFO - 移动到中位位置 -2025-09-24 10:33:11 - 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 -2025-09-24 10:33:11 - 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"}]} -2025-09-24 10:33:11 - INFO - 移动到中位位置 -2025-09-24 10:33:12 - 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 -2025-09-24 10:33:12 - 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"}]} -2025-09-24 10:33:12 - INFO - 移动到中位位置 -2025-09-24 10:33:12 - 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 -2025-09-24 10:33:12 - 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"}]} -2025-09-24 10:33:16 - INFO - 移动到码垛中间点位置 -2025-09-24 10:33:16 - INFO - 移动到位置:姿势直线：X:1767.553-Y:519.308-Z:-802.361-U:-238.482-V:15.0-W:0.0 -2025-09-24 10:33:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"519.308","m2":"-802.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:33:19 - INFO - 移动到扔袋位置 -2025-09-24 10:33:21 - INFO - 移动到扔袋位置 -2025-09-24 10:33:21 - INFO - 移动到扔袋位置 -2025-09-24 10:33:22 - INFO - 移动到扔袋位置 -2025-09-24 10:33:22 - INFO - 已码垛数量：15 -2025-09-24 10:33:22 - 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 -2025-09-24 10:33:22 - INFO - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:33:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:33:48 - 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INFO - 移动到中位位置 -2025-09-24 10:33:49 - 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 -2025-09-24 10:33:49 - 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"}]} -2025-09-24 10:33:49 - INFO - 移动到中位位置 -2025-09-24 10:33:49 - 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 -2025-09-24 10:33:50 - 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"}]} -2025-09-24 10:33:53 - INFO - 移动到码垛中间点位置 -2025-09-24 10:33:54 - INFO - 移动到位置:姿势直线：X:1607.553-Y:-420.692-Z:-602.361-U:31.518-V:16.0-W:0.0 -2025-09-24 10:33:54 - INFO - 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INFO - 移动到码垛复位位置 -2025-09-24 10:34:01 - 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 -2025-09-24 10:34:01 - INFO - 拍照 -2025-09-24 10:34:23 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:34:23 - 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 -2025-09-24 10:34:23 - 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"}]} -2025-09-24 10:34:23 - INFO - 执行完成FPhoto -2025-09-24 10:34:25 - INFO - 移动到中位位置 -2025-09-24 10:34:25 - 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 -2025-09-24 10:34:25 - 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"}]} -2025-09-24 10:34:25 - 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INFO - 移动到码垛中间点位置 -2025-09-24 10:34:36 - INFO - 移动到位置:姿势直线：X:1607.553-Y:729.308-Z:-602.361-U:31.518-V:17.0-W:0.0 -2025-09-24 10:34:36 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"729.308","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:34:40 - INFO - 移动到扔袋位置 -2025-09-24 10:34:41 - INFO - 移动到扔袋位置 -2025-09-24 10:34:41 - INFO - 移动到扔袋位置 -2025-09-24 10:34:42 - INFO - 移动到扔袋位置 -2025-09-24 10:34:42 - INFO - 已码垛数量：17 -2025-09-24 10:34:43 - 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 -2025-09-24 10:34:43 - 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"}]} -2025-09-24 10:34:44 - INFO - 移动到码垛复位位置 -2025-09-24 10:34:44 - 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 -2025-09-24 10:34:44 - 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"}]} -2025-09-24 10:34:44 - INFO - 拍照 -2025-09-24 10:35:01 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:35:02 - 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 -2025-09-24 10:35:02 - 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"}]} -2025-09-24 10:35:02 - INFO - 执行完成FPhoto -2025-09-24 10:35:03 - INFO - 移动到中位位置 -2025-09-24 10:35:03 - 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 -2025-09-24 10:35:04 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:09 - INFO - 机器人已到达抓料点位 -2025-09-24 10:35:09 - 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 -2025-09-24 10:35:09 - 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"}]} -2025-09-24 10:35:09 - INFO - 移动到中位位置 -2025-09-24 10:35:10 - 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 -2025-09-24 10:35:10 - 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"}]} -2025-09-24 10:35:10 - 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"}]} -2025-09-24 10:35:10 - INFO - 移动到中位位置 -2025-09-24 10:35:10 - 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 -2025-09-24 10:35:10 - INFO - 移动到中位位置 -2025-09-24 10:35:10 - 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 -2025-09-24 10:35:10 - 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"}]} -2025-09-24 10:35:14 - INFO - 移动到码垛中间点位置 -2025-09-24 10:35:15 - INFO - 移动到位置:姿势直线：X:1607.553-Y:179.308-Z:-602.361-U:31.518-V:18.0-W:0.0 -2025-09-24 10:35:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"179.308","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:35:19 - INFO - 移动到扔袋位置 -2025-09-24 10:35:20 - INFO - 移动到扔袋位置 -2025-09-24 10:35:20 - INFO - 移动到扔袋位置 -2025-09-24 10:35:21 - INFO - 移动到扔袋位置 -2025-09-24 10:35:21 - 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"}]} -2025-09-24 10:35:21 - INFO - 已码垛数量：18 -2025-09-24 10:35:21 - 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 -2025-09-24 10:35:22 - INFO - 移动到码垛复位位置 -2025-09-24 10:35:22 - 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 -2025-09-24 10:35:22 - 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"}]} -2025-09-24 10:35:22 - INFO - 拍照 -2025-09-24 10:35:38 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:35:38 - 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 -2025-09-24 10:35:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:35:38 - INFO - 执行完成FPhoto -2025-09-24 10:35:40 - INFO - 移动到中位位置 -2025-09-24 10:35:40 - 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 -2025-09-24 10:35:40 - 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"}]} -2025-09-24 10:35:40 - INFO - 移动到中位位置 -2025-09-24 10:35:40 - 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 -2025-09-24 10:35:40 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:35:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:35:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:35:45 - INFO - 机器人已到达抓料点位 -2025-09-24 10:35:45 - 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 -2025-09-24 10:35:45 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:24 - INFO - 机器人已到达抓料点位 -2025-09-24 10:36:24 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:36:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:36:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:01 - INFO - 机器人已到达抓料点位 -2025-09-24 10:37:01 - 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 -2025-09-24 10:37:01 - 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"}]} -2025-09-24 10:37:01 - 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"}]} -2025-09-24 10:37:02 - INFO - 移动到中位位置 -2025-09-24 10:37:02 - 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 -2025-09-24 10:37:02 - INFO - 移动到中位位置 -2025-09-24 10:37:02 - 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 -2025-09-24 10:37:02 - 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"}]} -2025-09-24 10:37:02 - INFO - 移动到中位位置 -2025-09-24 10:37:02 - 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 -2025-09-24 10:37:03 - 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"}]} -2025-09-24 10:37:07 - INFO - 移动到码垛中间点位置 -2025-09-24 10:37:07 - INFO - 移动到位置:姿势直线：X:1027.553-Y:-420.692-Z:-402.361-U:-148.482-V:21.0-W:0.0 -2025-09-24 10:37:07 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"-420.692","m2":"-402.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:37:10 - INFO - 移动到扔袋位置 -2025-09-24 10:37:11 - INFO - 移动到扔袋位置 -2025-09-24 10:37:11 - INFO - 移动到扔袋位置 -2025-09-24 10:37:12 - INFO - 移动到扔袋位置 -2025-09-24 10:37:12 - INFO - 已码垛数量：21 -2025-09-24 10:37:13 - 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 -2025-09-24 10:37:13 - 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"}]} -2025-09-24 10:37:13 - INFO - 移动到码垛复位位置 -2025-09-24 10:37:13 - 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 -2025-09-24 10:37:13 - 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"}]} -2025-09-24 10:37:13 - INFO - 拍照 -2025-09-24 10:37:33 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:37:33 - 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 -2025-09-24 10:37:34 - 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"}]} -2025-09-24 10:37:34 - INFO - 执行完成FPhoto -2025-09-24 10:37:35 - INFO - 移动到中位位置 -2025-09-24 10:37:35 - 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 -2025-09-24 10:37:35 - 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"}]} -2025-09-24 10:37:35 - INFO - 移动到中位位置 -2025-09-24 10:37:36 - 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 -2025-09-24 10:37:36 - 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"}]} -2025-09-24 10:37:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:37:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:37:41 - INFO - 机器人已到达抓料点位 -2025-09-24 10:37:41 - 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 -2025-09-24 10:37:41 - 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"}]} -2025-09-24 10:37:41 - INFO - 移动到中位位置 -2025-09-24 10:37:41 - 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 -2025-09-24 10:37:41 - 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"}]} -2025-09-24 10:37:41 - INFO - 移动到中位位置 -2025-09-24 10:37:42 - 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 -2025-09-24 10:37:42 - 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INFO - 移动到扔袋位置 -2025-09-24 10:37:49 - INFO - 移动到扔袋位置 -2025-09-24 10:37:50 - INFO - 移动到扔袋位置 -2025-09-24 10:37:51 - INFO - 移动到扔袋位置 -2025-09-24 10:37:51 - INFO - 已码垛数量：22 -2025-09-24 10:37:51 - 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 -2025-09-24 10:37:51 - 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"}]} -2025-09-24 10:37:51 - INFO - 移动到码垛复位位置 -2025-09-24 10:37:51 - 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 -2025-09-24 10:37:51 - 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"}]} -2025-09-24 10:37:51 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:23 - INFO - 机器人已到达抓料点位 -2025-09-24 10:38:23 - 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 -2025-09-24 10:38:23 - 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"}]} -2025-09-24 10:38:23 - INFO - 移动到中位位置 -2025-09-24 10:38:23 - 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 -2025-09-24 10:38:23 - 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"}]} -2025-09-24 10:38:23 - INFO - 移动到中位位置 -2025-09-24 10:38:23 - 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 -2025-09-24 10:38:24 - 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"}]} -2025-09-24 10:38:24 - INFO - 移动到中位位置 -2025-09-24 10:38:24 - 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 -2025-09-24 10:38:24 - 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"}]} -2025-09-24 10:38:28 - INFO - 移动到码垛中间点位置 -2025-09-24 10:38:28 - INFO - 移动到位置:姿势直线：X:1027.553-Y:179.308-Z:-402.361-U:-148.482-V:23.0-W:0.0 -2025-09-24 10:38:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"179.308","m2":"-402.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:38:30 - INFO - 移动到扔袋位置 -2025-09-24 10:38:31 - INFO - 移动到扔袋位置 -2025-09-24 10:38:32 - INFO - 移动到扔袋位置 -2025-09-24 10:38:33 - INFO - 移动到扔袋位置 -2025-09-24 10:38:33 - INFO - 已码垛数量：23 -2025-09-24 10:38:33 - 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 -2025-09-24 10:38:33 - INFO - 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INFO - 执行完成FPhoto -2025-09-24 10:38:58 - INFO - 移动到中位位置 -2025-09-24 10:38:58 - 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 -2025-09-24 10:38:58 - 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"}]} -2025-09-24 10:38:58 - INFO - 移动到中位位置 -2025-09-24 10:38:58 - 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 -2025-09-24 10:38:58 - 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"}]} -2025-09-24 10:38:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:03 - INFO - 机器人已到达抓料点位 -2025-09-24 10:39:03 - 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 -2025-09-24 10:39:03 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:39:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:39:45 - INFO - 机器人已到达抓料点位 -2025-09-24 10:39:45 - 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INFO - 移动到中位位置 -2025-09-24 10:39:46 - 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 -2025-09-24 10:39:46 - 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"}]} -2025-09-24 10:39:50 - INFO - 移动到码垛中间点位置 -2025-09-24 10:39:51 - INFO - 移动到位置:姿势直线：X:1767.553-Y:519.308-Z:-402.361-U:-238.482-V:25.0-W:0.0 -2025-09-24 10:39:51 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"519.308","m2":"-402.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:39:53 - INFO - 移动到扔袋位置 -2025-09-24 10:39:55 - INFO - 移动到扔袋位置 -2025-09-24 10:39:55 - INFO - 移动到扔袋位置 -2025-09-24 10:39:56 - INFO - 移动到扔袋位置 -2025-09-24 10:39:56 - INFO - 已码垛数量：25 -2025-09-24 10:39:56 - 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 -2025-09-24 10:39:56 - 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"}]} -2025-09-24 10:39:56 - INFO - 移动到码垛复位位置 -2025-09-24 10:39:56 - 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 -2025-09-24 10:39:56 - 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"}]} -2025-09-24 10:39:57 - INFO - 拍照 -2025-09-24 10:40:15 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:40:15 - 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 -2025-09-24 10:40:15 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:22 - INFO - 机器人已到达抓料点位 -2025-09-24 10:40:22 - 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INFO - 移动到中位位置 -2025-09-24 10:40:58 - 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 -2025-09-24 10:40:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:40:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:40:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:02 - INFO - 机器人已到达抓料点位 -2025-09-24 10:41:03 - 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 -2025-09-24 10:41:03 - 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"}]} -2025-09-24 10:41:03 - INFO - 移动到中位位置 -2025-09-24 10:41:03 - 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 -2025-09-24 10:41:03 - 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"}]} -2025-09-24 10:41:03 - INFO - 移动到中位位置 -2025-09-24 10:41:03 - 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INFO - 拍照 -2025-09-24 10:41:35 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:41:35 - 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 -2025-09-24 10:41:35 - 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"}]} -2025-09-24 10:41:35 - INFO - 执行完成FPhoto -2025-09-24 10:41:36 - INFO - 移动到中位位置 -2025-09-24 10:41:37 - 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 -2025-09-24 10:41:37 - 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"}]} -2025-09-24 10:41:37 - INFO - 移动到中位位置 -2025-09-24 10:41:37 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:41:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:41:42 - INFO - 机器人已到达抓料点位 -2025-09-24 10:41:42 - 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 -2025-09-24 10:41:42 - 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"}]} -2025-09-24 10:41:42 - INFO - 移动到中位位置 -2025-09-24 10:41:42 - 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 -2025-09-24 10:41:43 - 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"}]} -2025-09-24 10:41:43 - 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INFO - 拍照 -2025-09-24 10:42:16 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:42:16 - 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 -2025-09-24 10:42:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:42:17 - INFO - 执行完成FPhoto -2025-09-24 10:42:18 - INFO - 移动到中位位置 -2025-09-24 10:42:18 - 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 -2025-09-24 10:42:18 - 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"}]} -2025-09-24 10:42:19 - INFO - 移动到中位位置 -2025-09-24 10:42:19 - 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 -2025-09-24 10:42:19 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:42:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:42:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:42:24 - INFO - 机器人已到达抓料点位 -2025-09-24 10:42:24 - 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 -2025-09-24 10:42:24 - 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"}]} -2025-09-24 10:42:24 - INFO - 移动到中位位置 -2025-09-24 10:42:24 - 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 -2025-09-24 10:42:24 - 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"}]} -2025-09-24 10:42:24 - 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INFO - 拍照 -2025-09-24 10:53:34 - INFO - 识别图像成功 -2025-09-24 10:53:34 - 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 -2025-09-24 10:53:34 - 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"}]} -2025-09-24 10:53:35 - INFO - 拍照 -2025-09-24 10:55:19 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:55:20 - 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"}]} -2025-09-24 10:55:20 - 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 -2025-09-24 10:55:20 - INFO - 执行完成FPhoto -2025-09-24 10:55:21 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:55:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:55:27 - INFO - 机器人已到达抓料点位 -2025-09-24 10:55:27 - 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 -2025-09-24 10:55:27 - 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INFO - 移动到中位位置 -2025-09-24 10:55:28 - 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 -2025-09-24 10:55:28 - 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"}]} -2025-09-24 10:55:32 - INFO - 移动到码垛中间点位置 -2025-09-24 10:55:32 - INFO - 移动到位置:姿势直线：X:1027.553-Y:-470.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-24 10:55:32 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"-470.692","m2":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:55:36 - INFO - 移动到扔袋位置 -2025-09-24 10:55:37 - INFO - 移动到扔袋位置 -2025-09-24 10:55:37 - INFO - 移动到扔袋位置 -2025-09-24 10:55:38 - INFO - 移动到扔袋位置 -2025-09-24 10:55:39 - INFO - 已码垛数量：1 -2025-09-24 10:55:39 - 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 -2025-09-24 10:55:39 - 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"}]} -2025-09-24 10:55:43 - INFO - 移动到码垛复位位置 -2025-09-24 10:55:43 - 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 -2025-09-24 10:55:43 - 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"}]} -2025-09-24 10:55:43 - INFO - 拍照 -2025-09-24 10:56:32 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:56:32 - 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"}]} -2025-09-24 10:56:32 - 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 -2025-09-24 10:56:32 - INFO - 执行完成FPhoto -2025-09-24 10:56:34 - INFO - 移动到中位位置 -2025-09-24 10:56:34 - 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 -2025-09-24 10:56:34 - 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"}]} -2025-09-24 10:56:34 - INFO - 移动到中位位置 -2025-09-24 10:56:34 - 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 -2025-09-24 10:56:34 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:56:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:56:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:56:39 - INFO - 机器人已到达抓料点位 -2025-09-24 10:56:39 - 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INFO - 移动到中位位置 -2025-09-24 10:56:40 - 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 -2025-09-24 10:56:40 - INFO - 移动到中位位置 -2025-09-24 10:56:41 - 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 -2025-09-24 10:56:41 - 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"}]} -2025-09-24 10:56:45 - INFO - 移动到码垛中间点位置 -2025-09-24 10:56:45 - INFO - 移动到位置:姿势直线：X:1027.553-Y:729.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-24 10:56:45 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"729.308","m2":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:56:48 - INFO - 移动到扔袋位置 -2025-09-24 10:56:49 - INFO - 移动到扔袋位置 -2025-09-24 10:56:50 - INFO - 移动到扔袋位置 -2025-09-24 10:56:51 - INFO - 移动到扔袋位置 -2025-09-24 10:56:51 - INFO - 已码垛数量：2 -2025-09-24 10:56:51 - 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 -2025-09-24 10:56:51 - 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"}]} -2025-09-24 10:56:55 - INFO - 移动到码垛复位位置 -2025-09-24 10:56:55 - 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 -2025-09-24 10:56:55 - 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"}]} -2025-09-24 10:56:55 - INFO - 拍照 -2025-09-24 10:58:23 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:58:23 - 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 -2025-09-24 10:58:23 - 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"}]} -2025-09-24 10:58:23 - INFO - 执行完成FPhoto -2025-09-24 10:58:25 - INFO - 移动到中位位置 -2025-09-24 10:58:25 - 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 -2025-09-24 10:58:25 - 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"}]} -2025-09-24 10:58:25 - INFO - 移动到中位位置 -2025-09-24 10:58:25 - 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 -2025-09-24 10:58:25 - 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"}]} -2025-09-24 10:58:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:58:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:58:30 - INFO - 机器人已到达抓料点位 -2025-09-24 10:58:30 - 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 -2025-09-24 10:58:30 - 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"}]} -2025-09-24 10:58:30 - INFO - 移动到中位位置 -2025-09-24 10:58:30 - 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 -2025-09-24 10:58:30 - 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"}]} -2025-09-24 10:58:31 - INFO - 移动到中位位置 -2025-09-24 10:58:31 - 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 -2025-09-24 10:58:31 - 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"}]} -2025-09-24 10:58:31 - INFO - 移动到中位位置 -2025-09-24 10:58:31 - 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 -2025-09-24 10:58:31 - 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"}]} -2025-09-24 10:58:36 - INFO - 移动到码垛中间点位置 -2025-09-24 10:58:36 - INFO - 移动到位置:姿势直线：X:1027.553-Y:129.308-Z:-1202.361-U:-148.482-V:3.0-W:0.0 -2025-09-24 10:58:36 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"129.308","m2":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:58:39 - INFO - 移动到扔袋位置 -2025-09-24 10:58:40 - INFO - 移动到扔袋位置 -2025-09-24 10:58:41 - INFO - 移动到扔袋位置 -2025-09-24 10:58:42 - INFO - 移动到扔袋位置 -2025-09-24 10:58:42 - INFO - 已码垛数量：3 -2025-09-24 10:58:42 - 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 -2025-09-24 10:58:42 - 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"}]} -2025-09-24 10:58:46 - INFO - 移动到码垛复位位置 -2025-09-24 10:58:46 - 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 -2025-09-24 10:58:46 - 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"}]} -2025-09-24 10:58:46 - INFO - 拍照 -2025-09-24 11:00:20 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:00:21 - 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"}]} -2025-09-24 11:00:21 - 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 -2025-09-24 11:00:21 - INFO - 执行完成FPhoto -2025-09-24 11:00:22 - INFO - 移动到中位位置 -2025-09-24 11:00:23 - 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 -2025-09-24 11:00:23 - 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"}]} -2025-09-24 11:00:23 - INFO - 移动到中位位置 -2025-09-24 11:00:23 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:00:23 - 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 -2025-09-24 11:00:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:00:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:00:28 - INFO - 机器人已到达抓料点位 -2025-09-24 11:00:28 - 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"}]} -2025-09-24 11:00:28 - 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 -2025-09-24 11:00:28 - INFO - 移动到中位位置 -2025-09-24 11:00:29 - INFO - 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INFO - 移动到码垛中间点位置 -2025-09-24 11:00:34 - INFO - 移动到位置:姿势直线：X:1767.553-Y:-210.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-24 11:00:34 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"-210.692","m2":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:00:38 - INFO - 移动到扔袋位置 -2025-09-24 11:00:39 - INFO - 移动到扔袋位置 -2025-09-24 11:00:39 - INFO - 移动到扔袋位置 -2025-09-24 11:00:40 - INFO - 移动到扔袋位置 -2025-09-24 11:00:40 - INFO - 已码垛数量：4 -2025-09-24 11:00:40 - 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 -2025-09-24 11:00:41 - 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"}]} -2025-09-24 11:00:44 - INFO - 移动到码垛复位位置 -2025-09-24 11:00:45 - 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 -2025-09-24 11:00:45 - 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"}]} -2025-09-24 11:00:45 - INFO - 拍照 -2025-09-24 11:01:54 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:01:54 - 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 -2025-09-24 11:01:54 - 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"}]} -2025-09-24 11:01:54 - INFO - 执行完成FPhoto -2025-09-24 11:01:56 - INFO - 移动到中位位置 -2025-09-24 11:01:56 - 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 -2025-09-24 11:01:56 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:01:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:01:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:01:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:01:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:01:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:01:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:01:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:01:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:01:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:01:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:01:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:02:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:02:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:02:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:02:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:02:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:02:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:02:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:02:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:02:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:02:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:02:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:02:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:02:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:02:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:02:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:02:01 - INFO - 机器人已到达抓料点位 -2025-09-24 11:02:01 - 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 -2025-09-24 11:02:01 - 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"}]} -2025-09-24 11:02:01 - INFO - 移动到中位位置 -2025-09-24 11:02:02 - 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 -2025-09-24 11:02:02 - 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"}]} -2025-09-24 11:02:02 - INFO - 移动到中位位置 -2025-09-24 11:02:02 - 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 -2025-09-24 11:02:02 - 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"}]} -2025-09-24 11:02:03 - INFO - 移动到中位位置 -2025-09-24 11:02:03 - 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 -2025-09-24 11:02:03 - 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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 -2025-09-24 11:02:58 - INFO - 执行完成FPhoto -2025-09-24 11:03:00 - INFO - 移动到中位位置 -2025-09-24 11:03:00 - 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 -2025-09-24 11:03:00 - 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"}]} -2025-09-24 11:03:00 - INFO - 移动到中位位置 -2025-09-24 11:03:00 - 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 -2025-09-24 11:03:00 - 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"}]} -2025-09-24 11:03:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:03:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:03:05 - INFO - 机器人已到达抓料点位 -2025-09-24 11:03:05 - 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 -2025-09-24 11:03:05 - 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"}]} -2025-09-24 11:03:05 - INFO - 移动到中位位置 -2025-09-24 11:03:06 - 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 -2025-09-24 11:03:06 - 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"}]} -2025-09-24 11:03:06 - INFO - 移动到中位位置 -2025-09-24 11:03:06 - 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 -2025-09-24 11:03:06 - 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"}]} -2025-09-24 11:03:07 - INFO - 移动到中位位置 -2025-09-24 11:03:07 - 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 -2025-09-24 11:03:07 - 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"}]} -2025-09-24 11:03:11 - INFO - 移动到码垛中间点位置 -2025-09-24 11:03:11 - INFO - 移动到位置:姿势直线：X:1607.553-Y:-470.692-Z:-1002.361-U:31.518-V:6.0-W:0.0 -2025-09-24 11:03:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"-470.692","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:03:15 - INFO - 移动到扔袋位置 -2025-09-24 11:03:16 - INFO - 移动到扔袋位置 -2025-09-24 11:03:16 - INFO - 移动到扔袋位置 -2025-09-24 11:03:17 - INFO - 移动到扔袋位置 -2025-09-24 11:03:17 - INFO - 已码垛数量：6 -2025-09-24 11:03:18 - 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 -2025-09-24 11:03:18 - 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"}]} -2025-09-24 11:03:20 - INFO - 移动到码垛复位位置 -2025-09-24 11:03:21 - 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 -2025-09-24 11:03:21 - 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"}]} -2025-09-24 11:03:21 - INFO - 拍照 -2025-09-24 11:04:48 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:04:48 - 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"}]} -2025-09-24 11:04:48 - 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 -2025-09-24 11:04:48 - INFO - 执行完成FPhoto -2025-09-24 11:04:50 - INFO - 移动到中位位置 -2025-09-24 11:04:50 - 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 -2025-09-24 11:04:50 - 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"}]} -2025-09-24 11:04:50 - INFO - 移动到中位位置 -2025-09-24 11:04:50 - 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 -2025-09-24 11:04:50 - 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"}]} -2025-09-24 11:04:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:04:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:04:55 - INFO - 机器人已到达抓料点位 -2025-09-24 11:04:56 - 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 -2025-09-24 11:04:56 - 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"}]} -2025-09-24 11:04:56 - INFO - 移动到中位位置 -2025-09-24 11:04:56 - 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 -2025-09-24 11:04:56 - 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"}]} -2025-09-24 11:04:56 - 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"}]} -2025-09-24 11:04:56 - INFO - 移动到中位位置 -2025-09-24 11:04:56 - 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 -2025-09-24 11:04:57 - INFO - 移动到中位位置 -2025-09-24 11:04:57 - 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 -2025-09-24 11:04:57 - 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"}]} -2025-09-24 11:05:01 - INFO - 移动到码垛中间点位置 -2025-09-24 11:05:01 - INFO - 移动到位置:姿势直线：X:1607.553-Y:729.308-Z:-1002.361-U:31.518-V:7.0-W:0.0 -2025-09-24 11:05:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"729.308","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:05:05 - INFO - 移动到扔袋位置 -2025-09-24 11:05:06 - INFO - 移动到扔袋位置 -2025-09-24 11:05:06 - INFO - 移动到扔袋位置 -2025-09-24 11:05:08 - INFO - 移动到扔袋位置 -2025-09-24 11:05:08 - INFO - 已码垛数量：7 -2025-09-24 11:05:08 - 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 -2025-09-24 11:05:08 - 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"}]} -2025-09-24 11:05:11 - INFO - 移动到码垛复位位置 -2025-09-24 11:05:11 - 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 -2025-09-24 11:05:11 - 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"}]} -2025-09-24 11:05:11 - INFO - 拍照 -2025-09-24 11:06:28 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:06:28 - 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"}]} -2025-09-24 11:06:29 - 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 -2025-09-24 11:06:29 - INFO - 执行完成FPhoto -2025-09-24 11:06:30 - INFO - 移动到中位位置 -2025-09-24 11:06:30 - 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 -2025-09-24 11:06:30 - 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"}]} -2025-09-24 11:06:31 - INFO - 移动到中位位置 -2025-09-24 11:06:31 - 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 -2025-09-24 11:06:31 - 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"}]} -2025-09-24 11:06:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:06:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:06:36 - INFO - 机器人已到达抓料点位 -2025-09-24 11:06:37 - 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 -2025-09-24 11:06:37 - 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"}]} -2025-09-24 11:06:37 - INFO - 移动到中位位置 -2025-09-24 11:06:37 - 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 -2025-09-24 11:06:37 - 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"}]} -2025-09-24 11:06:37 - INFO - 移动到中位位置 -2025-09-24 11:06:37 - 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 -2025-09-24 11:06:37 - 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"}]} -2025-09-24 11:06:37 - INFO - 移动到中位位置 -2025-09-24 11:06:38 - 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 -2025-09-24 11:06:38 - 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"}]} -2025-09-24 11:06:42 - INFO - 移动到码垛中间点位置 -2025-09-24 11:06:42 - INFO - 移动到位置:姿势直线：X:1607.553-Y:129.308-Z:-1002.361-U:31.518-V:8.0-W:0.0 -2025-09-24 11:06:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"129.308","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:06:46 - INFO - 移动到扔袋位置 -2025-09-24 11:06:47 - INFO - 移动到扔袋位置 -2025-09-24 11:06:47 - INFO - 移动到扔袋位置 -2025-09-24 11:06:48 - INFO - 移动到扔袋位置 -2025-09-24 11:06:48 - INFO - 已码垛数量：8 -2025-09-24 11:06:48 - 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"}]} -2025-09-24 11:06:49 - 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 -2025-09-24 11:06:51 - INFO - 移动到码垛复位位置 -2025-09-24 11:06:51 - 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 -2025-09-24 11:06:52 - 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"}]} -2025-09-24 11:06:52 - INFO - 拍照 -2025-09-24 11:07:25 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:07:25 - 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"}]} -2025-09-24 11:07:26 - 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 -2025-09-24 11:07:26 - INFO - 执行完成FPhoto -2025-09-24 11:07:27 - INFO - 移动到中位位置 -2025-09-24 11:07:28 - 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 -2025-09-24 11:07:28 - 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"}]} -2025-09-24 11:07:28 - INFO - 移动到中位位置 -2025-09-24 11:07:28 - 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 -2025-09-24 11:07:28 - 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"}]} -2025-09-24 11:07:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:07:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:07:33 - INFO - 机器人已到达抓料点位 -2025-09-24 11:07:33 - 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INFO - 移动到中位位置 -2025-09-24 11:07:34 - 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 -2025-09-24 11:07:34 - 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"}]} -2025-09-24 11:07:38 - INFO - 移动到码垛中间点位置 -2025-09-24 11:07:39 - INFO - 移动到位置:姿势直线：X:817.553-Y:-210.692-Z:-1002.361-U:-58.482-V:9.0-W:0.0 -2025-09-24 11:07:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"817.553","m1":"-210.692","m2":"-1002.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:07:42 - INFO - 移动到扔袋位置 -2025-09-24 11:07:43 - INFO - 移动到扔袋位置 -2025-09-24 11:07:43 - INFO - 移动到扔袋位置 -2025-09-24 11:07:45 - INFO - 移动到扔袋位置 -2025-09-24 11:07:45 - 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"}]} -2025-09-24 11:07:45 - INFO - 已码垛数量：9 -2025-09-24 11:07:45 - 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 -2025-09-24 11:07:48 - INFO - 移动到码垛复位位置 -2025-09-24 11:07:48 - 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"}]} -2025-09-24 11:07:48 - 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 -2025-09-24 11:07:48 - INFO - 拍照 -2025-09-24 11:08:21 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:08:21 - 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"}]} -2025-09-24 11:08:21 - 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 -2025-09-24 11:08:21 - INFO - 执行完成FPhoto -2025-09-24 11:08:23 - INFO - 移动到中位位置 -2025-09-24 11:08:23 - 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 -2025-09-24 11:08:23 - 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"}]} -2025-09-24 11:08:23 - INFO - 移动到中位位置 -2025-09-24 11:08:23 - 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 -2025-09-24 11:08:23 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:08:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:08:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:08:28 - INFO - 机器人已到达抓料点位 -2025-09-24 11:08:28 - 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INFO - 移动到中位位置 -2025-09-24 11:08:30 - 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 -2025-09-24 11:08:30 - 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"}]} -2025-09-24 11:08:34 - INFO - 移动到码垛中间点位置 -2025-09-24 11:08:34 - INFO - 移动到位置:姿势直线：X:817.553-Y:519.308-Z:-1002.361-U:-238.482-V:10.0-W:0.0 -2025-09-24 11:08:34 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"817.553","m1":"519.308","m2":"-1002.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:08:37 - INFO - 移动到扔袋位置 -2025-09-24 11:08:38 - INFO - 移动到扔袋位置 -2025-09-24 11:08:38 - INFO - 移动到扔袋位置 -2025-09-24 11:08:39 - INFO - 移动到扔袋位置 -2025-09-24 11:08:39 - INFO - 已码垛数量：10 -2025-09-24 11:08:40 - 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 -2025-09-24 11:08:40 - 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"}]} -2025-09-24 11:08:42 - INFO - 移动到码垛复位位置 -2025-09-24 11:08:42 - 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 -2025-09-24 11:08:43 - 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"}]} -2025-09-24 11:08:43 - INFO - 拍照 -2025-09-24 11:09:13 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:09:13 - 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"}]} -2025-09-24 11:09:14 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:09:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:09:20 - INFO - 机器人已到达抓料点位 -2025-09-24 11:09:21 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:10:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:10:21 - INFO - 机器人已到达抓料点位 -2025-09-24 11:10:21 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:19 - INFO - 机器人已到达抓料点位 -2025-09-24 11:11:19 - 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 -2025-09-24 11:11:19 - 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"}]} -2025-09-24 11:11:19 - INFO - 移动到中位位置 -2025-09-24 11:11:19 - 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 -2025-09-24 11:11:20 - 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"}]} -2025-09-24 11:11:20 - INFO - 移动到中位位置 -2025-09-24 11:11:20 - 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 -2025-09-24 11:11:20 - 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"}]} -2025-09-24 11:11:20 - INFO - 移动到中位位置 -2025-09-24 11:11:20 - 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 -2025-09-24 11:11:20 - 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"}]} -2025-09-24 11:11:24 - INFO - 移动到码垛中间点位置 -2025-09-24 11:11:24 - INFO - 移动到位置:姿势直线：X:1027.553-Y:129.308-Z:-802.361-U:-148.482-V:13.0-W:0.0 -2025-09-24 11:11:24 - 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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"}]} -2025-09-24 11:11:33 - INFO - 拍照 -2025-09-24 11:11:50 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:11:50 - 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"}]} -2025-09-24 11:11:50 - 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 -2025-09-24 11:11:50 - INFO - 执行完成FPhoto -2025-09-24 11:11:52 - INFO - 移动到中位位置 -2025-09-24 11:11:52 - 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 -2025-09-24 11:11:52 - 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"}]} -2025-09-24 11:11:52 - INFO - 移动到中位位置 -2025-09-24 11:11:52 - 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 -2025-09-24 11:11:53 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:11:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:11:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:11:56 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:12:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:12:37 - INFO - 机器人已到达抓料点位 -2025-09-24 11:12:37 - 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 -2025-09-24 11:12:37 - 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"}]} -2025-09-24 11:12:37 - INFO - 移动到中位位置 -2025-09-24 11:12:37 - 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 -2025-09-24 11:12:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:12:38 - INFO - 移动到中位位置 -2025-09-24 11:12:38 - 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 -2025-09-24 11:12:38 - 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"}]} -2025-09-24 11:12:38 - INFO - 移动到中位位置 -2025-09-24 11:12:38 - 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 -2025-09-24 11:12:39 - 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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 -2025-09-24 11:13:06 - INFO - 执行完成FPhoto -2025-09-24 11:13:07 - INFO - 移动到中位位置 -2025-09-24 11:13:07 - 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 -2025-09-24 11:13:08 - 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"}]} -2025-09-24 11:13:08 - INFO - 移动到中位位置 -2025-09-24 11:13:08 - 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 -2025-09-24 11:13:08 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:13:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:13 - INFO - 机器人已到达抓料点位 -2025-09-24 11:13:13 - 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INFO - 移动到中位位置 -2025-09-24 11:13:14 - 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 -2025-09-24 11:13:14 - INFO - 移动到中位位置 -2025-09-24 11:13:14 - 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 -2025-09-24 11:13:14 - 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"}]} -2025-09-24 11:13:18 - INFO - 移动到码垛中间点位置 -2025-09-24 11:13:18 - INFO - 移动到位置:姿势直线：X:1607.553-Y:-470.692-Z:-602.361-U:31.518-V:16.0-W:0.0 -2025-09-24 11:13:18 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"-470.692","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:13:23 - INFO - 移动到扔袋位置 -2025-09-24 11:13:24 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:13:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:13:51 - INFO - 机器人已到达抓料点位 -2025-09-24 11:13:51 - 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 -2025-09-24 11:13:51 - 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"}]} -2025-09-24 11:13:51 - 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"}]} -2025-09-24 11:13:51 - INFO - 移动到中位位置 -2025-09-24 11:13:51 - 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 -2025-09-24 11:13:51 - INFO - 移动到中位位置 -2025-09-24 11:13:51 - 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 -2025-09-24 11:13:52 - 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"}]} -2025-09-24 11:13:52 - INFO - 移动到中位位置 -2025-09-24 11:13:52 - 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 -2025-09-24 11:13:52 - 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"}]} -2025-09-24 11:13:56 - INFO - 移动到码垛中间点位置 -2025-09-24 11:13:56 - INFO - 移动到位置:姿势直线：X:1607.553-Y:729.308-Z:-602.361-U:31.518-V:17.0-W:0.0 -2025-09-24 11:13:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"729.308","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:14:00 - INFO - 移动到扔袋位置 -2025-09-24 11:14:02 - INFO - 移动到扔袋位置 -2025-09-24 11:14:02 - INFO - 移动到扔袋位置 -2025-09-24 11:14:03 - INFO - 移动到扔袋位置 -2025-09-24 11:14:03 - INFO - 已码垛数量：17 -2025-09-24 11:14:03 - 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 -2025-09-24 11:14:03 - 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"}]} -2025-09-24 11:14:04 - INFO - 移动到码垛复位位置 -2025-09-24 11:14:04 - 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 -2025-09-24 11:14:04 - 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"}]} -2025-09-24 11:14:05 - INFO - 拍照 -2025-09-24 11:14:10 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:14:10 - 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 -2025-09-24 11:14:10 - 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"}]} -2025-09-24 11:14:10 - INFO - 执行完成FPhoto -2025-09-24 11:14:12 - INFO - 移动到中位位置 -2025-09-24 11:14:12 - 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 -2025-09-24 11:14:12 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:14:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:14:17 - INFO - 机器人已到达抓料点位 -2025-09-24 11:14:17 - 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 -2025-09-24 11:14:17 - 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"}]} -2025-09-24 11:14:17 - INFO - 移动到中位位置 -2025-09-24 11:14:18 - 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 -2025-09-24 11:14:18 - 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"}]} -2025-09-24 11:14:18 - INFO - 移动到中位位置 -2025-09-24 11:14:18 - 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 -2025-09-24 11:14:18 - 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"}]} -2025-09-24 11:14:19 - INFO - 移动到中位位置 -2025-09-24 11:14:19 - 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 -2025-09-24 11:14:19 - 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"}]} -2025-09-24 11:14:23 - INFO - 移动到码垛中间点位置 -2025-09-24 11:14:23 - INFO - 移动到位置:姿势直线：X:1607.553-Y:129.308-Z:-602.361-U:31.518-V:18.0-W:0.0 -2025-09-24 11:14:23 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"129.308","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:14:27 - INFO - 移动到扔袋位置 -2025-09-24 11:14:28 - INFO - 移动到扔袋位置 -2025-09-24 11:14:28 - INFO - 移动到扔袋位置 -2025-09-24 11:14:29 - INFO - 移动到扔袋位置 -2025-09-24 11:14:29 - INFO - 已码垛数量：18 -2025-09-24 11:14:30 - 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 -2025-09-24 11:14:30 - 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"}]} -2025-09-24 11:14:30 - INFO - 移动到码垛复位位置 -2025-09-24 11:14:30 - 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 -2025-09-24 11:14:31 - 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"}]} -2025-09-24 11:14:31 - INFO - 拍照 -2025-09-24 11:14:35 - INFO - 投料暂停 -2025-09-24 11:14:35 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 11:14:38 - INFO - 清除报警 -2025-09-24 11:14:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 11:14:38 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 11:14:38 - INFO - 按下急停 -2025-09-24 11:14:55 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 11:14:55 - INFO - 切换到工具坐标 -2025-09-24 11:14:55 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 11:14:55 - INFO - 切换到自动运行状态 -2025-09-24 11:15:25 - INFO - 第一层确认生产 -2025-09-24 11:15:27 - INFO - 1号线:投料开始 -2025-09-24 11:15:27 - 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"}]} -2025-09-24 11:15:28 - INFO - 发送IO控制: 2，1 -2025-09-24 11:15:32 - 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"}]} -2025-09-24 11:15:33 - INFO - 发送IO控制: 2，0 -2025-09-24 11:15:33 - 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"}]} -2025-09-24 11:15:33 - INFO - 投料开始 -2025-09-24 11:15:33 - 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 -2025-09-24 11:15:33 - INFO - 投料开始 -2025-09-24 11:15:33 - 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 -2025-09-24 11:15:33 - 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"}]} -2025-09-24 11:15:33 - INFO - 移动到中位位置 -2025-09-24 11:15:33 - 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 -2025-09-24 11:15:33 - 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"}]} -2025-09-24 11:15:34 - 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"}]} -2025-09-24 11:15:34 - INFO - 检测是否安全投料 -2025-09-24 11:15:34 - 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 -2025-09-24 11:15:34 - INFO - 检测是否安全投料 -2025-09-24 11:15:34 - 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 -2025-09-24 11:15:34 - 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"}]} -2025-09-24 11:15:34 - INFO - 拍照 -2025-09-24 11:15:34 - INFO - 识别图像成功 -2025-09-24 11:15:34 - 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 -2025-09-24 11:15:35 - 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"}]} -2025-09-24 11:15:35 - INFO - 拍照 -2025-09-24 11:15:47 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:15:47 - 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"}]} -2025-09-24 11:15:47 - 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 -2025-09-24 11:15:47 - INFO - 执行完成FPhoto -2025-09-24 11:15:49 - INFO - 移动到中位位置 -2025-09-24 11:15:49 - 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 -2025-09-24 11:15:49 - 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"}]} -2025-09-24 11:15:49 - INFO - 移动到中位位置 -2025-09-24 11:15:49 - 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 -2025-09-24 11:15:49 - 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"}]} -2025-09-24 11:15:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:15:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:15:54 - INFO - 机器人已到达抓料点位 -2025-09-24 11:15:54 - 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 -2025-09-24 11:15:54 - 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"}]} -2025-09-24 11:15:54 - INFO - 移动到中位位置 -2025-09-24 11:15:55 - INFO - 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INFO - 移动到码垛中间点位置 -2025-09-24 11:16:00 - INFO - 移动到位置:姿势直线：X:1607.553-Y:129.308-Z:-602.361-U:31.518-V:18.0-W:0.0 -2025-09-24 11:16:00 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"129.308","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:16:04 - INFO - 移动到扔袋位置 -2025-09-24 11:16:05 - INFO - 移动到扔袋位置 -2025-09-24 11:16:05 - INFO - 移动到扔袋位置 -2025-09-24 11:16:06 - INFO - 移动到扔袋位置 -2025-09-24 11:16:06 - INFO - 已码垛数量：18 -2025-09-24 11:16:06 - 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 -2025-09-24 11:16:06 - 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"}]} -2025-09-24 11:16:07 - INFO - 移动到码垛复位位置 -2025-09-24 11:16:07 - 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 -2025-09-24 11:16:07 - 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"}]} -2025-09-24 11:16:07 - INFO - 拍照 -2025-09-24 11:16:31 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:16:31 - 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 -2025-09-24 11:16:31 - 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"}]} -2025-09-24 11:16:31 - INFO - 执行完成FPhoto -2025-09-24 11:16:33 - INFO - 移动到中位位置 -2025-09-24 11:16:33 - 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 -2025-09-24 11:16:33 - 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"}]} -2025-09-24 11:16:33 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:16:33 - INFO - 移动到中位位置 -2025-09-24 11:16:33 - 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 -2025-09-24 11:16:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:16:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:16:38 - INFO - 机器人已到达抓料点位 -2025-09-24 11:16:38 - 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 -2025-09-24 11:16:39 - 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"}]} -2025-09-24 11:16:39 - INFO - 移动到中位位置 -2025-09-24 11:16:39 - 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 -2025-09-24 11:16:39 - 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"}]} -2025-09-24 11:16:39 - INFO - 移动到中位位置 -2025-09-24 11:16:39 - 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 -2025-09-24 11:16:39 - 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"}]} -2025-09-24 11:16:40 - INFO - 移动到中位位置 -2025-09-24 11:16:40 - 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 -2025-09-24 11:16:40 - 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"}]} -2025-09-24 11:16:44 - INFO - 移动到码垛中间点位置 -2025-09-24 11:16:44 - INFO - 移动到位置:姿势直线：X:817.553-Y:-210.692-Z:-602.361-U:-58.482-V:19.0-W:0.0 -2025-09-24 11:16:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"817.553","m1":"-210.692","m2":"-602.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:16:47 - INFO - 移动到扔袋位置 -2025-09-24 11:16:48 - INFO - 移动到扔袋位置 -2025-09-24 11:16:48 - INFO - 移动到扔袋位置 -2025-09-24 11:16:50 - INFO - 移动到扔袋位置 -2025-09-24 11:16:50 - INFO - 已码垛数量：19 -2025-09-24 11:16:50 - 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 -2025-09-24 11:16:50 - 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"}]} -2025-09-24 11:16:51 - INFO - 移动到码垛复位位置 -2025-09-24 11:16:51 - 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 -2025-09-24 11:16:51 - 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"}]} -2025-09-24 11:16:51 - INFO - 拍照 -2025-09-24 11:18:23 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:18:24 - 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"}]} -2025-09-24 11:18:24 - 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 -2025-09-24 11:18:24 - INFO - 执行完成FPhoto -2025-09-24 11:18:25 - 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"}]} -2025-09-24 11:18:26 - INFO - 移动到中位位置 -2025-09-24 11:18:26 - 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 -2025-09-24 11:18:26 - INFO - 移动到中位位置 -2025-09-24 11:18:26 - 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 -2025-09-24 11:18:26 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:18:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:18:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:18:31 - INFO - 机器人已到达抓料点位 -2025-09-24 11:18:31 - 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已码垛数量：20 -2025-09-24 11:18:42 - 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 -2025-09-24 11:18:42 - 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"}]} -2025-09-24 11:18:44 - INFO - 移动到码垛复位位置 -2025-09-24 11:18:44 - 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 -2025-09-24 11:18:44 - 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"}]} -2025-09-24 11:18:44 - INFO - 拍照 -2025-09-24 11:19:04 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:19:04 - 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"}]} -2025-09-24 11:19:05 - 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 -2025-09-24 11:19:05 - INFO - 执行完成FPhoto -2025-09-24 11:19:06 - INFO - 移动到中位位置 -2025-09-24 11:19:06 - 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 -2025-09-24 11:19:06 - 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"}]} -2025-09-24 11:19:07 - INFO - 移动到中位位置 -2025-09-24 11:19:07 - 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 -2025-09-24 11:19:07 - 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"}]} -2025-09-24 11:19:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:12 - 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INFO - 拍照 -2025-09-24 11:19:42 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:19:42 - 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 -2025-09-24 11:19:42 - 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"}]} -2025-09-24 11:19:42 - INFO - 执行完成FPhoto -2025-09-24 11:19:44 - INFO - 移动到中位位置 -2025-09-24 11:19:44 - 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 -2025-09-24 11:19:44 - 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"}]} -2025-09-24 11:19:44 - INFO - 移动到中位位置 -2025-09-24 11:19:45 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:19:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:50 - INFO - 机器人已到达抓料点位 -2025-09-24 11:19:50 - 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 -2025-09-24 11:19:50 - 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"}]} -2025-09-24 11:19:50 - INFO - 移动到中位位置 -2025-09-24 11:19:50 - 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 -2025-09-24 11:19:50 - 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"}]} -2025-09-24 11:19:50 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:20:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:20:28 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:52 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:22:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:22:54 - INFO - 机器人已到达抓料点位 -2025-09-24 11:22:54 - 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 -2025-09-24 11:22:54 - 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"}]} -2025-09-24 11:22:54 - 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INFO - 检测是否安全投料 -2025-09-24 11:26:42 - INFO - 检测是否安全投料 -2025-09-24 11:26:42 - INFO - 检测是否安全投料 -2025-09-24 11:26:43 - INFO - 检测是否安全投料 -2025-09-24 11:26:43 - INFO - 检测是否安全投料 -2025-09-24 11:26:43 - INFO - 检测是否安全投料 -2025-09-24 11:26:43 - INFO - 检测是否安全投料 -2025-09-24 11:26:43 - INFO - 检测是否安全投料 -2025-09-24 11:26:43 - INFO - 检测是否安全投料 -2025-09-24 11:26:43 - INFO - 检测是否安全投料 -2025-09-24 11:26:43 - INFO - 检测是否安全投料 -2025-09-24 11:26:43 - INFO - 检测是否安全投料 -2025-09-24 11:26:44 - INFO - 检测是否安全投料 -2025-09-24 11:26:44 - INFO - 检测是否安全投料 -2025-09-24 11:26:44 - INFO - 检测是否安全投料 -2025-09-24 11:26:44 - INFO - 检测是否安全投料 -2025-09-24 11:26:44 - INFO - 检测是否安全投料 -2025-09-24 11:26:44 - INFO - 检测是否安全投料 -2025-09-24 11:26:44 - INFO - 检测是否安全投料 -2025-09-24 11:26:44 - INFO - 检测是否安全投料 -2025-09-24 11:26:44 - INFO - 检测是否安全投料 -2025-09-24 11:26:45 - INFO - 检测是否安全投料 -2025-09-24 11:26:45 - INFO - 检测是否安全投料 -2025-09-24 11:26:45 - INFO - 检测是否安全投料 -2025-09-24 11:26:45 - INFO - 检测是否安全投料 -2025-09-24 11:26:45 - INFO - 检测是否安全投料 -2025-09-24 11:26:45 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:37:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:37:29 - INFO - 机器人已到达抓料点位 -2025-09-24 11:37:29 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:29 - 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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"}]} -2025-09-24 11:38:30 - INFO - 移动到中位位置 -2025-09-24 11:38:30 - 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"}]} -2025-09-24 11:38:30 - 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 -2025-09-24 11:38:34 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"729.308","m2":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:38:34 - INFO - 移动到码垛中间点位置 -2025-09-24 11:38:34 - INFO - 移动到位置:姿势直线：X:1027.553-Y:729.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-24 11:38:38 - INFO - 移动到扔袋位置 -2025-09-24 11:38:39 - INFO - 移动到扔袋位置 -2025-09-24 11:38:39 - INFO - 移动到扔袋位置 -2025-09-24 11:38:40 - INFO - 移动到扔袋位置 -2025-09-24 11:38:41 - INFO - 已码垛数量：2 -2025-09-24 11:38:41 - 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"}]} -2025-09-24 11:38:41 - 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 -2025-09-24 11:38:45 - INFO - 移动到码垛复位位置 -2025-09-24 11:38:45 - 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 -2025-09-24 11:38:45 - 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"}]} -2025-09-24 11:38:45 - INFO - 拍照 -2025-09-24 11:38:55 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:38:56 - 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"}]} -2025-09-24 11:38:56 - 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 -2025-09-24 11:38:56 - INFO - 执行完成FPhoto -2025-09-24 11:38:57 - INFO - 移动到中位位置 -2025-09-24 11:38:58 - 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 -2025-09-24 11:38:58 - 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"}]} -2025-09-24 11:38:58 - INFO - 移动到中位位置 -2025-09-24 11:38:58 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:03 - INFO - 机器人已到达抓料点位 -2025-09-24 11:39:03 - 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"}]} -2025-09-24 11:39:03 - 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 -2025-09-24 11:39:03 - INFO - 移动到中位位置 -2025-09-24 11:39:03 - 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 -2025-09-24 11:39:03 - 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"}]} -2025-09-24 11:39:03 - INFO - 移动到中位位置 -2025-09-24 11:39:04 - 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 -2025-09-24 11:39:04 - 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"}]} -2025-09-24 11:39:04 - INFO - 移动到中位位置 -2025-09-24 11:39:04 - 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 -2025-09-24 11:39:04 - 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"}]} -2025-09-24 11:39:08 - INFO - 移动到码垛中间点位置 -2025-09-24 11:39:08 - INFO - 移动到位置:姿势直线：X:1027.553-Y:129.308-Z:-1202.361-U:-148.482-V:3.0-W:0.0 -2025-09-24 11:39:09 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"129.308","m2":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:39:12 - INFO - 移动到扔袋位置 -2025-09-24 11:39:13 - INFO - 移动到扔袋位置 -2025-09-24 11:39:13 - INFO - 移动到扔袋位置 -2025-09-24 11:39:15 - INFO - 移动到扔袋位置 -2025-09-24 11:39:15 - INFO - 已码垛数量：3 -2025-09-24 11:39:15 - 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 -2025-09-24 11:39:15 - 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"}]} -2025-09-24 11:39:19 - INFO - 移动到码垛复位位置 -2025-09-24 11:39:19 - 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 -2025-09-24 11:39:19 - 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"}]} -2025-09-24 11:39:19 - INFO - 拍照 -2025-09-24 11:39:35 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:39:35 - 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"}]} -2025-09-24 11:39:35 - 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 -2025-09-24 11:39:35 - INFO - 执行完成FPhoto -2025-09-24 11:39:37 - INFO - 移动到中位位置 -2025-09-24 11:39:37 - 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 -2025-09-24 11:39:37 - 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"}]} -2025-09-24 11:39:37 - INFO - 移动到中位位置 -2025-09-24 11:39:37 - 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 -2025-09-24 11:39:37 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:39:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:39:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:39:42 - INFO - 机器人已到达抓料点位 -2025-09-24 11:39:42 - 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 -2025-09-24 11:39:42 - 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"}]} -2025-09-24 11:39:42 - INFO - 移动到中位位置 -2025-09-24 11:39:43 - 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 -2025-09-24 11:39:43 - 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"}]} -2025-09-24 11:39:43 - INFO - 移动到中位位置 -2025-09-24 11:39:43 - 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 -2025-09-24 11:39:43 - 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"}]} -2025-09-24 11:39:43 - 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"}]} -2025-09-24 11:39:43 - INFO - 移动到中位位置 -2025-09-24 11:39:44 - 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 -2025-09-24 11:39:48 - INFO - 移动到码垛中间点位置 -2025-09-24 11:39:48 - INFO - 移动到位置:姿势直线：X:1767.553-Y:-210.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-24 11:39:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"-210.692","m2":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:39:51 - INFO - 移动到扔袋位置 -2025-09-24 11:39:53 - INFO - 移动到扔袋位置 -2025-09-24 11:39:53 - INFO - 移动到扔袋位置 -2025-09-24 11:39:54 - INFO - 移动到扔袋位置 -2025-09-24 11:39:54 - INFO - 已码垛数量：4 -2025-09-24 11:39:54 - 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 -2025-09-24 11:39:54 - 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"}]} -2025-09-24 11:39:58 - INFO - 移动到码垛复位位置 -2025-09-24 11:39:58 - 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 -2025-09-24 11:39:58 - 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"}]} -2025-09-24 11:39:58 - INFO - 拍照 -2025-09-24 11:40:14 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:40:14 - 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"}]} -2025-09-24 11:40:15 - 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 -2025-09-24 11:40:15 - INFO - 执行完成FPhoto -2025-09-24 11:40:17 - INFO - 移动到中位位置 -2025-09-24 11:40:17 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:22 - INFO - 机器人已到达抓料点位 -2025-09-24 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 -2025-09-24 11:40:22 - 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"}]} -2025-09-24 11:40:22 - INFO - 移动到中位位置 -2025-09-24 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 -2025-09-24 11:40:22 - 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"}]} -2025-09-24 11:40:23 - INFO - 移动到中位位置 -2025-09-24 11:40:23 - 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 -2025-09-24 11:40:23 - 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"}]} -2025-09-24 11:40:23 - INFO - 移动到中位位置 -2025-09-24 11:40:23 - 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 -2025-09-24 11:40:24 - 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"}]} -2025-09-24 11:40:28 - INFO - 移动到码垛中间点位置 -2025-09-24 11:40:28 - INFO - 移动到位置:姿势直线：X:1767.553-Y:519.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-24 11:40:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"519.308","m2":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:40:31 - INFO - 移动到扔袋位置 -2025-09-24 11:40:32 - INFO - 移动到扔袋位置 -2025-09-24 11:40:33 - INFO - 移动到扔袋位置 -2025-09-24 11:40:34 - INFO - 移动到扔袋位置 -2025-09-24 11:40:34 - INFO - 已码垛数量：5 -2025-09-24 11:40:34 - 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 -2025-09-24 11:40:34 - 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"}]} -2025-09-24 11:40:38 - INFO - 移动到码垛复位位置 -2025-09-24 11:40:38 - 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 -2025-09-24 11:40:38 - 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"}]} -2025-09-24 11:40:38 - INFO - 拍照 -2025-09-24 11:40:53 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:40:53 - 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"}]} -2025-09-24 11:40:53 - 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 -2025-09-24 11:40:53 - INFO - 执行完成FPhoto -2025-09-24 11:40:55 - INFO - 移动到中位位置 -2025-09-24 11:40:55 - 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 -2025-09-24 11:40:55 - 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"}]} -2025-09-24 11:40:55 - INFO - 移动到中位位置 -2025-09-24 11:40:55 - 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 -2025-09-24 11:40:55 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:40:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:40:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:40:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:41:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:41:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:41:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:41:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:41:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:41:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:41:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:41:00 - INFO - 机器人已到达抓料点位 -2025-09-24 11:41:00 - 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INFO - 移动到中位位置 -2025-09-24 11:41:02 - 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 -2025-09-24 11:41:02 - 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"}]} -2025-09-24 11:41:06 - INFO - 移动到码垛中间点位置 -2025-09-24 11:41:06 - INFO - 移动到位置:姿势直线：X:1607.553-Y:-470.692-Z:-1002.361-U:31.518-V:6.0-W:0.0 -2025-09-24 11:41:06 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"-470.692","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:41:10 - INFO - 移动到扔袋位置 -2025-09-24 11:41:11 - INFO - 移动到扔袋位置 -2025-09-24 11:41:11 - INFO - 移动到扔袋位置 -2025-09-24 11:41:13 - INFO - 移动到扔袋位置 -2025-09-24 11:41:13 - INFO - 已码垛数量：6 -2025-09-24 11:41:13 - 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 -2025-09-24 11:41:13 - 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"}]} -2025-09-24 11:41:16 - INFO - 移动到码垛复位位置 -2025-09-24 11:41:16 - 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"}]} -2025-09-24 11:41:16 - 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 -2025-09-24 11:41:16 - INFO - 拍照 -2025-09-24 11:41:23 - INFO - 投料暂停 -2025-09-24 11:41:23 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 11:42:30 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]} -2025-09-24 11:42:30 - INFO - 投料继续 -2025-09-24 11:42:31 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 11:42:31 - INFO - 切换到自动运行状态 -2025-09-24 11:43:57 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:43:57 - 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"}]} -2025-09-24 11:43:57 - 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 -2025-09-24 11:43:57 - INFO - 执行完成FPhoto -2025-09-24 11:43:59 - 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"}]} -2025-09-24 11:43:59 - INFO - 移动到中位位置 -2025-09-24 11:43:59 - 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 -2025-09-24 11:44:00 - INFO - 移动到中位位置 -2025-09-24 11:44:00 - 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 -2025-09-24 11:44:00 - 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"}]} -2025-09-24 11:44:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:05 - INFO - 机器人已到达抓料点位 -2025-09-24 11:44:05 - 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 -2025-09-24 11:44:05 - 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"}]} -2025-09-24 11:44:05 - INFO - 移动到中位位置 -2025-09-24 11:44:05 - 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 -2025-09-24 11:44:05 - 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"}]} -2025-09-24 11:44:05 - INFO - 移动到中位位置 -2025-09-24 11:44:05 - 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 -2025-09-24 11:44:05 - 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"}]} -2025-09-24 11:44:06 - INFO - 移动到中位位置 -2025-09-24 11:44:06 - 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 -2025-09-24 11:44:06 - 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"}]} -2025-09-24 11:44:10 - INFO - 移动到码垛中间点位置 -2025-09-24 11:44:10 - INFO - 移动到位置:姿势直线：X:1607.553-Y:729.308-Z:-1002.361-U:31.518-V:7.0-W:0.0 -2025-09-24 11:44:10 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"729.308","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:44:14 - INFO - 移动到扔袋位置 -2025-09-24 11:44:16 - INFO - 移动到扔袋位置 -2025-09-24 11:44:16 - INFO - 移动到扔袋位置 -2025-09-24 11:44:17 - INFO - 移动到扔袋位置 -2025-09-24 11:44:17 - INFO - 已码垛数量：7 -2025-09-24 11:44:17 - 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 -2025-09-24 11:44:17 - 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"}]} -2025-09-24 11:44:20 - INFO - 移动到码垛复位位置 -2025-09-24 11:44:20 - 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 -2025-09-24 11:44:20 - 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"}]} -2025-09-24 11:44:20 - INFO - 拍照 -2025-09-24 11:44:37 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:44:37 - 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"}]} -2025-09-24 11:44:37 - 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 -2025-09-24 11:44:37 - INFO - 执行完成FPhoto -2025-09-24 11:44:39 - INFO - 移动到中位位置 -2025-09-24 11:44:39 - 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 -2025-09-24 11:44:39 - 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"}]} -2025-09-24 11:44:39 - INFO - 移动到中位位置 -2025-09-24 11:44:39 - 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"}]} -2025-09-24 11:44:39 - 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 -2025-09-24 11:44:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:44:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:44:44 - INFO - 机器人已到达抓料点位 -2025-09-24 11:44:44 - 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 -2025-09-24 11:44:45 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:45:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:45:25 - INFO - 机器人已到达抓料点位 -2025-09-24 11:45:25 - 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 -2025-09-24 11:45:25 - 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"}]} -2025-09-24 11:45:25 - INFO - 移动到中位位置 -2025-09-24 11:45:26 - 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 -2025-09-24 11:45:26 - 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"}]} -2025-09-24 11:45:26 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:07 - INFO - 机器人已到达抓料点位 -2025-09-24 11:46:07 - 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 -2025-09-24 11:46:07 - 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"}]} -2025-09-24 11:46:08 - INFO - 移动到中位位置 -2025-09-24 11:46:08 - INFO - 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INFO - 移动到码垛中间点位置 -2025-09-24 11:46:13 - INFO - 移动到位置:姿势直线：X:897.553-Y:519.308-Z:-1002.361-U:-238.482-V:10.0-W:0.0 -2025-09-24 11:46:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"897.553","m1":"519.308","m2":"-1002.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:46:16 - INFO - 移动到扔袋位置 -2025-09-24 11:46:17 - INFO - 移动到扔袋位置 -2025-09-24 11:46:17 - INFO - 移动到扔袋位置 -2025-09-24 11:46:18 - INFO - 移动到扔袋位置 -2025-09-24 11:46:19 - INFO - 已码垛数量：10 -2025-09-24 11:46:19 - 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 -2025-09-24 11:46:19 - 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"}]} -2025-09-24 11:46:22 - INFO - 移动到码垛复位位置 -2025-09-24 11:46:22 - 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 -2025-09-24 11:46:22 - 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"}]} -2025-09-24 11:46:22 - INFO - 拍照 -2025-09-24 11:46:40 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:46:40 - 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"}]} -2025-09-24 11:46:41 - 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 -2025-09-24 11:46:41 - INFO - 执行完成FPhoto -2025-09-24 11:46:43 - INFO - 移动到中位位置 -2025-09-24 11:46:43 - 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 -2025-09-24 11:46:43 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:48 - INFO - 机器人已到达抓料点位 -2025-09-24 11:46:48 - 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 -2025-09-24 11:46:48 - 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"}]} -2025-09-24 11:46:48 - INFO - 移动到中位位置 -2025-09-24 11:46:48 - 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 -2025-09-24 11:46:48 - 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"}]} -2025-09-24 11:46:49 - INFO - 移动到中位位置 -2025-09-24 11:46:49 - 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 -2025-09-24 11:46:49 - 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"}]} -2025-09-24 11:46:49 - INFO - 移动到中位位置 -2025-09-24 11:46:49 - 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 -2025-09-24 11:46:49 - 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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"}]} -2025-09-24 11:47:01 - INFO - 移动到码垛复位位置 -2025-09-24 11:47:02 - 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 -2025-09-24 11:47:02 - 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"}]} -2025-09-24 11:47:02 - INFO - 拍照 -2025-09-24 11:47:21 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:47:21 - 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"}]} -2025-09-24 11:47:22 - 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 -2025-09-24 11:47:22 - INFO - 执行完成FPhoto -2025-09-24 11:47:23 - INFO - 移动到中位位置 -2025-09-24 11:47:23 - 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"}]} -2025-09-24 11:47:24 - 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 -2025-09-24 11:47:24 - INFO - 移动到中位位置 -2025-09-24 11:47:24 - 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 -2025-09-24 11:47:24 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:47:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:47:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:47:29 - INFO - 机器人已到达抓料点位 -2025-09-24 11:47:29 - 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 -2025-09-24 11:47:29 - 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"}]} -2025-09-24 11:47:29 - INFO - 移动到中位位置 -2025-09-24 11:47:29 - 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 -2025-09-24 11:47:29 - 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"}]} -2025-09-24 11:47:29 - INFO - 移动到中位位置 -2025-09-24 11:47:29 - 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 -2025-09-24 11:47:30 - 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"}]} -2025-09-24 11:47:30 - INFO - 移动到中位位置 -2025-09-24 11:47:30 - 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 -2025-09-24 11:47:30 - 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"}]} -2025-09-24 11:47:34 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"729.308","m2":"-802.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:47:35 - INFO - 移动到码垛中间点位置 -2025-09-24 11:47:35 - INFO - 移动到位置:姿势直线：X:1027.553-Y:729.308-Z:-802.361-U:-148.482-V:12.0-W:0.0 -2025-09-24 11:47:37 - INFO - 移动到扔袋位置 -2025-09-24 11:47:39 - INFO - 移动到扔袋位置 -2025-09-24 11:47:39 - INFO - 移动到扔袋位置 -2025-09-24 11:47:40 - INFO - 移动到扔袋位置 -2025-09-24 11:47:40 - INFO - 已码垛数量：12 -2025-09-24 11:47:40 - 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 -2025-09-24 11:47:40 - 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"}]} -2025-09-24 11:47:42 - INFO - 移动到码垛复位位置 -2025-09-24 11:47:42 - 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 -2025-09-24 11:47:42 - 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"}]} -2025-09-24 11:47:42 - INFO - 拍照 -2025-09-24 11:48:02 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:48:02 - 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"}]} -2025-09-24 11:48:02 - 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 -2025-09-24 11:48:02 - INFO - 执行完成FPhoto -2025-09-24 11:48:04 - INFO - 移动到中位位置 -2025-09-24 11:48:04 - 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 -2025-09-24 11:48:04 - 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"}]} -2025-09-24 11:48:04 - INFO - 移动到中位位置 -2025-09-24 11:48:04 - 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 -2025-09-24 11:48:04 - 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"}]} -2025-09-24 11:48:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:09 - 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INFO - 移动到码垛中间点位置 -2025-09-24 11:48:15 - INFO - 移动到位置:姿势直线：X:1027.553-Y:129.308-Z:-802.361-U:-148.482-V:13.0-W:0.0 -2025-09-24 11:48:18 - INFO - 移动到扔袋位置 -2025-09-24 11:48:19 - INFO - 移动到扔袋位置 -2025-09-24 11:48:19 - INFO - 移动到扔袋位置 -2025-09-24 11:48:20 - INFO - 移动到扔袋位置 -2025-09-24 11:48:20 - INFO - 已码垛数量：13 -2025-09-24 11:48:20 - 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 -2025-09-24 11:48:20 - 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"}]} -2025-09-24 11:48:22 - INFO - 移动到码垛复位位置 -2025-09-24 11:48:22 - 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 -2025-09-24 11:48:23 - 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"}]} -2025-09-24 11:48:23 - INFO - 拍照 -2025-09-24 11:48:44 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:48:44 - 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"}]} -2025-09-24 11:48:44 - 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 -2025-09-24 11:48:45 - INFO - 执行完成FPhoto -2025-09-24 11:48:46 - INFO - 移动到中位位置 -2025-09-24 11:48:46 - 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 -2025-09-24 11:48:47 - 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"}]} -2025-09-24 11:48:47 - INFO - 移动到中位位置 -2025-09-24 11:48:47 - 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 -2025-09-24 11:48:47 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:48:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:48:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:52 - INFO - 机器人已到达抓料点位 -2025-09-24 11:48:52 - 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 -2025-09-24 11:48:52 - 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"}]} -2025-09-24 11:48:52 - INFO - 移动到中位位置 -2025-09-24 11:48:52 - 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 -2025-09-24 11:48:52 - 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"}]} -2025-09-24 11:48:52 - INFO - 移动到中位位置 -2025-09-24 11:48:52 - 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 -2025-09-24 11:48:53 - 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"}]} -2025-09-24 11:48:53 - INFO - 移动到中位位置 -2025-09-24 11:48:53 - 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 -2025-09-24 11:48:53 - 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"}]} -2025-09-24 11:48:57 - INFO - 移动到码垛中间点位置 -2025-09-24 11:48:57 - INFO - 移动到位置:姿势直线：X:1767.553-Y:-210.692-Z:-802.361-U:-58.482-V:14.0-W:0.0 -2025-09-24 11:48:58 - 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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"}]} -2025-09-24 11:49:06 - INFO - 拍照 -2025-09-24 11:49:23 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:49:23 - 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"}]} -2025-09-24 11:49:23 - 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 -2025-09-24 11:49:23 - INFO - 执行完成FPhoto -2025-09-24 11:49:25 - INFO - 移动到中位位置 -2025-09-24 11:49:25 - 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 -2025-09-24 11:49:25 - 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"}]} -2025-09-24 11:49:25 - INFO - 移动到中位位置 -2025-09-24 11:49:26 - 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 -2025-09-24 11:49:26 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:49:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:49:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:49:30 - INFO - 机器人已到达抓料点位 -2025-09-24 11:49:31 - 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"}]} -2025-09-24 11:49:31 - 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 -2025-09-24 11:49:31 - INFO - 移动到中位位置 -2025-09-24 11:49:31 - 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 -2025-09-24 11:49:31 - 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INFO - 移动到码垛中间点位置 -2025-09-24 11:49:36 - INFO - 移动到位置:姿势直线：X:1767.553-Y:519.308-Z:-802.361-U:-238.482-V:15.0-W:0.0 -2025-09-24 11:49:36 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"519.308","m2":"-802.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:49:39 - INFO - 移动到扔袋位置 -2025-09-24 11:49:41 - INFO - 移动到扔袋位置 -2025-09-24 11:49:41 - INFO - 移动到扔袋位置 -2025-09-24 11:49:42 - INFO - 移动到扔袋位置 -2025-09-24 11:49:42 - INFO - 已码垛数量：15 -2025-09-24 11:49:42 - 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 -2025-09-24 11:49:42 - 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"}]} -2025-09-24 11:49:44 - 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"}]} -2025-09-24 11:49:44 - INFO - 移动到码垛复位位置 -2025-09-24 11:49:44 - 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 -2025-09-24 11:49:44 - INFO - 拍照 -2025-09-24 11:49:58 - INFO - 投料暂停 -2025-09-24 11:49:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 11:50:49 - INFO - 清除报警 -2025-09-24 11:50:49 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 11:50:49 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 11:50:49 - INFO - 按下急停 -2025-09-24 11:50:57 - INFO - 退出系统 -2025-09-24 13:41:09 - INFO - 进入系统 -2025-09-24 13:41:16 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 13:41:17 - INFO - 切换到工具坐标 -2025-09-24 13:41:17 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 13:41:17 - INFO - 切换到自动运行状态 -2025-09-24 13:41:17 - INFO - 第一层确认生产 -2025-09-24 13:41:19 - INFO - 1号线:投料开始 -2025-09-24 13:41:19 - 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"}]} -2025-09-24 13:41:19 - INFO - 发送IO控制: 2，1 -2025-09-24 13:41:24 - 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"}]} -2025-09-24 13:41:24 - INFO - 发送IO控制: 2，0 -2025-09-24 13:41:24 - 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"}]} -2025-09-24 13:41:24 - INFO - 投料开始 -2025-09-24 13:41:24 - 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 -2025-09-24 13:41:24 - 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"}]} -2025-09-24 13:41:24 - INFO - 投料开始 -2025-09-24 13:41:25 - 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 -2025-09-24 13:41:25 - INFO - 移动到中位位置 -2025-09-24 13:41:25 - 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 -2025-09-24 13:41:25 - 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"}]} -2025-09-24 13:41:25 - INFO - 检测是否安全投料 -2025-09-24 13:41:25 - 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 -2025-09-24 13:41:25 - 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"}]} -2025-09-24 13:41:25 - INFO - 检测是否安全投料 -2025-09-24 13:41:25 - 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 -2025-09-24 13:41:26 - 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"}]} -2025-09-24 13:41:26 - INFO - 拍照 -2025-09-24 13:41:26 - INFO - 识别图像成功 -2025-09-24 13:41:26 - 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 -2025-09-24 13:41:26 - 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"}]} -2025-09-24 13:41:26 - INFO - 拍照 -2025-09-24 13:43:01 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:43:01 - 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"}]} -2025-09-24 13:43:01 - 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 -2025-09-24 13:43:01 - INFO - 执行完成FPhoto -2025-09-24 13:43:05 - INFO - 移动到中位位置 -2025-09-24 13:43:05 - 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 -2025-09-24 13:43:05 - 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"}]} -2025-09-24 13:43:05 - INFO - 移动到中位位置 -2025-09-24 13:43:05 - 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"}]} -2025-09-24 13:43:05 - 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 -2025-09-24 13:43:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:12 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:12 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:13 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:13 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:14 - INFO - 机器人已到达抓料点位 -2025-09-24 13:43:14 - 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 -2025-09-24 13:43:15 - 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"}]} -2025-09-24 13:43:15 - INFO - 移动到中位位置 -2025-09-24 13:43:15 - 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 -2025-09-24 13:43:15 - 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"}]} -2025-09-24 13:43:15 - INFO - 移动到中位位置 -2025-09-24 13:43:15 - 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 -2025-09-24 13:43:15 - 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"}]} -2025-09-24 13:43:15 - INFO - 移动到中位位置 -2025-09-24 13:43:15 - 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 -2025-09-24 13:43:16 - 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"}]} -2025-09-24 13:43:19 - INFO - 移动到码垛中间点位置 -2025-09-24 13:43:19 - INFO - 移动到位置:姿势直线：X:1607.553-Y:-470.692-Z:-602.361-U:31.518-V:16.0-W:0.0 -2025-09-24 13:43:20 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"-470.692","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:43:24 - INFO - 移动到扔袋位置 -2025-09-24 13:43:25 - INFO - 移动到扔袋位置 -2025-09-24 13:43:25 - INFO - 移动到扔袋位置 -2025-09-24 13:43:27 - INFO - 移动到扔袋位置 -2025-09-24 13:43:27 - INFO - 已码垛数量：16 -2025-09-24 13:43:27 - 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 -2025-09-24 13:43:27 - 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"}]} -2025-09-24 13:43:27 - 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"}]} -2025-09-24 13:43:27 - INFO - 移动到码垛复位位置 -2025-09-24 13:43:28 - 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 -2025-09-24 13:43:28 - INFO - 拍照 -2025-09-24 13:43:44 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:43:44 - 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"}]} -2025-09-24 13:43:44 - 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 -2025-09-24 13:43:45 - INFO - 执行完成FPhoto -2025-09-24 13:43:46 - INFO - 移动到中位位置 -2025-09-24 13:43:46 - 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 -2025-09-24 13:43:47 - 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"}]} -2025-09-24 13:43:47 - INFO - 移动到中位位置 -2025-09-24 13:43:47 - 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 -2025-09-24 13:43:47 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:43:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:48 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:48 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:49 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:50 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:50 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:51 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:51 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:43:52 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:43:52 - INFO - 机器人已到达抓料点位 -2025-09-24 13:43:52 - 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 -2025-09-24 13:43:52 - 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"}]} -2025-09-24 13:43:52 - 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"}]} -2025-09-24 13:43:52 - INFO - 移动到中位位置 -2025-09-24 13:43:52 - 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 -2025-09-24 13:43:52 - INFO - 移动到中位位置 -2025-09-24 13:43:52 - 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 -2025-09-24 13:43:53 - 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"}]} -2025-09-24 13:43:54 - INFO - 移动到中位位置 -2025-09-24 13:43:54 - 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 -2025-09-24 13:43:54 - 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"}]} -2025-09-24 13:43:58 - INFO - 移动到码垛中间点位置 -2025-09-24 13:43:58 - INFO - 移动到位置:姿势直线：X:1607.553-Y:729.308-Z:-602.361-U:31.518-V:17.0-W:0.0 -2025-09-24 13:43:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"729.308","m2":"-602.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:44:03 - INFO - 移动到扔袋位置 -2025-09-24 13:44:04 - INFO - 移动到扔袋位置 -2025-09-24 13:44:04 - INFO - 移动到扔袋位置 -2025-09-24 13:44:05 - INFO - 移动到扔袋位置 -2025-09-24 13:44:05 - 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"}]} -2025-09-24 13:44:05 - INFO - 已码垛数量：17 -2025-09-24 13:44:06 - 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 -2025-09-24 13:44:06 - INFO - 移动到码垛复位位置 -2025-09-24 13:44:06 - 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 -2025-09-24 13:44:06 - 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"}]} -2025-09-24 13:44:07 - INFO - 拍照 -2025-09-24 13:44:24 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:44:24 - 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"}]} -2025-09-24 13:44:24 - 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 -2025-09-24 13:44:24 - INFO - 执行完成FPhoto -2025-09-24 13:44:26 - INFO - 移动到中位位置 -2025-09-24 13:44:26 - 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 -2025-09-24 13:44:26 - 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"}]} -2025-09-24 13:44:26 - INFO - 移动到中位位置 -2025-09-24 13:44:26 - 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 -2025-09-24 13:44:26 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:44:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:27 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:28 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:28 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:31 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:44:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:44:31 - INFO - 机器人已到达抓料点位 -2025-09-24 13:44:31 - 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 -2025-09-24 13:44:32 - 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"}]} -2025-09-24 13:44:32 - INFO - 移动到中位位置 -2025-09-24 13:44:32 - 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 -2025-09-24 13:44:32 - 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"}]} -2025-09-24 13:44:32 - INFO - 移动到中位位置 -2025-09-24 13:44:32 - 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 -2025-09-24 13:44:32 - 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"}]} -2025-09-24 13:44:33 - INFO - 移动到中位位置 -2025-09-24 13:44:33 - 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 -2025-09-24 13:44:33 - 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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"}]} -2025-09-24 13:44:46 - INFO - 移动到码垛复位位置 -2025-09-24 13:44:46 - 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 -2025-09-24 13:44:46 - INFO - 拍照 -2025-09-24 13:45:04 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:45:04 - 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"}]} -2025-09-24 13:45:04 - 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 -2025-09-24 13:45:04 - INFO - 执行完成FPhoto -2025-09-24 13:45:05 - INFO - 移动到中位位置 -2025-09-24 13:45:06 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:07 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:07 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:09 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:09 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:10 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:10 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:11 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:11 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:11 - INFO - 机器人已到达抓料点位 -2025-09-24 13:45:11 - 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 -2025-09-24 13:45:11 - 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"}]} -2025-09-24 13:45:11 - INFO - 移动到中位位置 -2025-09-24 13:45:11 - 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 -2025-09-24 13:45:11 - 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"}]} -2025-09-24 13:45:11 - INFO - 移动到中位位置 -2025-09-24 13:45:12 - 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 -2025-09-24 13:45:12 - 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"}]} -2025-09-24 13:45:13 - INFO - 移动到中位位置 -2025-09-24 13:45:13 - 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 -2025-09-24 13:45:13 - 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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"}]} -2025-09-24 13:45:24 - INFO - 移动到码垛复位位置 -2025-09-24 13:45:25 - 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 -2025-09-24 13:45:25 - 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"}]} -2025-09-24 13:45:25 - INFO - 拍照 -2025-09-24 13:45:40 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:45:40 - 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"}]} -2025-09-24 13:45:40 - 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 -2025-09-24 13:45:41 - INFO - 执行完成FPhoto -2025-09-24 13:45:42 - INFO - 移动到中位位置 -2025-09-24 13:45:42 - 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 -2025-09-24 13:45:42 - 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"}]} -2025-09-24 13:45:42 - INFO - 移动到中位位置 -2025-09-24 13:45:43 - 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"}]} -2025-09-24 13:45:43 - 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 -2025-09-24 13:45:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:45 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:46 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:46 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:47 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:47 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:47 - INFO - 机器人已到达抓料点位 -2025-09-24 13:45:47 - 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"}]} -2025-09-24 13:45:48 - 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 -2025-09-24 13:45:48 - INFO - 移动到中位位置 -2025-09-24 13:45:48 - 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 -2025-09-24 13:45:48 - 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"}]} -2025-09-24 13:45:48 - INFO - 移动到中位位置 -2025-09-24 13:45:48 - 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 -2025-09-24 13:45:48 - 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"}]} -2025-09-24 13:45:49 - INFO - 移动到中位位置 -2025-09-24 13:45:49 - 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 -2025-09-24 13:45:49 - 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"}]} -2025-09-24 13:45:54 - INFO - 移动到码垛中间点位置 -2025-09-24 13:45:54 - INFO - 移动到位置:姿势直线：X:897.553-Y:519.308-Z:-602.361-U:-238.482-V:20.0-W:0.0 -2025-09-24 13:45:54 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"897.553","m1":"519.308","m2":"-602.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:45:57 - INFO - 移动到扔袋位置 -2025-09-24 13:45:58 - INFO - 移动到扔袋位置 -2025-09-24 13:45:58 - INFO - 移动到扔袋位置 -2025-09-24 13:45:59 - INFO - 移动到扔袋位置 -2025-09-24 13:45:59 - INFO - 已码垛数量：20 -2025-09-24 13:45:59 - 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 -2025-09-24 13:46:00 - 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"}]} -2025-09-24 13:46:01 - INFO - 移动到码垛复位位置 -2025-09-24 13:46:01 - 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 -2025-09-24 13:46:01 - 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"}]} -2025-09-24 13:46:01 - INFO - 拍照 -2025-09-24 13:46:19 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:46:19 - 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"}]} -2025-09-24 13:46:19 - 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 -2025-09-24 13:46:19 - INFO - 执行完成FPhoto -2025-09-24 13:46:21 - INFO - 移动到中位位置 -2025-09-24 13:46:21 - 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 -2025-09-24 13:46:21 - 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"}]} -2025-09-24 13:46:21 - INFO - 移动到中位位置 -2025-09-24 13:46:21 - 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 -2025-09-24 13:46:21 - 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"}]} -2025-09-24 13:46:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:25 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:25 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:26 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:46:26 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:46:26 - INFO - 机器人已到达抓料点位 -2025-09-24 13:46:26 - 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INFO - 移动到中位位置 -2025-09-24 13:46:28 - 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 -2025-09-24 13:46:28 - 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"}]} -2025-09-24 13:46:32 - INFO - 移动到码垛中间点位置 -2025-09-24 13:46:33 - INFO - 移动到位置:姿势直线：X:1027.553-Y:-470.692-Z:-402.361-U:-148.482-V:21.0-W:0.0 -2025-09-24 13:46:33 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"-470.692","m2":"-402.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:46:36 - INFO - 移动到扔袋位置 -2025-09-24 13:46:37 - INFO - 移动到扔袋位置 -2025-09-24 13:46:38 - INFO - 移动到扔袋位置 -2025-09-24 13:46:39 - INFO - 移动到扔袋位置 -2025-09-24 13:46:39 - INFO - 已码垛数量：21 -2025-09-24 13:46:39 - 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 -2025-09-24 13:46:39 - 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"}]} -2025-09-24 13:46:39 - INFO - 移动到码垛复位位置 -2025-09-24 13:46:39 - 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"}]} -2025-09-24 13:46:39 - 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 -2025-09-24 13:46:39 - INFO - 拍照 -2025-09-24 13:46:58 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:46:58 - 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"}]} -2025-09-24 13:46:58 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:05 - INFO - 机器人已到达抓料点位 -2025-09-24 13:47:05 - 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 -2025-09-24 13:47:05 - 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"}]} -2025-09-24 13:47:05 - INFO - 移动到中位位置 -2025-09-24 13:47:05 - 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 -2025-09-24 13:47:05 - 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"}]} -2025-09-24 13:47:05 - INFO - 移动到中位位置 -2025-09-24 13:47:06 - 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 -2025-09-24 13:47:06 - 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"}]} -2025-09-24 13:47:07 - INFO - 移动到中位位置 -2025-09-24 13:47:07 - 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 -2025-09-24 13:47:07 - 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"}]} -2025-09-24 13:47:11 - INFO - 移动到码垛中间点位置 -2025-09-24 13:47:11 - INFO - 移动到位置:姿势直线：X:1027.553-Y:729.308-Z:-402.361-U:-148.482-V:22.0-W:0.0 -2025-09-24 13:47:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"729.308","m2":"-402.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:47:14 - INFO - 移动到扔袋位置 -2025-09-24 13:47:15 - INFO - 移动到扔袋位置 -2025-09-24 13:47:15 - INFO - 移动到扔袋位置 -2025-09-24 13:47:16 - INFO - 移动到扔袋位置 -2025-09-24 13:47:16 - INFO - 已码垛数量：22 -2025-09-24 13:47:16 - 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 -2025-09-24 13:47:17 - 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"}]} -2025-09-24 13:47:17 - INFO - 移动到码垛复位位置 -2025-09-24 13:47:17 - 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 -2025-09-24 13:47:17 - 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"}]} -2025-09-24 13:47:17 - INFO - 拍照 -2025-09-24 13:47:37 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:47:37 - 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"}]} -2025-09-24 13:47:37 - 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 -2025-09-24 13:47:37 - INFO - 执行完成FPhoto -2025-09-24 13:47:39 - INFO - 移动到中位位置 -2025-09-24 13:47:39 - 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 -2025-09-24 13:47:39 - 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"}]} -2025-09-24 13:47:39 - INFO - 移动到中位位置 -2025-09-24 13:47:39 - 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 -2025-09-24 13:47:39 - 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"}]} -2025-09-24 13:47:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:40 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:40 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:41 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:42 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:42 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:44 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:47:44 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:47:44 - INFO - 机器人已到达抓料点位 -2025-09-24 13:47:44 - 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INFO - 移动到中位位置 -2025-09-24 13:47:46 - 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 -2025-09-24 13:47:46 - 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"}]} -2025-09-24 13:47:51 - INFO - 移动到码垛中间点位置 -2025-09-24 13:47:51 - INFO - 移动到位置:姿势直线：X:1027.553-Y:129.308-Z:-402.361-U:-148.482-V:23.0-W:0.0 -2025-09-24 13:47:51 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"129.308","m2":"-402.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:47:54 - INFO - 移动到扔袋位置 -2025-09-24 13:47:55 - INFO - 移动到扔袋位置 -2025-09-24 13:47:55 - INFO - 移动到扔袋位置 -2025-09-24 13:47:56 - INFO - 移动到扔袋位置 -2025-09-24 13:47:56 - INFO - 已码垛数量：23 -2025-09-24 13:47:56 - 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 -2025-09-24 13:47:56 - 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"}]} -2025-09-24 13:47:57 - 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"}]} -2025-09-24 13:47:57 - INFO - 移动到码垛复位位置 -2025-09-24 13:47:57 - 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 -2025-09-24 13:47:57 - INFO - 拍照 -2025-09-24 13:48:14 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:48:14 - 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"}]} -2025-09-24 13:48:14 - 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 -2025-09-24 13:48:14 - INFO - 执行完成FPhoto -2025-09-24 13:48:16 - INFO - 移动到中位位置 -2025-09-24 13:48:16 - 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 -2025-09-24 13:48:16 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:48:16 - INFO - 移动到中位位置 -2025-09-24 13:48:16 - 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 -2025-09-24 13:48:16 - 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"}]} -2025-09-24 13:48:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:21 - INFO - 机器人已到达抓料点位 -2025-09-24 13:48:22 - 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 -2025-09-24 13:48:22 - 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"}]} -2025-09-24 13:48:22 - INFO - 移动到中位位置 -2025-09-24 13:48:22 - 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 -2025-09-24 13:48:22 - 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"}]} -2025-09-24 13:48:22 - INFO - 移动到中位位置 -2025-09-24 13:48:22 - 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 -2025-09-24 13:48:22 - 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"}]} -2025-09-24 13:48:23 - INFO - 移动到中位位置 -2025-09-24 13:48:23 - 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 -2025-09-24 13:48:23 - 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"}]} -2025-09-24 13:48:28 - INFO - 移动到码垛中间点位置 -2025-09-24 13:48:28 - INFO - 移动到位置:姿势直线：X:1767.553-Y:-210.692-Z:-402.361-U:-58.482-V:24.0-W:0.0 -2025-09-24 13:48:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"-210.692","m2":"-402.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:48:31 - INFO - 移动到扔袋位置 -2025-09-24 13:48:32 - INFO - 移动到扔袋位置 -2025-09-24 13:48:32 - INFO - 移动到扔袋位置 -2025-09-24 13:48:34 - 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"}]} -2025-09-24 13:48:34 - INFO - 移动到扔袋位置 -2025-09-24 13:48:34 - INFO - 已码垛数量：24 -2025-09-24 13:48:34 - 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 -2025-09-24 13:48:34 - INFO - 移动到码垛复位位置 -2025-09-24 13:48:34 - 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 -2025-09-24 13:48:34 - 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"}]} -2025-09-24 13:48:34 - INFO - 拍照 -2025-09-24 13:48:51 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:48:52 - 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"}]} -2025-09-24 13:48:52 - 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 -2025-09-24 13:48:52 - INFO - 执行完成FPhoto -2025-09-24 13:48:53 - INFO - 移动到中位位置 -2025-09-24 13:48:54 - 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 -2025-09-24 13:48:54 - 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"}]} -2025-09-24 13:48:54 - INFO - 移动到中位位置 -2025-09-24 13:48:54 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:48:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:48:59 - INFO - 机器人已到达抓料点位 -2025-09-24 13:48:59 - 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 -2025-09-24 13:48:59 - 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"}]} -2025-09-24 13:48:59 - INFO - 移动到中位位置 -2025-09-24 13:48:59 - 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 -2025-09-24 13:48:59 - 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"}]} -2025-09-24 13:48:59 - 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INFO - 移动到中位位置 -2025-09-24 13:49:34 - 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 -2025-09-24 13:49:34 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:49:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:49:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:49:39 - INFO - 机器人已到达抓料点位 -2025-09-24 13:49:39 - 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 -2025-09-24 13:49:39 - 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"}]} -2025-09-24 13:49:39 - INFO - 移动到中位位置 -2025-09-24 13:49:39 - 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 -2025-09-24 13:49:39 - 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"}]} -2025-09-24 13:49:39 - INFO - 移动到中位位置 -2025-09-24 13:49:39 - 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 -2025-09-24 13:49:40 - 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"}]} -2025-09-24 13:49:41 - INFO - 移动到中位位置 -2025-09-24 13:49:41 - 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 -2025-09-24 13:49:41 - 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"}]} -2025-09-24 13:49:45 - INFO - 移动到码垛中间点位置 -2025-09-24 13:49:45 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"-470.692","m2":"-282.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:49:45 - INFO - 移动到位置:姿势直线：X:1607.553-Y:-470.692-Z:-282.361-U:31.518-V:26.0-W:0.0 -2025-09-24 13:49:50 - INFO - 移动到扔袋位置 -2025-09-24 13:49:51 - INFO - 移动到扔袋位置 -2025-09-24 13:49:51 - INFO - 移动到扔袋位置 -2025-09-24 13:49:52 - INFO - 移动到扔袋位置 -2025-09-24 13:49:52 - INFO - 已码垛数量：26 -2025-09-24 13:49:53 - 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 -2025-09-24 13:49:53 - 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"}]} -2025-09-24 13:49:53 - INFO - 移动到码垛复位位置 -2025-09-24 13:49:53 - 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 -2025-09-24 13:49:53 - 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"}]} -2025-09-24 13:49:53 - INFO - 拍照 -2025-09-24 13:50:11 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:50:11 - 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"}]} -2025-09-24 13:50:11 - 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 -2025-09-24 13:50:12 - INFO - 执行完成FPhoto -2025-09-24 13:50:13 - INFO - 移动到中位位置 -2025-09-24 13:50:13 - 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 -2025-09-24 13:50:13 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:15 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:15 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:16 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:16 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:19 - INFO - 机器人已到达抓料点位 -2025-09-24 13:50:19 - 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 -2025-09-24 13:50:19 - 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"}]} -2025-09-24 13:50:19 - 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"}]} -2025-09-24 13:50:19 - INFO - 移动到中位位置 -2025-09-24 13:50:19 - 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 -2025-09-24 13:50:19 - 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"}]} -2025-09-24 13:50:20 - INFO - 移动到中位位置 -2025-09-24 13:50:20 - 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 -2025-09-24 13:50:20 - INFO - 移动到中位位置 -2025-09-24 13:50:21 - 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 -2025-09-24 13:50:21 - 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"}]} -2025-09-24 13:50:25 - INFO - 移动到码垛中间点位置 -2025-09-24 13:50:25 - INFO - 移动到位置:姿势直线：X:1607.553-Y:729.308-Z:-282.361-U:31.518-V:27.0-W:0.0 -2025-09-24 13:50:25 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"729.308","m2":"-282.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:50:30 - INFO - 移动到扔袋位置 -2025-09-24 13:50:31 - INFO - 移动到扔袋位置 -2025-09-24 13:50:31 - INFO - 移动到扔袋位置 -2025-09-24 13:50:32 - INFO - 移动到扔袋位置 -2025-09-24 13:50:32 - INFO - 已码垛数量：27 -2025-09-24 13:50:32 - 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 -2025-09-24 13:50:32 - 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"}]} -2025-09-24 13:50:33 - INFO - 移动到码垛复位位置 -2025-09-24 13:50:33 - 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 -2025-09-24 13:50:33 - 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"}]} -2025-09-24 13:50:33 - INFO - 拍照 -2025-09-24 13:50:51 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:50:51 - 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"}]} -2025-09-24 13:50:51 - 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 -2025-09-24 13:50:51 - INFO - 执行完成FPhoto -2025-09-24 13:50:53 - INFO - 移动到中位位置 -2025-09-24 13:50:53 - 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 -2025-09-24 13:50:53 - 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"}]} -2025-09-24 13:50:53 - INFO - 移动到中位位置 -2025-09-24 13:50:53 - 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 -2025-09-24 13:50:53 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:50:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:53 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:54 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:54 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:55 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:55 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:56 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:56 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:57 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:58 - INFO - 机器人已到达抓料点位 -2025-09-24 13:50:58 - 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 -2025-09-24 13:50:58 - 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INFO - 移动到中位位置 -2025-09-24 13:51:00 - 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 -2025-09-24 13:51:00 - 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"}]} -2025-09-24 13:51:05 - INFO - 移动到码垛中间点位置 -2025-09-24 13:51:05 - INFO - 移动到位置:姿势直线：X:1607.553-Y:129.308-Z:-282.361-U:31.518-V:28.0-W:0.0 -2025-09-24 13:51:05 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"129.308","m2":"-282.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:51:09 - INFO - 移动到扔袋位置 -2025-09-24 13:51:10 - INFO - 移动到扔袋位置 -2025-09-24 13:51:11 - INFO - 移动到扔袋位置 -2025-09-24 13:51:12 - INFO - 移动到扔袋位置 -2025-09-24 13:51:12 - INFO - 已码垛数量：28 -2025-09-24 13:51:12 - 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 -2025-09-24 13:51:12 - 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"}]} -2025-09-24 13:51:12 - INFO - 移动到码垛复位位置 -2025-09-24 13:51:12 - 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 -2025-09-24 13:51:12 - 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"}]} -2025-09-24 13:51:12 - INFO - 拍照 -2025-09-24 13:51:30 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:51:30 - 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"}]} -2025-09-24 13:51:30 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:32 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:32 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:33 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:34 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:34 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:35 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:35 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:36 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:36 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:51:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:51:37 - INFO - 机器人已到达抓料点位 -2025-09-24 13:51:37 - 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 -2025-09-24 13:51:37 - 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"}]} -2025-09-24 13:51:37 - INFO - 移动到中位位置 -2025-09-24 13:51:37 - 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 -2025-09-24 13:51:38 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:51:38 - INFO - 移动到中位位置 -2025-09-24 13:51:38 - 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 -2025-09-24 13:51:38 - 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"}]} -2025-09-24 13:51:39 - INFO - 移动到中位位置 -2025-09-24 13:51:39 - 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"}]} -2025-09-24 13:51:39 - 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 -2025-09-24 13:51:43 - INFO - 移动到码垛中间点位置 -2025-09-24 13:51:43 - INFO - 移动到位置:姿势直线：X:897.553-Y:-210.692-Z:-282.361-U:-58.482-V:29.0-W:0.0 -2025-09-24 13:51:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"897.553","m1":"-210.692","m2":"-282.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:51:47 - INFO - 移动到扔袋位置 -2025-09-24 13:51:48 - INFO - 移动到扔袋位置 -2025-09-24 13:51:48 - INFO - 移动到扔袋位置 -2025-09-24 13:51:49 - 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"}]} -2025-09-24 13:51:49 - INFO - 移动到扔袋位置 -2025-09-24 13:51:49 - INFO - 已码垛数量：29 -2025-09-24 13:51:50 - 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 -2025-09-24 13:51:50 - INFO - 移动到码垛复位位置 -2025-09-24 13:51:50 - 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"}]} -2025-09-24 13:51:50 - 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 -2025-09-24 13:51:50 - INFO - 拍照 -2025-09-24 13:52:15 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:52:15 - 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"}]} -2025-09-24 13:52:15 - 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 -2025-09-24 13:52:16 - INFO - 执行完成FPhoto -2025-09-24 13:52:17 - INFO - 移动到中位位置 -2025-09-24 13:52:18 - 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 -2025-09-24 13:52:18 - 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"}]} -2025-09-24 13:52:18 - INFO - 移动到中位位置 -2025-09-24 13:52:18 - 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 -2025-09-24 13:52:18 - 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"}]} -2025-09-24 13:52:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:19 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:19 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:20 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:20 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:52:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:52:22 - 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INFO - 移动到中位位置 -2025-09-24 13:52:23 - 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 -2025-09-24 13:52:24 - 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"}]} -2025-09-24 13:52:25 - INFO - 移动到中位位置 -2025-09-24 13:52:25 - 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 -2025-09-24 13:52:25 - 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"}]} -2025-09-24 13:52:29 - INFO - 移动到码垛中间点位置 -2025-09-24 13:52:29 - INFO - 移动到位置:姿势直线：X:897.553-Y:519.308-Z:-202.361-U:-238.482-V:30.0-W:0.0 -2025-09-24 13:52:29 - INFO - 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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"}]} -2025-09-24 21:24:31 - INFO - 检测是否安全投料 -2025-09-24 21:26:07 - INFO - 进入系统 -2025-09-24 21:26:09 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 21:26:09 - INFO - 切换到工具坐标 -2025-09-24 21:26:09 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 21:26:10 - INFO - 切换到自动运行状态 -2025-09-24 21:26:10 - INFO - 第一层确认生产 -2025-09-24 21:26:11 - INFO - 1号线:投料开始 -2025-09-24 21:26:11 - 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"}]} -2025-09-24 21:26:11 - INFO - 发送IO控制: 2，1 -2025-09-24 21:26:16 - 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"}]} -2025-09-24 21:26:16 - INFO - 发送IO控制: 2，0 -2025-09-24 21:26:16 - 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"}]} -2025-09-24 21:26:16 - INFO - 投料开始 -2025-09-24 21:26:16 - 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 -2025-09-24 21:26:16 - 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"}]} -2025-09-24 21:26:17 - INFO - 投料开始 -2025-09-24 21:26:17 - 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INFO - 检测是否安全投料 -2025-09-24 21:26:21 - 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 -2025-09-24 21:26:22 - 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"}]} -2025-09-24 21:26:22 - 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"}]} -2025-09-24 21:26:22 - INFO - 拍照 -2025-09-24 21:26:22 - INFO - 识别图像成功 -2025-09-24 21:26:22 - 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 -2025-09-24 21:26:22 - INFO - 拍照 -2025-09-24 21:26:22 - 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"}]} -2025-09-24 21:26:22 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:26:22 - 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 -2025-09-24 21:26:22 - INFO - 执行完成FPhoto -2025-09-24 21:26:23 - INFO - 移动到中位位置 -2025-09-24 21:26:23 - 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 -2025-09-24 21:26:23 - 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"}]} -2025-09-24 21:26:23 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:26:23 - INFO - 移动到中位位置 -2025-09-24 21:26:23 - 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 -2025-09-24 21:26:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:26:23 - INFO - 机器人已到达抓料点位 -2025-09-24 21:26:23 - 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 -2025-09-24 21:26:24 - 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"}]} -2025-09-24 21:26:24 - INFO - 移动到中位位置 -2025-09-24 21:26:24 - 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 -2025-09-24 21:26:24 - 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"}]} -2025-09-24 21:26:24 - INFO - 移动到中位位置 -2025-09-24 21:26:24 - 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 -2025-09-24 21:26:24 - 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INFO - 移动到码垛中间点位置 -2025-09-24 21:26:25 - INFO - 移动到位置:姿势直线：X:1027.553-Y:-470.692-Z:-1202.361-U:-148.482-V:1.0-W:0.0 -2025-09-24 21:26:25 - INFO - 移动到扔袋位置 -2025-09-24 21:26:25 - INFO - 移动到扔袋位置 -2025-09-24 21:26:25 - INFO - 移动到扔袋位置 -2025-09-24 21:26:25 - INFO - 移动到扔袋位置 -2025-09-24 21:26:25 - INFO - 已码垛数量：1 -2025-09-24 21:26:26 - 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 -2025-09-24 21:26:26 - 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"}]} -2025-09-24 21:26:26 - INFO - 移动到码垛复位位置 -2025-09-24 21:26:26 - 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 -2025-09-24 21:26:26 - 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"}]} -2025-09-24 21:26:26 - INFO - 拍照 -2025-09-24 21:26:26 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:26:26 - 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 -2025-09-24 21:26:26 - 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"}]} -2025-09-24 21:26:27 - INFO - 执行完成FPhoto -2025-09-24 21:26:27 - INFO - 移动到中位位置 -2025-09-24 21:26:27 - 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 -2025-09-24 21:26:27 - 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"}]} -2025-09-24 21:26:27 - INFO - 移动到中位位置 -2025-09-24 21:26:27 - 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 -2025-09-24 21:26:27 - 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"}]} -2025-09-24 21:26:27 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:26:27 - INFO - 机器人已到达抓料点位 -2025-09-24 21:26:27 - 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 -2025-09-24 21:26:28 - 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"}]} -2025-09-24 21:26:28 - INFO - 移动到中位位置 -2025-09-24 21:26:28 - 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 -2025-09-24 21:26:28 - 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INFO - 移动到码垛中间点位置 -2025-09-24 21:26:29 - INFO - 移动到位置:姿势直线：X:1027.553-Y:729.308-Z:-1202.361-U:-148.482-V:2.0-W:0.0 -2025-09-24 21:26:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"729.308","m2":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:26:29 - INFO - 移动到扔袋位置 -2025-09-24 21:26:29 - INFO - 移动到扔袋位置 -2025-09-24 21:26:29 - INFO - 移动到扔袋位置 -2025-09-24 21:26:29 - INFO - 移动到扔袋位置 -2025-09-24 21:26:29 - INFO - 已码垛数量：2 -2025-09-24 21:26:30 - 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 -2025-09-24 21:26:30 - 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"}]} -2025-09-24 21:26:30 - INFO - 移动到码垛复位位置 -2025-09-24 21:26:30 - 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 -2025-09-24 21:26:30 - 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"}]} -2025-09-24 21:26:30 - INFO - 拍照 -2025-09-24 21:26:30 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:26:30 - 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 -2025-09-24 21:26:30 - 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"}]} -2025-09-24 21:26:31 - INFO - 执行完成FPhoto -2025-09-24 21:26:31 - 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"}]} -2025-09-24 21:26:31 - INFO - 移动到中位位置 -2025-09-24 21:26:31 - 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 -2025-09-24 21:26:31 - INFO - 移动到中位位置 -2025-09-24 21:26:31 - 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 -2025-09-24 21:26:31 - 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"}]} -2025-09-24 21:26:31 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:26:31 - INFO - 机器人已到达抓料点位 -2025-09-24 21:26:32 - 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 -2025-09-24 21:26:32 - 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"}]} -2025-09-24 21:26:32 - INFO - 移动到中位位置 -2025-09-24 21:26:32 - 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"}]} -2025-09-24 21:26:32 - 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 -2025-09-24 21:26:32 - 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"}]} -2025-09-24 21:26:32 - INFO - 退出系统 -2025-09-24 21:26:32 - INFO - 移动到中位位置 -2025-09-24 21:26:32 - 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 -2025-09-24 21:29:28 - INFO - 进入系统 -2025-09-24 21:29:31 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 21:29:31 - INFO - 切换到工具坐标 -2025-09-24 21:29:31 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 21:29:31 - INFO - 切换到自动运行状态 -2025-09-24 21:29:31 - INFO - 第一层确认生产 -2025-09-24 21:29:32 - INFO - 1号线:投料开始 -2025-09-24 21:29:32 - 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"}]} -2025-09-24 21:29:32 - INFO - 发送IO控制: 2，1 -2025-09-24 21:29:37 - 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"}]} -2025-09-24 21:29:37 - INFO - 发送IO控制: 2，0 -2025-09-24 21:29:37 - 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"}]} -2025-09-24 21:29:37 - INFO - 投料开始 -2025-09-24 21:29:38 - 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 -2025-09-24 21:29:38 - INFO - 投料开始 -2025-09-24 21:29:38 - 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 -2025-09-24 21:29:38 - 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"}]} -2025-09-24 21:29:38 - INFO - 移动到中位位置 -2025-09-24 21:29:38 - 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 -2025-09-24 21:29:38 - 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"}]} -2025-09-24 21:29:38 - INFO - 检测是否安全投料 -2025-09-24 21:29:38 - 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 -2025-09-24 21:29:39 - 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"}]} -2025-09-24 21:29:39 - INFO - 检测是否安全投料 -2025-09-24 21:29:39 - 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 -2025-09-24 21:29:39 - 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"}]} -2025-09-24 21:29:39 - INFO - 拍照 -2025-09-24 21:29:39 - INFO - 识别图像成功 -2025-09-24 21:29:39 - 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 -2025-09-24 21:29:39 - 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"}]} -2025-09-24 21:29:39 - INFO - 拍照 -2025-09-24 21:29:40 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:29:40 - 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 -2025-09-24 21:29:40 - 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"}]} -2025-09-24 21:29:40 - INFO - 执行完成FPhoto -2025-09-24 21:29:40 - INFO - 移动到中位位置 -2025-09-24 21:29:40 - 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 -2025-09-24 21:29:40 - 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"}]} -2025-09-24 21:29:40 - INFO - 移动到中位位置 -2025-09-24 21:29:40 - 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 -2025-09-24 21:29:41 - 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"}]} -2025-09-24 21:29:41 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:29:41 - INFO - 机器人已到达抓料点位 -2025-09-24 21:29:41 - 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 -2025-09-24 21:29:41 - 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"}]} -2025-09-24 21:29:41 - INFO - 移动到中位位置 -2025-09-24 21:29:41 - 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 -2025-09-24 21:29:41 - 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"}]} -2025-09-24 21:29:41 - INFO - 移动到中位位置 -2025-09-24 21:29:42 - 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 -2025-09-24 21:29:42 - 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"}]} -2025-09-24 21:29:42 - INFO - 移动到中位位置 -2025-09-24 21:29:42 - 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 -2025-09-24 21:29:42 - 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"}]} -2025-09-24 21:29:42 - INFO - 移动到码垛中间点位置 -2025-09-24 21:29:42 - INFO - 移动到位置:姿势直线：X:1027.553-Y:129.308-Z:-1202.361-U:-148.482-V:3.0-W:0.0 -2025-09-24 21:29:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"129.308","m2":"-1202.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:29:42 - INFO - 移动到扔袋位置 -2025-09-24 21:29:42 - INFO - 移动到扔袋位置 -2025-09-24 21:29:43 - INFO - 移动到扔袋位置 -2025-09-24 21:29:43 - INFO - 移动到扔袋位置 -2025-09-24 21:29:43 - INFO - 已码垛数量：3 -2025-09-24 21:29:43 - 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 -2025-09-24 21:29:43 - 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"}]} -2025-09-24 21:29:43 - 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"}]} -2025-09-24 21:29:43 - INFO - 移动到码垛复位位置 -2025-09-24 21:29:43 - 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 -2025-09-24 21:29:43 - INFO - 拍照 -2025-09-24 21:29:44 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:29:44 - 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 -2025-09-24 21:29:44 - 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"}]} -2025-09-24 21:29:44 - INFO - 执行完成FPhoto -2025-09-24 21:29:44 - INFO - 移动到中位位置 -2025-09-24 21:29:44 - 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 -2025-09-24 21:29:44 - 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"}]} -2025-09-24 21:29:44 - INFO - 移动到中位位置 -2025-09-24 21:29:44 - 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 -2025-09-24 21:29:45 - 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"}]} -2025-09-24 21:29:45 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:29:45 - INFO - 机器人已到达抓料点位 -2025-09-24 21:29:45 - 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 -2025-09-24 21:29:45 - 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"}]} -2025-09-24 21:29:45 - INFO - 移动到中位位置 -2025-09-24 21:29:45 - 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 -2025-09-24 21:29:45 - 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INFO - 移动到中位位置 -2025-09-24 21:29:46 - 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 -2025-09-24 21:29:46 - INFO - 移动到码垛中间点位置 -2025-09-24 21:29:46 - INFO - 移动到位置:姿势直线：X:1767.553-Y:-210.692-Z:-1202.361-U:-58.482-V:4.0-W:0.0 -2025-09-24 21:29:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"-210.692","m2":"-1202.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:29:46 - INFO - 移动到扔袋位置 -2025-09-24 21:29:47 - INFO - 移动到扔袋位置 -2025-09-24 21:29:47 - INFO - 移动到扔袋位置 -2025-09-24 21:29:47 - INFO - 移动到扔袋位置 -2025-09-24 21:29:47 - INFO - 已码垛数量：4 -2025-09-24 21:29:47 - 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 -2025-09-24 21:29:47 - 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"}]} -2025-09-24 21:29:47 - 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"}]} -2025-09-24 21:29:47 - INFO - 移动到码垛复位位置 -2025-09-24 21:29:47 - 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 -2025-09-24 21:29:47 - INFO - 拍照 -2025-09-24 21:29:48 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:29:48 - 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 -2025-09-24 21:29:48 - 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"}]} -2025-09-24 21:29:48 - INFO - 执行完成FPhoto -2025-09-24 21:29:48 - INFO - 移动到中位位置 -2025-09-24 21:29:48 - 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 -2025-09-24 21:29:48 - 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"}]} -2025-09-24 21:29:48 - 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"}]} -2025-09-24 21:29:48 - INFO - 移动到中位位置 -2025-09-24 21:29:49 - 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 -2025-09-24 21:29:49 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:29:49 - INFO - 机器人已到达抓料点位 -2025-09-24 21:29:49 - 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 -2025-09-24 21:29:49 - 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"}]} -2025-09-24 21:29:49 - INFO - 移动到中位位置 -2025-09-24 21:29:49 - 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 -2025-09-24 21:29:49 - 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"}]} -2025-09-24 21:29:49 - INFO - 移动到中位位置 -2025-09-24 21:29:50 - 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 -2025-09-24 21:29:50 - 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"}]} -2025-09-24 21:29:50 - 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"}]} -2025-09-24 21:29:50 - INFO - 移动到中位位置 -2025-09-24 21:29:50 - 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 -2025-09-24 21:29:50 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"519.308","m2":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:29:50 - INFO - 移动到码垛中间点位置 -2025-09-24 21:29:50 - INFO - 移动到位置:姿势直线：X:1767.553-Y:519.308-Z:-1202.361-U:-238.482-V:5.0-W:0.0 -2025-09-24 21:29:50 - INFO - 移动到扔袋位置 -2025-09-24 21:29:51 - INFO - 移动到扔袋位置 -2025-09-24 21:29:51 - INFO - 移动到扔袋位置 -2025-09-24 21:29:51 - INFO - 移动到扔袋位置 -2025-09-24 21:29:51 - INFO - 已码垛数量：5 -2025-09-24 21:29:51 - 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 -2025-09-24 21:29:51 - 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"}]} -2025-09-24 21:29:51 - INFO - 移动到码垛复位位置 -2025-09-24 21:29:51 - 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"}]} -2025-09-24 21:29:51 - 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 -2025-09-24 21:29:51 - INFO - 拍照 -2025-09-24 21:29:52 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:29:52 - 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 -2025-09-24 21:29:52 - 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"}]} -2025-09-24 21:29:52 - INFO - 执行完成FPhoto -2025-09-24 21:29:52 - INFO - 移动到中位位置 -2025-09-24 21:29:52 - 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 -2025-09-24 21:29:52 - 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"}]} -2025-09-24 21:29:52 - INFO - 移动到中位位置 -2025-09-24 21:29:52 - 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 -2025-09-24 21:29:53 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:29:53 - 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"}]} -2025-09-24 21:29:53 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:29:53 - INFO - 机器人已到达抓料点位 -2025-09-24 21:29:53 - 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 -2025-09-24 21:29:53 - INFO - 移动到中位位置 -2025-09-24 21:29:53 - 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 -2025-09-24 21:29:53 - 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"}]} -2025-09-24 21:29:53 - 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"}]} -2025-09-24 21:29:54 - INFO - 移动到中位位置 -2025-09-24 21:29:54 - 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 -2025-09-24 21:29:54 - 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"}]} -2025-09-24 21:29:54 - INFO - 移动到中位位置 -2025-09-24 21:29:54 - 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 -2025-09-24 21:29:54 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"-470.692","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:29:54 - INFO - 移动到码垛中间点位置 -2025-09-24 21:29:54 - INFO - 移动到位置:姿势直线：X:1607.553-Y:-470.692-Z:-1002.361-U:31.518-V:6.0-W:0.0 -2025-09-24 21:29:54 - INFO - 移动到扔袋位置 -2025-09-24 21:29:55 - INFO - 移动到扔袋位置 -2025-09-24 21:29:55 - INFO - 移动到扔袋位置 -2025-09-24 21:29:55 - 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"}]} -2025-09-24 21:29:55 - INFO - 移动到扔袋位置 -2025-09-24 21:29:55 - INFO - 已码垛数量：6 -2025-09-24 21:29:55 - 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 -2025-09-24 21:29:55 - INFO - 移动到码垛复位位置 -2025-09-24 21:29:55 - 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 -2025-09-24 21:29:55 - 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"}]} -2025-09-24 21:29:56 - INFO - 拍照 -2025-09-24 21:29:56 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:29:56 - 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 -2025-09-24 21:29:56 - 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"}]} -2025-09-24 21:29:56 - INFO - 执行完成FPhoto -2025-09-24 21:29:56 - INFO - 移动到中位位置 -2025-09-24 21:29:56 - 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 -2025-09-24 21:29:56 - 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"}]} -2025-09-24 21:29:56 - INFO - 移动到中位位置 -2025-09-24 21:29:57 - 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 -2025-09-24 21:29:57 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:29:57 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:29:57 - INFO - 机器人已到达抓料点位 -2025-09-24 21:29:57 - 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 -2025-09-24 21:29:57 - 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"}]} -2025-09-24 21:29:57 - INFO - 移动到中位位置 -2025-09-24 21:29:57 - 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 -2025-09-24 21:29:57 - 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"}]} -2025-09-24 21:29:57 - INFO - 移动到中位位置 -2025-09-24 21:29:58 - 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 -2025-09-24 21:29:58 - 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"}]} -2025-09-24 21:29:58 - 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"}]} -2025-09-24 21:29:58 - INFO - 移动到中位位置 -2025-09-24 21:29:58 - 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 -2025-09-24 21:29:58 - INFO - 移动到码垛中间点位置 -2025-09-24 21:29:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"729.308","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:29:58 - INFO - 移动到位置:姿势直线：X:1607.553-Y:729.308-Z:-1002.361-U:31.518-V:7.0-W:0.0 -2025-09-24 21:29:58 - INFO - 移动到扔袋位置 -2025-09-24 21:29:59 - INFO - 移动到扔袋位置 -2025-09-24 21:29:59 - INFO - 移动到扔袋位置 -2025-09-24 21:29:59 - INFO - 移动到扔袋位置 -2025-09-24 21:29:59 - INFO - 已码垛数量：7 -2025-09-24 21:29:59 - 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 -2025-09-24 21:29:59 - 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"}]} -2025-09-24 21:29:59 - INFO - 移动到码垛复位位置 -2025-09-24 21:29:59 - 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 -2025-09-24 21:29:59 - 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"}]} -2025-09-24 21:30:00 - INFO - 拍照 -2025-09-24 21:30:00 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:30:00 - 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 -2025-09-24 21:30:00 - 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"}]} -2025-09-24 21:30:00 - INFO - 执行完成FPhoto -2025-09-24 21:30:00 - INFO - 移动到中位位置 -2025-09-24 21:30:00 - 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 -2025-09-24 21:30:00 - 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"}]} -2025-09-24 21:30:00 - INFO - 移动到中位位置 -2025-09-24 21:30:01 - 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 -2025-09-24 21:30:01 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:30:01 - 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"}]} -2025-09-24 21:30:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:30:01 - INFO - 机器人已到达抓料点位 -2025-09-24 21:30:01 - 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 -2025-09-24 21:30:01 - 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"}]} -2025-09-24 21:30:01 - INFO - 移动到中位位置 -2025-09-24 21:30:01 - 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 -2025-09-24 21:30:01 - INFO - 移动到中位位置 -2025-09-24 21:30:02 - 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 -2025-09-24 21:30:02 - 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"}]} -2025-09-24 21:30:02 - 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"}]} -2025-09-24 21:30:02 - INFO - 移动到中位位置 -2025-09-24 21:30:02 - 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 -2025-09-24 21:30:02 - INFO - 移动到码垛中间点位置 -2025-09-24 21:30:02 - INFO - 移动到位置:姿势直线：X:1607.553-Y:129.308-Z:-1002.361-U:31.518-V:8.0-W:0.0 -2025-09-24 21:30:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"129.308","m2":"-1002.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:30:02 - INFO - 移动到扔袋位置 -2025-09-24 21:30:03 - INFO - 移动到扔袋位置 -2025-09-24 21:30:03 - INFO - 移动到扔袋位置 -2025-09-24 21:30:03 - INFO - 移动到扔袋位置 -2025-09-24 21:30:03 - INFO - 已码垛数量：8 -2025-09-24 21:30:03 - 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 -2025-09-24 21:30:03 - 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"}]} -2025-09-24 21:30:03 - INFO - 移动到码垛复位位置 -2025-09-24 21:30:03 - 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 -2025-09-24 21:30:03 - 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"}]} -2025-09-24 21:30:04 - INFO - 拍照 -2025-09-24 21:30:04 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:30:04 - 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 -2025-09-24 21:30:04 - 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"}]} -2025-09-24 21:30:04 - INFO - 执行完成FPhoto -2025-09-24 21:30:04 - INFO - 移动到中位位置 -2025-09-24 21:30:04 - 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 -2025-09-24 21:30:04 - 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"}]} -2025-09-24 21:30:04 - INFO - 移动到中位位置 -2025-09-24 21:30:05 - 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 -2025-09-24 21:30:05 - 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"}]} -2025-09-24 21:30:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:30:05 - INFO - 机器人已到达抓料点位 -2025-09-24 21:30:05 - 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 -2025-09-24 21:30:05 - 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"}]} -2025-09-24 21:30:05 - 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"}]} -2025-09-24 21:30:05 - INFO - 移动到中位位置 -2025-09-24 21:30:05 - 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 -2025-09-24 21:30:06 - INFO - 移动到中位位置 -2025-09-24 21:30:06 - 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 -2025-09-24 21:30:06 - 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"}]} -2025-09-24 21:42:16 - INFO - 进入系统 -2025-09-24 21:42:19 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 21:42:19 - INFO - 切换到工具坐标 -2025-09-24 21:42:19 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 21:42:19 - INFO - 切换到自动运行状态 -2025-09-24 21:42:20 - INFO - 第一层确认生产 -2025-09-24 21:42:21 - INFO - 1号线:投料开始 -2025-09-24 21:42:21 - 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"}]} -2025-09-24 21:42:21 - INFO - 发送IO控制: 2，1 -2025-09-24 21:42:26 - 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"}]} -2025-09-24 21:42:26 - INFO - 发送IO控制: 2，0 -2025-09-24 21:42:26 - 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"}]} -2025-09-24 21:42:26 - INFO - 投料开始 -2025-09-24 21:42:26 - 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 -2025-09-24 21:42:26 - INFO - 投料开始 -2025-09-24 21:42:26 - 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 -2025-09-24 21:42:26 - 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"}]} -2025-09-24 21:42:27 - INFO - 移动到中位位置 -2025-09-24 21:42:27 - 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 -2025-09-24 21:42:27 - 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"}]} -2025-09-24 21:42:27 - 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"}]} -2025-09-24 21:42:27 - INFO - 检测是否安全投料 -2025-09-24 21:42:27 - 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 -2025-09-24 21:42:27 - INFO - 检测是否安全投料 -2025-09-24 21:42:27 - 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 -2025-09-24 21:42:27 - 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"}]} -2025-09-24 21:42:28 - INFO - 拍照 -2025-09-24 21:42:28 - 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"}]} -2025-09-24 21:42:28 - INFO - 识别图像成功 -2025-09-24 21:42:28 - 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 -2025-09-24 21:42:28 - INFO - 拍照 -2025-09-24 21:42:28 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:42:28 - 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 -2025-09-24 21:42:28 - 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"}]} -2025-09-24 21:42:28 - INFO - 执行完成FPhoto -2025-09-24 21:42:28 - INFO - 移动到中位位置 -2025-09-24 21:42:29 - 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 -2025-09-24 21:42:29 - 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"}]} -2025-09-24 21:42:29 - INFO - 移动到中位位置 -2025-09-24 21:42:29 - 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 -2025-09-24 21:42:29 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:42:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:42:29 - INFO - 机器人已到达抓料点位 -2025-09-24 21:42:29 - 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 -2025-09-24 21:42:29 - 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"}]} -2025-09-24 21:42:30 - INFO - 移动到中位位置 -2025-09-24 21:42:30 - 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 -2025-09-24 21:42:30 - 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"}]} -2025-09-24 21:42:30 - INFO - 移动到中位位置 -2025-09-24 21:42:30 - 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 -2025-09-24 21:42:30 - 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"}]} -2025-09-24 21:42:30 - INFO - 移动到中位位置 -2025-09-24 21:42:30 - 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 -2025-09-24 21:42:30 - 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"}]} -2025-09-24 21:42:31 - INFO - 移动到码垛中间点位置 -2025-09-24 21:42:31 - INFO - 移动到位置:姿势直线：X:897.553-Y:-210.692-Z:-1002.361-U:-58.482-V:9.0-W:0.0 -2025-09-24 21:42:31 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"897.553","m1":"-210.692","m2":"-1002.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:42:31 - INFO - 移动到扔袋位置 -2025-09-24 21:42:31 - INFO - 移动到扔袋位置 -2025-09-24 21:42:31 - INFO - 移动到扔袋位置 -2025-09-24 21:42:31 - INFO - 移动到扔袋位置 -2025-09-24 21:42:31 - INFO - 已码垛数量：9 -2025-09-24 21:42:31 - 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 -2025-09-24 21:42:32 - 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"}]} -2025-09-24 21:42:32 - INFO - 移动到码垛复位位置 -2025-09-24 21:42:32 - 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 -2025-09-24 21:42:32 - 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"}]} -2025-09-24 21:42:32 - INFO - 拍照 -2025-09-24 21:42:32 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:42:32 - 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 -2025-09-24 21:42:32 - 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"}]} -2025-09-24 21:42:32 - INFO - 执行完成FPhoto -2025-09-24 21:42:33 - INFO - 移动到中位位置 -2025-09-24 21:42:33 - 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 -2025-09-24 21:42:33 - 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"}]} -2025-09-24 21:42:33 - INFO - 移动到中位位置 -2025-09-24 21:42:33 - 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 -2025-09-24 21:42:33 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:42:33 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:42:33 - INFO - 机器人已到达抓料点位 -2025-09-24 21:42:33 - 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 -2025-09-24 21:42:33 - 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"}]} -2025-09-24 21:42:34 - INFO - 移动到中位位置 -2025-09-24 21:42:34 - 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 -2025-09-24 21:42:34 - 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"}]} -2025-09-24 21:42:34 - INFO - 移动到中位位置 -2025-09-24 21:42:34 - 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 -2025-09-24 21:42:34 - 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"}]} -2025-09-24 21:42:34 - INFO - 移动到中位位置 -2025-09-24 21:42:34 - 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 -2025-09-24 21:42:34 - 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"}]} -2025-09-24 21:42:35 - INFO - 移动到码垛中间点位置 -2025-09-24 21:42:35 - INFO - 移动到位置:姿势直线：X:897.553-Y:519.308-Z:-1002.361-U:-238.482-V:10.0-W:0.0 -2025-09-24 21:42:35 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"897.553","m1":"519.308","m2":"-1002.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:42:35 - INFO - 移动到扔袋位置 -2025-09-24 21:42:35 - INFO - 移动到扔袋位置 -2025-09-24 21:42:35 - INFO - 移动到扔袋位置 -2025-09-24 21:42:35 - INFO - 移动到扔袋位置 -2025-09-24 21:42:35 - INFO - 已码垛数量：10 -2025-09-24 21:42:35 - 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 -2025-09-24 21:42:36 - 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"}]} -2025-09-24 21:42:36 - INFO - 移动到码垛复位位置 -2025-09-24 21:42:36 - 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 -2025-09-24 21:42:36 - 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"}]} -2025-09-24 21:42:36 - INFO - 拍照 -2025-09-24 21:42:36 - INFO - 投料暂停 -2025-09-24 21:42:36 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 21:42:36 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:42:36 - 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 -2025-09-24 21:42:37 - 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"}]} -2025-09-24 21:42:37 - INFO - 执行完成FPhoto -2025-09-24 21:42:37 - INFO - 清除报警 -2025-09-24 21:42:37 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 21:42:37 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 21:42:37 - INFO - 按下急停 -2025-09-24 21:42:40 - INFO - 退出系统 -2025-09-24 21:46:56 - INFO - 进入系统 -2025-09-24 21:46:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 21:46:58 - INFO - 切换到工具坐标 -2025-09-24 21:46:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 21:46:58 - INFO - 切换到自动运行状态 -2025-09-24 21:46:59 - INFO - 第一层确认生产 -2025-09-24 21:46:59 - INFO - 1号线:投料开始 -2025-09-24 21:47:00 - 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"}]} -2025-09-24 21:47:00 - INFO - 发送IO控制: 2，1 -2025-09-24 21:47:04 - 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"}]} -2025-09-24 21:47:05 - INFO - 发送IO控制: 2，0 -2025-09-24 21:47:05 - 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"}]} -2025-09-24 21:47:05 - INFO - 投料开始 -2025-09-24 21:47:05 - 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 -2025-09-24 21:47:05 - INFO - 投料开始 -2025-09-24 21:47:05 - 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 -2025-09-24 21:47:05 - 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"}]} -2025-09-24 21:47:05 - INFO - 移动到中位位置 -2025-09-24 21:47:05 - 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 -2025-09-24 21:47:06 - 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"}]} -2025-09-24 21:47:06 - INFO - 检测是否安全投料 -2025-09-24 21:47:06 - 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 -2025-09-24 21:47:06 - 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"}]} -2025-09-24 21:47:06 - INFO - 检测是否安全投料 -2025-09-24 21:47:06 - 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 -2025-09-24 21:47:06 - 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"}]} -2025-09-24 21:47:06 - INFO - 拍照 -2025-09-24 21:47:06 - INFO - 识别图像成功 -2025-09-24 21:47:07 - 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 -2025-09-24 21:47:07 - 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"}]} -2025-09-24 21:47:07 - INFO - 拍照 -2025-09-24 21:47:07 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:47:07 - 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 -2025-09-24 21:47:07 - 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"}]} -2025-09-24 21:47:07 - INFO - 执行完成FPhoto -2025-09-24 21:47:07 - INFO - 移动到中位位置 -2025-09-24 21:47:07 - 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 -2025-09-24 21:47:08 - 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"}]} -2025-09-24 21:47:08 - INFO - 移动到中位位置 -2025-09-24 21:47:08 - 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 -2025-09-24 21:47:08 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:47:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 21:47:08 - INFO - 机器人已到达抓料点位 -2025-09-24 21:47:08 - 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 -2025-09-24 21:47:08 - 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"}]} -2025-09-24 21:47:08 - INFO - 移动到中位位置 -2025-09-24 21:47:09 - 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 -2025-09-24 21:47:09 - 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INFO - 移动到码垛中间点位置 -2025-09-24 21:47:09 - INFO - 移动到位置:姿势直线：X:1027.553-Y:-470.692-Z:-802.361-U:-148.482-V:11.0-W:0.0 -2025-09-24 21:47:10 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"-470.692","m2":"-802.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:47:10 - INFO - 移动到扔袋位置 -2025-09-24 21:47:10 - INFO - 移动到扔袋位置 -2025-09-24 21:47:10 - INFO - 移动到扔袋位置 -2025-09-24 21:47:10 - INFO - 投料暂停 -2025-09-24 21:47:10 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 21:47:12 - INFO - 清除报警 -2025-09-24 21:47:12 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 21:47:12 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 21:47:12 - 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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"}]} -2025-09-24 21:47:27 - INFO - 投料开始 -2025-09-24 21:47:27 - 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 -2025-09-24 21:47:28 - 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"}]} -2025-09-24 21:47:28 - INFO - 移动到中位位置 -2025-09-24 21:47:29 - 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 -2025-09-24 21:47:29 - 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"}]} -2025-09-24 21:47:30 - INFO - 检测是否安全投料 -2025-09-24 21:47:30 - 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 -2025-09-24 21:47:30 - 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"}]} -2025-09-24 21:47:30 - INFO - 投料暂停 -2025-09-24 21:47:30 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 21:47:32 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]} -2025-09-24 21:47:32 - INFO - 投料继续 -2025-09-24 21:47:32 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 21:47:32 - INFO - 切换到自动运行状态 -2025-09-24 21:47:32 - 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"}]} -2025-09-24 21:47:32 - INFO - 检测是否安全投料 -2025-09-24 21:47:32 - 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 -2025-09-24 21:47:33 - 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"}]} -2025-09-24 21:47:33 - INFO - 拍照 -2025-09-24 21:47:33 - INFO - 识别图像成功 -2025-09-24 21:47:33 - 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 -2025-09-24 21:47:33 - INFO - 投料暂停 -2025-09-24 21:47:33 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 21:47:35 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]} -2025-09-24 21:47:35 - INFO - 投料继续 -2025-09-24 21:47:35 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 21:47:35 - INFO - 切换到自动运行状态 -2025-09-24 21:47:35 - INFO - 拍照 -2025-09-24 21:47:36 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 21:47:36 - 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"}]} -2025-09-24 21:47:36 - 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 -2025-09-24 21:47:36 - INFO - 执行完成FPhoto -2025-09-24 21:47:37 - INFO - 移动到中位位置 -2025-09-24 21:47:37 - 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 -2025-09-24 21:47:37 - 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"}]} -2025-09-24 21:47:37 - INFO - 投料暂停 -2025-09-24 21:47:37 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 21:47:43 - INFO - 清除报警 -2025-09-24 21:47:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-24 21:47:44 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-24 21:47:44 - INFO - 按下急停 -2025-09-24 21:48:05 - INFO - 退出系统 -2025-09-28 10:57:07 - INFO - 进入系统 -2025-09-28 10:57:30 - INFO - 退出系统 -2025-09-30 10:44:12 - INFO - 进入系统 -2025-09-30 10:44:40 - ERROR - 无回复 -2025-09-30 10:44:43 - INFO - 退出系统 -2025-09-30 11:03:51 - INFO - 进入系统 -2025-09-30 11:03:57 - INFO - 退出系统 diff --git a/main.py b/main.py index 7dcdb49..d3cba91 100644 --- a/main.py +++ b/main.py @@ -59,7 +59,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.setupUi(self) #传感器继电器加入变量 self.relay_controller = RelayController() - self.drop_position_manager = DropPositionManager() + self.drop_position_manager = DropPositionManager(Constant.dropLine_set_file) self.sensor_thread = None self.sensor2_thread = None self.last_status_printed = None @@ -242,7 +242,10 @@ class MainWindow(QMainWindow, Ui_MainWindow): line_model.save_line_model(config_reader) config_reader.write(open(Constant.feedLine_set_file, 'w', encoding='utf-8')) elif section.startswith(Constant.dropLine_set_section): - self.drop_position_manager.save_path_points(line_model) + loc_dropline_file=Constant.dropLine_set_file + if section.endswith('-35'): + loc_dropline_file=Constant.dropLine_set_file_35 + DropPositionManager(loc_dropline_file).save_path_points(line_model) self.init_FeedLine() break self.init_table_lines_data() @@ -335,7 +338,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): def show_lines_pos_data(self,line_index): if self.selected_line_section!='' and self.selected_line_section != self.tableWidget_lines.item(line_index,0).text(): if self.table_position_changed or self.table_line_changed: - msgBox = QMessageBox() + msgBox = QMessageBox(self) msgBox.setText("已修改的数据，是否保存？") msgBox.setStandardButtons(QMessageBox.Yes | QMessageBox.No) result = msgBox.exec() @@ -408,7 +411,10 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.tableWidget_line_positions.removeRow(self.tableWidget_line_positions.currentRow()) if self.selected_line_section.startswith(Constant.dropLine_set_section): - self.drop_position_manager.del_drop_point(section) + loc_dropline_file=Constant.dropLine_set_file + if self.selected_line_section.endswith('-35'): + loc_dropline_file=Constant.dropLine_set_file_35 + DropPositionManager(loc_dropline_file).del_drop_point(section) else: config_writer = configparser.ConfigParser() config_writer.read(Constant.feedLine_set_file, encoding = 'utf-8') @@ -448,7 +454,6 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.set_positionModel_to_tabel(row_i+1,position_model) self.table_line_changed = True - def tabel_move_position(self,row_i): if self.tableWidget_line_positions.currentRow()==-1: QMessageBox.information(self, "提示", Constant.str_sys_set_position_error) @@ -566,11 +571,13 @@ class MainWindow(QMainWindow, Ui_MainWindow): pass def init_log(self): + """初始化日志显示到界面上""" log.log_info_signal.connect(self.log_info_message) log.log_error_signal.connect(self.log_error_message) log.log_warning_signal.connect(self.log_warning_message) log.init_log(self.textEdit_log_info, self.textEdit_log_error, Constant.log_file_path) log.log_message(logging.INFO, Constant.str_sys_start) + def log_info_message(self,message): now = datetime.now() formatted_time = now.strftime("%Y-%m-%d %H:%M:%S") @@ -752,6 +759,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): # self.camera_img.update_camera_image.connect(self.updateUI_label_detection) self.feeding.log_signal.connect(self.log_message) self.feeding.stack_finish_signal.connect(self.stack_finish) + self.relay_controller.log_signal.connect(self.log_message) # self.camera_img=CameraImg(self.feeding) # self.camera_img.update_camera_image.connect(self.updateUI_label_detection) @@ -778,112 +786,6 @@ class MainWindow(QMainWindow, Ui_MainWindow): else: return Error_Code.SYS_NETERROR - def init_seting_frame(self): - - rows = len(self.feedLine_dict.keys()) + 1 - self.tableWidget_feedSeting.setRowCount(rows) - self.tableWidget_feedSeting.setColumnCount(20+2*6) - # 设置第一重表头的合并 (三列一组) - self.tableWidget_feedSeting_addtional_col_num = 2 - - self.tableWidget_feedSeting.setSpan(0, 0 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并前3列 - self.tableWidget_feedSeting.setSpan(0, 6 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列 - self.tableWidget_feedSeting.setSpan(0, 12 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列 - self.tableWidget_feedSeting.setSpan(0, 18 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列 - self.tableWidget_feedSeting.setSpan(0, 24 + self.tableWidget_feedSeting_addtional_col_num, 1, 6) # 合并后3列 - - - self.tableWidget_feedSeting.itemChanged.connect(self.send_tabelFeedSet_itemChanged) - - btn_safe = QPushButton("获取安全位置") - widget_safe = QWidget() - layout_safe = QHBoxLayout() - layout_safe.addWidget(btn_safe) - # 调整布局的间距，使之更紧凑 - layout_safe.setContentsMargins(0, 0, 0, 0) - # 将布局设置到 QWidget 容器中 - widget_safe.setLayout(layout_safe) - - - btn_bk1 = QPushButton("获取破袋位置1") - widget_bk1 = QWidget() - layout_bk1 = QHBoxLayout() - layout_bk1.addWidget(btn_bk1) - # 调整布局的间距，使之更紧凑 - layout_bk1.setContentsMargins(0, 0, 0, 0) - # 将布局设置到 QWidget 容器中 - widget_bk1.setLayout(layout_bk1) - - btn_bk2 = QPushButton("获取破袋位置2") - widget_bk2 = QWidget() - layout_bk2 = QHBoxLayout() - layout_bk2.addWidget(btn_bk2) - # 调整布局的间距，使之更紧凑 - layout_bk2.setContentsMargins(0, 0, 0, 0) - # 将布局设置到 QWidget 容器中 - widget_bk2.setLayout(layout_bk2) - - btn_shake = QPushButton("获取摇晃位置") - widget_shake = QWidget() - layout_shake = QHBoxLayout() - layout_shake.addWidget(btn_shake) - layout_shake.setContentsMargins(0, 0, 0, 0) - widget_shake.setLayout(layout_shake) - - - btn_dropbag = QPushButton("获取丢袋位置") - widget_dropbag = QWidget() - layout_dropbag = QHBoxLayout() - layout_dropbag.addWidget(btn_dropbag) - # 调整布局的间距，使之更紧凑 - layout_dropbag.setContentsMargins(0, 0, 0, 0) - # 将布局设置到 QWidget 容器中 - widget_dropbag.setLayout(layout_dropbag) - - - - - - btn_safe.clicked.connect(self.send_get_safe_position_button_click) - btn_bk1.clicked.connect(self.send_get_broken1_position_button_click) - btn_bk2.clicked.connect(self.send_get_broken2_position_button_click) - btn_shake.clicked.connect(self.send_get_shake_position_button_click) - btn_dropbag.clicked.connect(self.send_get_dropbag_position_button_click) - - # 添加第一重表头项 - - self.tableWidget_feedSeting.setCellWidget(0, 0 + self.tableWidget_feedSeting_addtional_col_num, widget_safe) - self.tableWidget_feedSeting.setCellWidget(0, 6 + self.tableWidget_feedSeting_addtional_col_num, widget_bk1) - self.tableWidget_feedSeting.setCellWidget(0, 12 + self.tableWidget_feedSeting_addtional_col_num, widget_bk2) - self.tableWidget_feedSeting.setCellWidget(0, 18 + self.tableWidget_feedSeting_addtional_col_num, widget_shake) - self.tableWidget_feedSeting.setCellWidget(0, 24 + self.tableWidget_feedSeting_addtional_col_num, widget_dropbag) - - - self.tableWidget_feedSeting.setSelectionBehavior(QTableWidget.SelectRows) - self.tableWidget_feedSeting.setAutoScroll(True) - # 添加第二重表头 - self.tableWidget_feedSeting.setHorizontalHeaderLabels( - ['header', '线名', 'X1', 'Y1', 'Z1', 'U1', 'V1', 'W1', 'X2', 'Y2', 'Z2', 'U2', 'V2', 'W2', 'X3', 'Y3', 'Z3', - 'U3', 'V3', 'W3', 'X4', 'Y4', 'Z4', 'U4', 'V4', 'W4', 'X5', 'Y5', 'Z5', 'U5', 'V5', 'W5']) - - self.tableWidget_feedSeting.hideColumn(0) - # 填充数据行 - for row, (feed_line_key, feed_line) in enumerate(self.feedLine_dict.items()): - self.tableWidget_feedSeting.setItem(row + 1, 0, QTableWidgetItem(feed_line_key)) - self.tableWidget_feedSeting.setItem(row + 1, 1, QTableWidgetItem(feed_line.name)) - self.set_position_to_tabel(row + 1, 0, feed_line.safe_position) - self.set_position_to_tabel(row + 1, 1, feed_line.broken1_position) - self.set_position_to_tabel(row + 1, 2, feed_line.broken2_position) - self.set_position_to_tabel(row + 1, 3, feed_line.broken2_position) - self.set_position_to_tabel(row + 1, 4, feed_line.drop_bag_position) - - - # 禁用自动表头 - self.tableWidget_feedSeting.verticalHeader().setVisible(True) - self.pushButton_tableFeedSet_addRow.clicked.connect(self.send_tabelFeedSet_addRow) - self.pushButton_tableFeedSet_deleRow.clicked.connect(self.send_tabelFeedSet_delRow) - self.pushButton_tableFeedSet_save.clicked.connect(self.send_tabelFeedSet_save) - def init_FeedLine(self): # line_count = self.configReader.get('Robot_Feed', 'LineCount', fallback=0) configReader = configparser.ConfigParser() @@ -895,10 +797,13 @@ class MainWindow(QMainWindow, Ui_MainWindow): feed_line.read_line_model(config_reader=configReader,index=i) self.feedLine_dict[f'{Constant.feedLine_set_section}{i}'] = feed_line #加载所有码垛的路径信息 - for i in range(1,Constant.MAX_Line_num): - line_model = self.drop_position_manager.load_path_points(i) - if line_model: - self.feedLine_dict[f'{Constant.dropLine_set_section}{i}'] = line_model + # for i in range(1,Constant.MAX_Line_num): + line_model = DropPositionManager(Constant.dropLine_set_file).load_path_points(1) + if line_model: + self.feedLine_dict[f'{Constant.dropLine_set_section}-50'] = line_model + line_model = DropPositionManager(Constant.dropLine_set_file_35).load_path_points(1) + if line_model: + self.feedLine_dict[f'{Constant.dropLine_set_section}-35'] = line_model # self.updateUI_Select_Line() # 9/29 初始化线名选择框 和 重量选择框 @@ -977,15 +882,13 @@ class MainWindow(QMainWindow, Ui_MainWindow): pass - - def check_continue(self): if self.remain_Count!=0: for key in self.feedLine_dict.keys(): feed_line = self.feedLine_dict[key] if f'FeedLine{self.remain_lineName}' == key: #提示 - remain_messageBox = QMessageBox() + remain_messageBox = QMessageBox(self) remain_messageBox.setIcon(QMessageBox.Icon.Warning) remain_messageBox.setText(f'还有{self.remain_Count}袋未投料，是否继续？') # 这里返回多少袋没有投料 # remain_messageBox.setStandardButtons(QMessageBox.StandardButton.Ok | QMessageBox.StandardButton.Cancel) @@ -1019,7 +922,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.send_start_tool_command() log.log_message(logging.INFO, Constant.str_sys_start_tool) - msg_box_person = QMessageBox() + msg_box_person = QMessageBox(self) msg_box_person.setIcon(QMessageBox.Icon.Information) msg_box_person.setText("是否确认生产区域安全继续生产？") msg_box_person.setWindowTitle("提示") @@ -1058,8 +961,24 @@ class MainWindow(QMainWindow, Ui_MainWindow): return self.label_button_status.setText("运行中...") + self.drop_position_manager=DropPositionManager(Constant.dropLine_set_file_35) + self.relay_controller.set_drop_35(True) + #注意码垛数和码垛总数 # num=25 #先默认30包码垛 - self.command_quene.put(FeedCommand(FeedingConfig(num, FeedLine(self.feedLine_dict[line_head].id,self.feedLine_dict[line_head].name,self.feedLine_dict[line_head].positions,self.remain_Count), self.feeding.robotClient.photo_locs[:],self.remain_Count))) + self.command_quene.put( + FeedCommand( + FeedingConfig(num, + FeedLine( + self.feedLine_dict[line_head].id, + self.feedLine_dict[line_head].name, + self.feedLine_dict[line_head].positions, + self.remain_Count, + self.drop_position_manager + ) + , self.feeding.robotClient.photo_locs[:],self.remain_Count + ) + ) + ) # self.stackedWidget_num.setCurrentIndex(1) self.set_run_status_button(True) self.feeding.pause = False @@ -1267,98 +1186,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): #self.pushButton_speed.setText(str(Constant.speed)) log.log_message(logging.INFO, Constant.str_sys_setSpeed + str(self.robotClient.debug_speed)+'|'+str(self.robotClient.feed_speed)) pass - - def send_get_safe_position_button_click(self): - real_position = self.robotClient.status_model.getRealPosition() - row_i = self.tableWidget_feedSeting.currentRow() - head = self.tableWidget_feedSeting.item(row_i, 0).text() - self.feedLine_dict[head].safe_position.init_position(real_position.X, real_position.Y, real_position.Z, - real_position.U, real_position.V, real_position.W) - self.set_position_to_tabel(row_i, 0, real_position) - - - def send_get_broken1_position_button_click(self): - real_position = self.robotClient.status_model.getRealPosition() - row_i = self.tableWidget_feedSeting.currentRow() - head = self.tableWidget_feedSeting.item(row_i, 0).text() - self.feedLine_dict[head].broken1_position.init_position(real_position.X, real_position.Y, real_position.Z, - real_position.U, real_position.V, real_position.W) - self.set_position_to_tabel(row_i, 1, real_position) - - def send_get_broken2_position_button_click(self): - real_position = self.robotClient.status_model.getRealPosition() - row_i = self.tableWidget_feedSeting.currentRow() - head = self.tableWidget_feedSeting.item(row_i, 0).text() - self.feedLine_dict[head].broken2_position.init_position(real_position.X, real_position.Y, real_position.Z, - real_position.U, real_position.V, real_position.W) - self.set_position_to_tabel(row_i, 2, real_position) - - def send_get_shake_position_button_click(self): - real_position = self.robotClient.status_model.getRealPosition() - row_i = self.tableWidget_feedSeting.currentRow() - head = self.tableWidget_feedSeting.item(row_i, 0).text() - self.feedLine_dict[head].shake_position.init_position(real_position.X, real_position.Y, real_position.Z, - real_position.U, real_position.V, real_position.W) - self.set_position_to_tabel(row_i, 3, real_position) - - def send_get_dropbag_position_button_click(self): - real_position = self.robotClient.status_model.getRealPosition() - row_i = self.tableWidget_feedSeting.currentRow() - head = self.tableWidget_feedSeting.item(row_i, 0).text() - self.feedLine_dict[head].drop_bag_position.init_position(real_position.X, real_position.Y, real_position.Z, - real_position.U, real_position.V, real_position.W) - self.set_position_to_tabel(row_i, 4, real_position) - - def send_get_zipbag_position_button_click(self): - real_position = self.robotClient.status_model.getRealPosition() - row_i = self.tableWidget_feedSeting.currentRow() - head = self.tableWidget_feedSeting.item(row_i, 0).text() - self.feedLine_dict[head].zip_bag_position.init_position(real_position.X, real_position.Y, real_position.Z, - real_position.U, real_position.V, real_position.W) - self.set_position_to_tabel(row_i, 6, real_position) - def send_tabelFeedSet_addRow(self): - for i in range(1, 20): - head = f'{Constant.feedLine_set_section}{i}' - if head not in self.feedLine_dict: - row_position = self.tableWidget_feedSeting.rowCount() # 当前行数 - self.tableWidget_feedSeting.insertRow(row_position) - safe_position = Real_Position() - break_1_position = Real_Position() - break_2_position = Real_Position() - shake_position = Real_Position() - drop_bag_position = Real_Position() - - self.feedLine_dict[head] = FeedLine('新建', safe_position, break_1_position, break_2_position,shake_position,drop_bag_position) - self.tableWidget_feedSeting.setItem(self.tableWidget_feedSeting.rowCount() - 1, 0, - QTableWidgetItem(head)) - self.tableWidget_feedSeting.setItem(self.tableWidget_feedSeting.rowCount() - 1, 1, - QTableWidgetItem('新建')) - self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 0, safe_position) - self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 1, break_1_position) - self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 2, break_2_position) - self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 3, shake_position) - self.set_position_to_tabel(self.tableWidget_feedSeting.rowCount() - 1, 4, drop_bag_position) - break - - def send_tabelFeedSet_delRow(self): - selectRow = self.tableWidget_feedSeting.currentRow() - if selectRow >= 0: - for feed_line_key, feed_line in self.feedLine_dict.items(): - if feed_line_key == self.tableWidget_feedSeting.item(selectRow, 0).text(): - self.feedLine_dict.pop(feed_line_key) - self.tableWidget_feedSeting.removeRow(selectRow) - break - else: - QMessageBox.information(self, "提示", "请选择要删除的行") - - def send_tabelFeedSet_save(self): - count = len(self.feedLine_dict.keys()) - self.configReader.read(Constant.set_ini) - self.configReader.set('Robot_Feed', 'LineCount', str(count)) - writeFeedLine_to_ini(self.feedLine_dict, Constant.feedLine_set_file) - pass - def send_stopFeed_button_click(self): # 清空状态 self.feeding.feedStatus = FeedStatus.FNone @@ -1387,7 +1215,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): def send_emergency_alarm_command(self): """停止当前工作，需要启动""" - msg_box_person = QMessageBox() + msg_box_person = QMessageBox(self) msg_box_person.setIcon(QMessageBox.Icon.Question) msg_box_person.setText("您确定要停止当前工作吗？") msg_box_person.setWindowTitle("提示") @@ -1468,9 +1296,15 @@ class MainWindow(QMainWindow, Ui_MainWindow): position_origin.status = 1 return_positions.insert(0,position_origin) if self.feedLine_dict.keys().__contains__(line_head): - self.feeding.feedConfig= FeedingConfig(0, FeedLine(self.feedLine_dict[line_head].id, self.feedLine_dict[line_head].name, - return_positions,self.remain_Count), - self.feeding.robotClient.photo_locs[:],self.remain_Count) + self.feeding.feedConfig= FeedingConfig( + 0, + FeedLine( + self.feedLine_dict[line_head].id, + self.feedLine_dict[line_head].name, + return_positions, + self.remain_Count + ) + ,self.feeding.robotClient.photo_locs[:],self.remain_Count,None) else: log.log_message(logging.ERROR, Constant.str_feed_reset_no_line_error) return @@ -1488,78 +1322,6 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.send_clear_auto_command() self.send_emergency_alarm_command() - def send_tabelFeedSet_itemChanged(self, item): - row = item.row() - column = item.column() - value = item.text() - head = self.tableWidget_feedSeting.item(row, 0).text() - if column == 1: - self.feedLine_dict[head].name = value - elif column == (0 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].safe_position.X = float(value) - elif column == (1 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].safe_position.Y = float(value) - elif column == (2 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].safe_position.Z = float(value) - elif column == (3 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].safe_position.U = float(value) - elif column == (4 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].safe_position.V = float(value) - elif column == (5 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].safe_position.W = float(value) - # elif column == 7: - elif column == (6 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken1_position.X = float(value) - elif column == (7 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken1_position.Y = float(value) - elif column == (8 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken1_position.Z = float(value) - elif column == (9 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken1_position.U = float(value) - elif column == (10 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken1_position.V = float(value) - elif column == (11 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken1_position.W = float(value) - - elif column == (12 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken2_position.X = float(value) - elif column == (13 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken2_position.Y = float(value) - elif column == (14 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken2_position.Z = float(value) - elif column == (15 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken2_position.U = float(value) - elif column == (16 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken2_position.V = float(value) - elif column == (17 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].broken2_position.W = float(value) - - elif column == (18 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].shake_position.X = float(value) - elif column == (19 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].shake_position.Y = float(value) - elif column == (20 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].shake_position.Z = float(value) - elif column == (21 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].shake_position.U = float(value) - elif column == (22 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].shake_position.V = float(value) - elif column == (23 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].shake_position.W = float(value) - - elif column == (24 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].drop_bag_position.X = float(value) - elif column == (25 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].drop_bag_position.Y = float(value) - elif column == (26 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].drop_bag_position.Z = float(value) - elif column == (27 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].drop_bag_position.U = float(value) - elif column == (28 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].drop_bag_position.V = float(value) - elif column == (29 + self.tableWidget_feedSeting_addtional_col_num): - self.feedLine_dict[head].drop_bag_position.W = float(value) - def run(self): # 主线程的逻辑就是 feeding.run() 接口和错误状态处理 while self.thread_signal: @@ -1581,7 +1343,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.feeding.feedConfig = command.feed_config # 开启传感器线程检测相关 self.relay_controller.pause_start_sensor(False) - self.feeding.feedStatus = FeedStatus.FStart # ✅ 投料开始，会触发传感器线程启动 + self.feeding.feedStatus = FeedStatus.FStart command.status = Status.Runing self.record_remain_num() @@ -1677,7 +1439,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): # self.send_pause_command(True) # self.feeding.pause = True # self.relay_controller.pause_start_sensor(True) - msg_box_finish = QMessageBox() + msg_box_finish = QMessageBox(self) msg_box_finish.setIcon(QMessageBox.Icon.Warning) msg_box_finish.setText("码垛完成,请移走拖板") msg_box_finish.setWindowTitle("提示") @@ -1839,8 +1601,6 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.label_status_toolIndex.setText(str(self.robotClient.status_model.toolCoord)) self.label_status_speed.setText(str(self.robotClient.status_model.curSpeed_n)) - - def updateUI_Position(self): self.horizontalSlider_J1.setValue(self.status_address.axis_0) self.horizontalSlider_J2.setValue(self.status_address.axis_1) @@ -1862,19 +1622,6 @@ class MainWindow(QMainWindow, Ui_MainWindow): self.horizontalSlider_J5.setValue(self.status_address.axis_4) self.horizontalSlider_J6.setValue(self.status_address.axis_5) - def set_position_to_tabel(self, row_i, position_j, real_Position: Real_Position): - self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + self.tableWidget_feedSeting_addtional_col_num, - QTableWidgetItem(str(real_Position.X))) - self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 1 + self.tableWidget_feedSeting_addtional_col_num, - QTableWidgetItem(str(real_Position.Y))) - self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 2 + self.tableWidget_feedSeting_addtional_col_num, - QTableWidgetItem(str(real_Position.Z))) - self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 3 + self.tableWidget_feedSeting_addtional_col_num, - QTableWidgetItem(str(real_Position.U))) - self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 4 + self.tableWidget_feedSeting_addtional_col_num, - QTableWidgetItem(str(real_Position.V))) - self.tableWidget_feedSeting.setItem(row_i, position_j * 6 + 5 + self.tableWidget_feedSeting_addtional_col_num, - QTableWidgetItem(str(real_Position.W))) def updateUI_frame_sign(self,sign:FeedStatus): # print("start") if sign == FeedStatus.FNone: @@ -1941,8 +1688,6 @@ class MainWindow(QMainWindow, Ui_MainWindow): except Exception as e: print(e) - - def set_run_status_button(self, isRuning: bool): self.pushButton_pauseFeed.setText("暂停") ##self.pushButton_startFeed.setEnabled(False) @@ -2207,6 +1952,7 @@ class MainWindow(QMainWindow, Ui_MainWindow): log.log_message(logging.INFO, f'设置拍照点5:{x5},{y5},{z5}') except: self.show_infomessage_box("设置拍照点5失败") + def set_origin_button_click(self): try: x = float(self.lineEdit_origin_x.text()) @@ -2231,8 +1977,6 @@ class MainWindow(QMainWindow, Ui_MainWindow): log.log_message(logging.ERROR, f'设置原点失败') self.show_infomessage_box("设置原点失败") - - def updateUI_Photo_Set(self): self.lineEdit_x1.setText(str(self.robotClient.photo_locs[0][0])) self.lineEdit_y1.setText(str(self.robotClient.photo_locs[0][1]))