From fbf28fe9cc8c612dcd5958db71cd47b00ed7b28f Mon Sep 17 00:00:00 2001 From: fujinliang Date: Fri, 24 Oct 2025 11:07:36 +0800 Subject: [PATCH] no commit --- log/log.log | 17343 +------------------------------------------------- 1 file changed, 2 insertions(+), 17341 deletions(-) diff --git a/log/log.log b/log/log.log index 8998ef2..c8ab3b1 100644 --- a/log/log.log +++ b/log/log.log @@ -1,17341 +1,2 @@ -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 - 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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 - 发送IO控制: 2，1 -2025-09-22 23:23:14 - 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 23:23:14 - INFO - 发送IO控制: 2，0 -2025-09-22 23:23:14 - 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 23:23:14 - INFO - 投料开始 -2025-09-22 23:23:15 - 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 23:23:15 - INFO - 投料开始 -2025-09-22 23:23:15 - 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 23:23:15 - 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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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","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:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0 -2025-09-22 23:23:42 - 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 23:23:42 - INFO - 移动到中位位置 -2025-09-22 23:23:42 - 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 23:23:42 - 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 23:23:42 - 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 - 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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 - 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 - 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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 - 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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 - 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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 - 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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 - 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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 - 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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 - 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 - 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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 - 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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 - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","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 23:30:47 - INFO - 移动到中位位置 -2025-09-22 23:30:47 - 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 23:30:48 - INFO - 移动到中位位置 -2025-09-22 23:30:48 - 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 23:30:48 - 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"}]} -2025-09-22 23:30:48 - INFO - 移动到中位位置 -2025-09-22 23:30:48 - 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 23:30:48 - 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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 - 移动到位置: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 23:30:51 - 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 23:30:51 - 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 23:30:51 - INFO - 移动到中位位置 -2025-09-22 23:30:51 - 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 23:30:52 - INFO - 移动到中位位置 -2025-09-22 23:30:52 - 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 23:30:52 - 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 23:30:52 - INFO - 移动到中位位置 -2025-09-22 23:30:52 - 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 23:30:52 - 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 23:30:52 - INFO - 移动到码垛中间点位置 -2025-09-22 23:30:52 - 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 -2025-09-22 23:30:52 - 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"}]} -2025-09-22 23:30:53 - 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 - 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 - 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 23:31:05 - INFO - 发送IO控制: 2，0 -2025-09-22 23:31:05 - INFO - 投料开始 -2025-09-22 23:31:05 - 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 23:31:05 - 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 23:31:05 - INFO - 投料开始 -2025-09-22 23:31:05 - 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 23:31:06 - 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 23:31:06 - INFO - 移动到中位位置 -2025-09-22 23:31:06 - 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 -2025-09-22 23:31:06 - 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 23:31:06 - INFO - 检测是否安全投料 -2025-09-22 23:31:06 - 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 -2025-09-22 23:31:06 - 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 23:31:06 - INFO - 检测是否安全投料 -2025-09-22 23:31:06 - 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 -2025-09-22 23:31:07 - 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"}]} -2025-09-22 23:31:07 - INFO - 拍照 -2025-09-22 23:31:07 - 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"}]} -2025-09-22 23:31:07 - INFO - 识别图像成功 -2025-09-22 23:31:07 - 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 -2025-09-22 23:31:07 - INFO - 拍照 -2025-09-22 23:31:07 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:31:07 - 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 23:31:07 - 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 23:31:08 - 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 - 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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 -2025-09-22 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 - 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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 - str_feed_take移动到抓料位置 -2025-09-22 23:31:45 - INFO - 机器人已到达抓料点位 -2025-09-22 23:31:45 - 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 23:31:45 - 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 23:31:45 - INFO - 移动到中位位置 -2025-09-22 23:31:45 - 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 23:31:45 - 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 23:31:45 - INFO - 移动到中位位置 -2025-09-22 23:31:45 - 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 -2025-09-22 23:31:46 - 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INFO - 移动到扔袋位置 -2025-09-22 23:31:46 - INFO - 移动到扔袋位置 -2025-09-22 23:31:47 - INFO - 移动到扔袋位置 -2025-09-22 23:31:47 - 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 23:31:47 - INFO - 移动到扔袋位置 -2025-09-22 23:31:47 - INFO - 已码垛数量：10 -2025-09-22 23:31:47 - 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 23:31:47 - INFO - 移动到码垛复位位置 -2025-09-22 23:31:47 - 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 -2025-09-22 23:31:47 - 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"}]} -2025-09-22 23:31:47 - INFO - 投料结束 -2025-09-22 23:31:48 - 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 23:31:48 - 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 23:31:48 - INFO - 移动到拍照位置 -2025-09-22 23:31:48 - INFO - 复位成功 -2025-09-22 23:35:38 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-22 23:35:38 - INFO - 切换到工具坐标 -2025-09-22 23:35:38 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-22 23:35:38 - INFO - 切换到自动运行状态 -2025-09-22 23:35:39 - INFO - 第一层确认生产 -2025-09-22 23:35:39 - INFO - 1号线:投料开始 -2025-09-22 23:35:39 - 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 23:35:39 - 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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 - 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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 - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","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 23:36:26 - INFO - 检测是否安全投料 -2025-09-22 23:36:26 - 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 -2025-09-22 23:36:27 - INFO - 检测是否安全投料 -2025-09-22 23:36:27 - 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 23:36:27 - 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 23:36:28 - INFO - 拍照 -2025-09-22 23:36:28 - INFO - 识别图像成功 -2025-09-22 23:36:28 - 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 23:36:29 - 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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 - 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 23:37:32 - INFO - 移动到码垛中间点位置 -2025-09-22 23:37:32 - 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 23:37:33 - INFO - 移动到扔袋位置 -2025-09-22 23:37:33 - INFO - 已码垛数量：4 -2025-09-22 23:37:33 - 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 -2025-09-22 23:37:33 - 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"}]} -2025-09-22 23:37:33 - INFO - 移动到码垛复位位置 -2025-09-22 23:37:34 - 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 23:37:34 - 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 23:37:34 - 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 - 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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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","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 23:37:46 - INFO - 执行完成FPhoto -2025-09-22 23:37:46 - INFO - 移动到中位位置 -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 23:37:47 - INFO - 移动到中位位置 -2025-09-22 23:37:47 - 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 23:37:47 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-22 23:37:47 - 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 - 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 23:37:48 - INFO - 移动到中位位置 -2025-09-22 23:37:48 - 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 23:37:48 - 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 23:37:49 - INFO - 移动到码垛中间点位置 -2025-09-22 23:37:49 - 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 23:37:49 - 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 23:37:49 - 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 - 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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","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 - INFO - 移动到中位位置 -2025-09-22 23:37:56 - 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 23:37:56 - INFO - 移动到中位位置 -2025-09-22 23:37:56 - 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 -2025-09-22 23:37:56 - 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"}]} -2025-09-22 23:37:56 - 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"}]} -2025-09-22 23:37:56 - 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INFO - 移动到码垛复位位置 -2025-09-22 23:37:58 - 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 -2025-09-22 23:37:58 - 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"}]} -2025-09-22 23:37:58 - 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"}]} -2025-09-22 23:37:58 - INFO - 投料结束 -2025-09-22 23:37:58 - 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 -2025-09-22 23:37:58 - INFO - 移动到拍照位置 -2025-09-22 23:37:58 - INFO - 复位成功 -2025-09-22 23:38:20 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-22 23:38:20 - 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INFO - 投料开始 -2025-09-22 23:38:26 - 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 -2025-09-22 23:38:27 - INFO - 投料开始 -2025-09-22 23:38:27 - 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 23:38:27 - 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 23:38:27 - INFO - 移动到中位位置 -2025-09-22 23:38:27 - 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 23:38:27 - 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 23:38:27 - INFO - 检测是否安全投料 -2025-09-22 23:38:27 - 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 23:38:27 - 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 23:38:28 - INFO - 检测是否安全投料 -2025-09-22 23:38:28 - 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 23:38:28 - 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 23:38:28 - 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 23:38:28 - 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INFO - 移动到中位位置 -2025-09-22 23:38:29 - 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 -2025-09-22 23:38:29 - 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"}]} -2025-09-22 23:38:29 - 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 23:38:30 - INFO - str_feed_take移动到抓料位置 -2025-09-22 23:38:30 - INFO - 机器人已到达抓料点位 -2025-09-22 23:38:30 - 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 -2025-09-22 23:38:30 - INFO - 移动到中位位置 -2025-09-22 23:38:30 - 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 -2025-09-22 23:38:30 - 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INFO - 移动到码垛中间点位置 -2025-09-22 23:38:31 - 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 23:38:31 - 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 23:38:31 - INFO - 移动到扔袋位置 -2025-09-22 23:38:31 - INFO - 清除报警 -2025-09-22 23:38:31 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-22 23:38:32 - INFO - 投料停止 -2025-09-22 23:38:32 - INFO - 清除报警 -2025-09-22 23:38:32 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-22 23:38:32 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-22 23:38:32 - 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"}]} -2025-09-22 23:38:32 - INFO - 发送IO控制: 2，1 -2025-09-22 23:38:32 - INFO - 按下急停 -2025-09-22 23:38:50 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-22 23:38:50 - INFO - 切换到工具坐标 -2025-09-22 23:38:50 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-22 23:38:50 - INFO - 切换到自动运行状态 -2025-09-22 23:38:51 - INFO - 第一层确认生产 -2025-09-22 23:38:51 - INFO - 1号线:投料开始 -2025-09-22 23:38:52 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]} -2025-09-22 23:38:52 - INFO - 发送IO控制: 2，1 -2025-09-22 23:38:57 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]} -2025-09-22 23:38:57 - INFO - 发送IO控制: 2，0 -2025-09-22 23:38:58 - INFO - 投料开始 -2025-09-22 23:38:58 - INFO - 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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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","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 23:39:04 - INFO - 拍照 -2025-09-22 23:39:05 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-22 23:39:05 - 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 23:39:05 - 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 -2025-09-22 23:39:05 - INFO - 执行完成FPhoto -2025-09-22 23:39:06 - INFO - 移动到中位位置 -2025-09-22 23:39:06 - 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 23:39:06 - 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 23:39:07 - 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":"10","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 - 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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 - 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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"}]} -2025-09-23 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 - INFO - 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0 -2025-09-23 00:48:55 - 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 00:48:55 - INFO - 移动到中位位置 -2025-09-23 00:48:55 - 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 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:55 - INFO - 移动到中位位置 -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":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 00:48:56 - 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 -2025-09-23 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 - INFO - 检测是否安全投料 -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 - INFO - 移动到位置: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 - 检测是否安全投料 -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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","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 16:22:37 - INFO - 拍照 -2025-09-23 16:22:37 - INFO - 识别图像成功 -2025-09-23 16:22:37 - 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 16:22:37 - INFO - 拍照 -2025-09-23 16:24:23 - INFO - 投料暂停 -2025-09-23 16:24:24 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-23 16:57:13 - INFO - 清除报警 -2025-09-23 16:57:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 16:57:13 - INFO - 投料停止 -2025-09-23 16:57:13 - INFO - 清除报警 -2025-09-23 16:57:14 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 16:57:14 - INFO - 投料停止 -2025-09-23 16:57:14 - INFO - 清除报警 -2025-09-23 16:57:14 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} -2025-09-23 16:57:14 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]} -2025-09-23 16:57:14 - 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INFO - 进入系统 -2025-09-23 21:23:42 - INFO - 进入系统 -2025-09-23 21:24:16 - INFO - 退出系统 -2025-09-23 21:30:12 - INFO - 进入系统 -2025-09-23 21:32:14 - INFO - 进入系统 -2025-09-23 21:32:32 - INFO - 退出系统 -2025-09-23 21:34:14 - INFO - 进入系统 -2025-09-23 21:34:35 - INFO - 退出系统 -2025-09-23 21:35:27 - INFO - 进入系统 -2025-09-23 21:35:36 - INFO - 退出系统 -2025-09-23 21:36:14 - INFO - 进入系统 -2025-09-23 21:37:10 - INFO - 进入系统 -2025-09-23 21:37:26 - INFO - 退出系统 -2025-09-23 21:37:47 - INFO - 进入系统 -2025-09-23 21:38:33 - INFO - 退出系统 -2025-09-23 21:39:19 - INFO - 进入系统 -2025-09-23 21:39:31 - INFO - 退出系统 -2025-09-23 22:01:08 - INFO - 进入系统 -2025-09-23 22:05:35 - INFO - 进入系统 -2025-09-23 22:06:02 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 22:06:02 - INFO - 切换到工具坐标 -2025-09-23 22:06:03 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 22:06:03 - INFO - 切换到自动运行状态 -2025-09-23 22:06:07 - INFO - 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 - INFO - 移动到位置: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 22:06:14 - 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 22:06:14 - INFO - 移动到中位位置 -2025-09-23 22:06:14 - 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 22:06:14 - 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 22:06:17 - INFO - 检测是否安全投料 -2025-09-23 22:06:17 - 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 22:06:17 - 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 22:06:17 - INFO - 检测是否安全投料 -2025-09-23 22:06:17 - 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 22:06:17 - 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 22:06:17 - INFO - 拍照 -2025-09-23 22:06:22 - INFO - 识别图像成功 -2025-09-23 22:09:27 - INFO - 进入系统 -2025-09-23 22:09:29 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 22:09:29 - INFO - 切换到工具坐标 -2025-09-23 22:09:29 - 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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-23 22:10:32 - 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 22:10:32 - 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:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0 -2025-09-23 22:10:32 - INFO - 移动到中位位置 -2025-09-23 22:10:32 - 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 22:10:32 - 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 22:10:32 - 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 - INFO - 切换到工具坐标 -2025-09-23 22:10:53 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 22:10:53 - INFO - 切换到自动运行状态 -2025-09-23 22:10:54 - INFO - 第一层确认生产 -2025-09-23 22:10:58 - INFO - 退出系统 -2025-09-23 22:12:29 - INFO - 进入系统 -2025-09-23 22:12:54 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-23 22:12:54 - INFO - 切换到工具坐标 -2025-09-23 22:12:54 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-23 22:12:54 - INFO - 切换到自动运行状态 -2025-09-23 22:12:54 - INFO - 第一层确认生产 -2025-09-23 22:12:55 - INFO - 1号线:投料开始 -2025-09-23 22:12:55 - 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 22:12:55 - INFO - 发送IO控制: 2，1 -2025-09-23 22:13:00 - 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 22:13:00 - INFO - 发送IO控制: 2，0 -2025-09-23 22:13:00 - 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 22:13:00 - INFO - 投料开始 -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 - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","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 22:13:01 - INFO - 投料开始 -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 - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","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 22:13:01 - 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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INFO - 第一层确认生产 -2025-09-23 22:14:11 - INFO - 1号线:投料开始 -2025-09-23 22:14:11 - 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"}]} -2025-09-23 22:14:12 - INFO - 发送IO控制: 2，1 -2025-09-23 22:14:16 - 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"}]} -2025-09-23 22:14:17 - INFO - 发送IO控制: 2，0 -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 - 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 - 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 - INFO - 移动到中位位置 -2025-09-23 22:19:14 - 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 -2025-09-23 22:19:14 - 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"}]} -2025-09-23 22:19:14 - INFO - 移动到中位位置 -2025-09-23 22:19:14 - 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 -2025-09-23 22:19:14 - 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"}]} -2025-09-23 22:19:14 - INFO - str_feed_take移动到抓料位置 -2025-09-23 22:19:14 - INFO - 机器人已到达抓料点位 -2025-09-23 22:19:15 - 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 22:19:15 - 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 22:19:15 - INFO - 移动到中位位置 -2025-09-23 22:19:15 - 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 22:19:15 - 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 22:19:15 - INFO - 移动到中位位置 -2025-09-23 22:19:15 - 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 22:19:15 - 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"}]} -2025-09-23 22:19:15 - 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 - 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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 - 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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 - 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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 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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:16:30 - INFO - 执行完成FPhoto -2025-09-24 09:16:31 - INFO - 移动到中位位置 -2025-09-24 09:16:32 - 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 09:16:32 - 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 09:16:32 - INFO - 移动到中位位置 -2025-09-24 09:16:32 - 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 09:16:32 - 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 09:16:32 - 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 09:16:32 - 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 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:16:37 - INFO - 机器人已到达抓料点位 -2025-09-24 09:16:37 - 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 09:16:37 - 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 09:16:38 - INFO - 移动到中位位置 -2025-09-24 09:16:38 - 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 09:16:38 - 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 09:16:38 - INFO - 移动到中位位置 -2025-09-24 09:16:38 - 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 09:16:38 - 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 09:16:38 - INFO - 移动到中位位置 -2025-09-24 09:16:38 - 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 09:16:38 - 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 09:16:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1792.553","m1":"544.308","m2":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:16:43 - 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 - 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 09:19:24 - INFO - 移动到码垛中间点位置 -2025-09-24 09:19:24 - 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 -2025-09-24 09:19:24 - 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"}]} -2025-09-24 09:19:28 - INFO - 移动到扔袋位置 -2025-09-24 09:19:29 - INFO - 移动到扔袋位置 -2025-09-24 09:19:29 - INFO - 移动到扔袋位置 -2025-09-24 09:19:30 - INFO - 移动到扔袋位置 -2025-09-24 09:19:31 - INFO - 已码垛数量：9 -2025-09-24 09:19:31 - 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 09:19:31 - INFO - 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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 - 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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 - 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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 - 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 09:23:45 - INFO - 移动到码垛中间点位置 -2025-09-24 09:23:45 - 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 -2025-09-24 09:23:45 - 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"}]} -2025-09-24 09:23:48 - INFO - 移动到扔袋位置 -2025-09-24 09:23:49 - INFO - 移动到扔袋位置 -2025-09-24 09:23:49 - INFO - 移动到扔袋位置 -2025-09-24 09:23:51 - INFO - 移动到扔袋位置 -2025-09-24 09:23:51 - INFO - 已码垛数量：12 -2025-09-24 09:23:51 - 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 -2025-09-24 09:23:51 - INFO - 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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 - 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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 - 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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 - 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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 09:29:35 - INFO - 执行完成FPhoto -2025-09-24 09:29:37 - INFO - 移动到中位位置 -2025-09-24 09:29:37 - 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 09:29:37 - 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 09:29:37 - INFO - 移动到中位位置 -2025-09-24 09:29:37 - 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 09:29:37 - 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 09:29:37 - 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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:30:13 - INFO - 执行完成FPhoto -2025-09-24 09:30:15 - INFO - 移动到中位位置 -2025-09-24 09:30:15 - 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 09:30:15 - 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 09:30:15 - INFO - 移动到中位位置 -2025-09-24 09:30:15 - 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 -2025-09-24 09:30:15 - 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"}]} -2025-09-24 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 09:30:16 - 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 - 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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 - 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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 - 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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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:35:38 - 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 09:35:38 - 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:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0 -2025-09-24 09:35:38 - INFO - 移动到中位位置 -2025-09-24 09:35:38 - 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 09:35:39 - 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 09:35:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1027.553","m1":"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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 09:36:08 - INFO - 移动到中位位置 -2025-09-24 09:36:08 - 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 09:36:08 - 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 09:36:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:08 - INFO - str_feed_take移动到抓料位置 -2025-09-24 09:36:08 - INFO - 机器人尚未到达抓料点位 -2025-09-24 09:36:08 - 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 09:36:09 - 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 - 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 09:36:25 - INFO - 移动到码垛复位位置 -2025-09-24 09:36:25 - 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 09:36:25 - 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 09:36:25 - INFO - 拍照 -2025-09-24 09:36:52 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 09:36:52 - 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 09:36:52 - 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 09:36:53 - 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 - 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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 - 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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 - 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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 - INFO - 移动到中位位置 -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 - INFO - 移动到位置: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 - 检测是否安全投料 -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 - INFO - 检测是否安全投料 -2025-09-24 10:12:05 - 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 10:12:05 - 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 10:12:05 - INFO - 拍照 -2025-09-24 10:12:05 - INFO - 识别图像成功 -2025-09-24 10:12:05 - 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 10:12:05 - 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 10:12:05 - INFO - 拍照 -2025-09-24 10:13:38 - INFO - 投料暂停 -2025-09-24 10:13:39 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]} -2025-09-24 10:14:05 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]} -2025-09-24 10:14:05 - 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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 10:14:25 - INFO - 执行完成FPhoto -2025-09-24 10:14:26 - INFO - 移动到中位位置 -2025-09-24 10:14:26 - 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 10:14:26 - 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 10:14:27 - INFO - 移动到中位位置 -2025-09-24 10:14:27 - 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 10:14:27 - 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 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 10:14:27 - 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 - 第一层确认生产 -2025-09-24 10:15:42 - INFO - 1号线:投料开始 -2025-09-24 10:15:43 - 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"}]} -2025-09-24 10:15:43 - INFO - 发送IO控制: 2，1 -2025-09-24 10:15:48 - 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"}]} -2025-09-24 10:15:48 - INFO - 发送IO控制: 2，0 -2025-09-24 10:15:48 - INFO - 投料开始 -2025-09-24 10:15:48 - 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 -2025-09-24 10:15:48 - 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"}]} -2025-09-24 10:15:48 - INFO - 投料开始 -2025-09-24 10:15:48 - 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 -2025-09-24 10:15:48 - 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"}]} -2025-09-24 10:15:48 - INFO - 移动到中位位置 -2025-09-24 10:15:49 - 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 -2025-09-24 10:15:49 - 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"}]} -2025-09-24 10:15:49 - INFO - 检测是否安全投料 -2025-09-24 10:15:49 - 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 -2025-09-24 10:15:49 - 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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 - 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 10:16:02 - 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"}]} -2025-09-24 10:16:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:16:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:16:03 - 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 10:16:04 - 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 10:16:04 - 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 - 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:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0 -2025-09-24 10:19:15 - 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 10:19:15 - INFO - 移动到中位位置 -2025-09-24 10:19:15 - 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 10:19:15 - 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"}]} -2025-09-24 10:19:19 - INFO - 移动到码垛中间点位置 -2025-09-24 10:19:19 - 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 10:19:19 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1767.553","m1":"519.308","m2":"-1202.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:19:23 - INFO - 移动到扔袋位置 -2025-09-24 10:19:24 - INFO - 移动到扔袋位置 -2025-09-24 10:19:24 - INFO - 移动到扔袋位置 -2025-09-24 10:19:25 - INFO - 移动到扔袋位置 -2025-09-24 10:19:25 - INFO - 已码垛数量：5 -2025-09-24 10:19:26 - 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 10:19:26 - 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 10:19:30 - INFO - 移动到码垛复位位置 -2025-09-24 10:19:30 - 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 10:19:30 - 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 10:19:30 - INFO - 拍照 -2025-09-24 10:21:03 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:21:03 - 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 10:21:03 - 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 10:21:04 - INFO - 执行完成FPhoto -2025-09-24 10:21:05 - INFO - 移动到中位位置 -2025-09-24 10:21:05 - 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 10:21:06 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:21:06 - 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 - INFO - 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 10:21:12 - INFO - 移动到中位位置 -2025-09-24 10:21:12 - 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 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 - INFO - 移动到中位位置 -2025-09-24 10:21:13 - 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 10:21:13 - 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"}]} -2025-09-24 10:21:13 - INFO - 移动到中位位置 -2025-09-24 10:21:13 - 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 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 - 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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 - 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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 - 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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 - 移动到扔袋位置 -2025-09-24 10:30:09 - INFO - 已码垛数量：10 -2025-09-24 10:30:09 - 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 10:30:12 - INFO - 移动到码垛复位位置 -2025-09-24 10:30:12 - 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 10:30:12 - 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 10:30:12 - INFO - 拍照 -2025-09-24 10:30:28 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:30:29 - 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 10:30:29 - INFO - 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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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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 - INFO - 移动到中位位置 -2025-09-24 10:31:14 - 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 -2025-09-24 10:31:14 - 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"}]} -2025-09-24 10:31:18 - INFO - 移动到码垛中间点位置 -2025-09-24 10:31:18 - 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 10:31:18 - 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 10:31:21 - INFO - 移动到扔袋位置 -2025-09-24 10:31:22 - INFO - 移动到扔袋位置 -2025-09-24 10:31:22 - INFO - 移动到扔袋位置 -2025-09-24 10:31:24 - INFO - 移动到扔袋位置 -2025-09-24 10:31:24 - INFO - 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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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 - 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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 - 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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 - 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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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已码垛数量：19 -2025-09-24 10:35:57 - 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 -2025-09-24 10:35:57 - 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"}]} -2025-09-24 10:35:58 - INFO - 移动到码垛复位位置 -2025-09-24 10:35:58 - 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 10:35:58 - 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 10:35:58 - INFO - 拍照 -2025-09-24 10:36:17 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:36:17 - 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 10:36:17 - 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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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已码垛数量：20 -2025-09-24 10:36:35 - 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 10:36:35 - 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"}]} -2025-09-24 10:36:37 - INFO - 移动到码垛复位位置 -2025-09-24 10:36:37 - 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 10:36:37 - 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 10:36:37 - INFO - 拍照 -2025-09-24 10:36:54 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:36:54 - 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 10:36:54 - 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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 - 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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 - 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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 - 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INFO - 拍照 -2025-09-24 10:38:15 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:38:15 - 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 10:38:15 - 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 10:38:15 - INFO - 执行完成FPhoto -2025-09-24 10:38:16 - INFO - 移动到中位位置 -2025-09-24 10:38:17 - 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 10:38:17 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:38:17 - INFO - 移动到中位位置 -2025-09-24 10:38:17 - 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 10:38:17 - 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 10:38:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:17 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:17 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:18 - INFO - str_feed_take移动到抓料位置 -2025-09-24 10:38:18 - INFO - 机器人尚未到达抓料点位 -2025-09-24 10:38:18 - 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 10:38:19 - 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 - 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 10:38:33 - INFO - 移动到码垛复位位置 -2025-09-24 10:38:33 - 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 10:38:33 - 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 10:38:34 - INFO - 拍照 -2025-09-24 10:38:56 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:38:56 - 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 10:38:56 - 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 10:38:56 - 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 - 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 10:40:23 - 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 10:40:24 - 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 10:40:28 - INFO - 移动到码垛中间点位置 -2025-09-24 10:40:28 - 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 10:40:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"-420.692","m2":"-282.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:40:32 - INFO - 移动到扔袋位置 -2025-09-24 10:40:33 - INFO - 移动到扔袋位置 -2025-09-24 10:40:33 - INFO - 移动到扔袋位置 -2025-09-24 10:40:34 - INFO - 移动到扔袋位置 -2025-09-24 10:40:34 - INFO - 已码垛数量：26 -2025-09-24 10:40:34 - 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 10:40:34 - 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 10:40:35 - INFO - 移动到码垛复位位置 -2025-09-24 10:40:35 - 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 10:40:35 - 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 10:40:35 - INFO - 拍照 -2025-09-24 10:40:55 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 10:40:55 - 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 10:40:55 - 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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 - 移动到扔袋位置 -2025-09-24 10:41:13 - INFO - 移动到扔袋位置 -2025-09-24 10:41:13 - INFO - 移动到扔袋位置 -2025-09-24 10:41:15 - INFO - 移动到扔袋位置 -2025-09-24 10:41:15 - INFO - 已码垛数量：27 -2025-09-24 10:41:15 - 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 10:41:15 - 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 10:41:15 - INFO - 移动到码垛复位位置 -2025-09-24 10:41:15 - 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 -2025-09-24 10:41:15 - 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"}]} -2025-09-24 10:41:15 - 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 - INFO - 移动到中位位置 -2025-09-24 10:41:43 - 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 10:41:43 - 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 10:41:43 - INFO - 移动到中位位置 -2025-09-24 10:41:43 - 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 10:41:43 - 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 10:41:47 - INFO - 移动到码垛中间点位置 -2025-09-24 10:41:48 - 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 10:41:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1607.553","m1":"179.308","m2":"-282.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:41:52 - INFO - 移动到扔袋位置 -2025-09-24 10:41:53 - INFO - 移动到扔袋位置 -2025-09-24 10:41:53 - INFO - 移动到扔袋位置 -2025-09-24 10:41:54 - INFO - 移动到扔袋位置 -2025-09-24 10:41:54 - INFO - 已码垛数量：28 -2025-09-24 10:41:54 - 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 10:41:55 - 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 10:41:55 - INFO - 移动到码垛复位位置 -2025-09-24 10:41:55 - 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 10:41:55 - 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 10:41:55 - 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 - 移动到位置: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 10:53:33 - INFO - 检测是否安全投料 -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 10:53:34 - INFO - 检测是否安全投料 -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 10:53:34 - 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 - INFO - 移动到中位位置 -2025-09-24 10:55:21 - 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 10:55:21 - 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 10:55:21 - INFO - 移动到中位位置 -2025-09-24 10:55:22 - 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 -2025-09-24 10:55:22 - 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"}]} -2025-09-24 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 10:55:22 - 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 10:55:22 - 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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 10:55:27 - 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 10:55:27 - INFO - 移动到中位位置 -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 10:55:28 - INFO - 移动到中位位置 -2025-09-24 10:55:28 - 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 -2025-09-24 10:55:28 - 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"}]} -2025-09-24 10:55:28 - 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 - INFO - 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 10:56:39 - 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 10:56:39 - 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:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 10:56:40 - 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 10:56:40 - 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 10:56:40 - 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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:01:56 - 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:-1220.955688-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 11:01:56 - 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"}]} -2025-09-24 11:01:56 - 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 11:01:57 - 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 11:01:57 - 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 11:01:57 - 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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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 11:02:18 - INFO - 移动到码垛复位位置 -2025-09-24 11:02:18 - 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 -2025-09-24 11:02:18 - 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"}]} -2025-09-24 11:02:18 - INFO - 拍照 -2025-09-24 11:02:58 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:02:58 - 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 11:02:58 - 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 11:02:58 - 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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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 - INFO - 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 11:09:14 - INFO - 执行完成FPhoto -2025-09-24 11:09:15 - INFO - 移动到中位位置 -2025-09-24 11:09:15 - 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 11:09:15 - 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 11:09:15 - INFO - 移动到中位位置 -2025-09-24 11:09:16 - 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 11:09:16 - 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 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 11:09:16 - 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 - INFO - 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 11:09:21 - 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 11:09:21 - INFO - 移动到中位位置 -2025-09-24 11:09:21 - 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 11:09:21 - 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 11:09:21 - INFO - 移动到中位位置 -2025-09-24 11:09:21 - 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 11:09:21 - 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 11:09:22 - INFO - 移动到中位位置 -2025-09-24 11:09:22 - 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 11:09:22 - 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 11:09:26 - INFO - 移动到码垛中间点位置 -2025-09-24 11:09:26 - 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 11:09:26 - 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 11:09:29 - INFO - 移动到扔袋位置 -2025-09-24 11:09:31 - INFO - 移动到扔袋位置 -2025-09-24 11:09:31 - INFO - 移动到扔袋位置 -2025-09-24 11:09:32 - INFO - 移动到扔袋位置 -2025-09-24 11:09:32 - INFO - 已码垛数量：11 -2025-09-24 11:09:32 - 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 11:09:32 - 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 11:09:34 - INFO - 移动到码垛复位位置 -2025-09-24 11:09:34 - 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 11:09:34 - 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 11:09:34 - INFO - 拍照 -2025-09-24 11:10:13 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:10:13 - 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 11:10:13 - 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 11:10:13 - INFO - 执行完成FPhoto -2025-09-24 11:10:15 - INFO - 移动到中位位置 -2025-09-24 11:10:15 - 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 -2025-09-24 11:10:15 - 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"}]} -2025-09-24 11:10:16 - INFO - 移动到中位位置 -2025-09-24 11:10:16 - 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 11:10:16 - 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":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -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 11:10:16 - 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 - 移动到扔袋位置 -2025-09-24 11:10:32 - INFO - 已码垛数量：12 -2025-09-24 11:10:32 - 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 11:10:34 - INFO - 移动到码垛复位位置 -2025-09-24 11:10:34 - 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 -2025-09-24 11:10:34 - 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"}]} -2025-09-24 11:10:34 - INFO - 拍照 -2025-09-24 11:11:11 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:11:11 - 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 11:11:11 - INFO - 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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 - 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INFO - 移动到中位位置 -2025-09-24 11:11:59 - 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 11:12:03 - INFO - 移动到码垛中间点位置 -2025-09-24 11:12:03 - 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 11:12:03 - 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 11:12:06 - INFO - 移动到扔袋位置 -2025-09-24 11:12:08 - INFO - 移动到扔袋位置 -2025-09-24 11:12:08 - INFO - 移动到扔袋位置 -2025-09-24 11:12:09 - INFO - 移动到扔袋位置 -2025-09-24 11:12:09 - INFO - 已码垛数量：14 -2025-09-24 11:12:09 - 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 11:12:09 - 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 11:12:11 - INFO - 移动到码垛复位位置 -2025-09-24 11:12:11 - 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 11:12:11 - 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 11:12:11 - INFO - 拍照 -2025-09-24 11:12:30 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:12:30 - 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 11:12:30 - 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 11:12:30 - INFO - 执行完成FPhoto -2025-09-24 11:12:32 - INFO - 移动到中位位置 -2025-09-24 11:12:32 - 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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 - 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 11:12:43 - INFO - 移动到码垛中间点位置 -2025-09-24 11:12:43 - 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 11:12:43 - 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 11:12:46 - INFO - 移动到扔袋位置 -2025-09-24 11:12:47 - INFO - 移动到扔袋位置 -2025-09-24 11:12:47 - INFO - 移动到扔袋位置 -2025-09-24 11:12:48 - INFO - 移动到扔袋位置 -2025-09-24 11:12:48 - INFO - 已码垛数量：15 -2025-09-24 11:12:49 - 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 11:12:49 - 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 11:12:51 - INFO - 移动到码垛复位位置 -2025-09-24 11:12:51 - 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 11:12:51 - 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 11:12:51 - INFO - 拍照 -2025-09-24 11:13:05 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:13:05 - 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 11:13:06 - 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 11:13:06 - 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 - 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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 - 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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 - 移动到位置: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 - 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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 - 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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 11:18:24 - 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 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:19:12 - INFO - 机器人已到达抓料点位 -2025-09-24 11:19:12 - 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 11:19:12 - 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 11:19:12 - INFO - 移动到中位位置 -2025-09-24 11:19:12 - 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 11:19:12 - 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 11:19:12 - INFO - 移动到中位位置 -2025-09-24 11:19:13 - 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 11:19:13 - 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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 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:04 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:04 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:05 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:05 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:21:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:21:06 - INFO - 机器人已到达抓料点位 -2025-09-24 11:21:06 - 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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:21:07 - 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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 11:21:18 - 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 11:21:18 - INFO - 移动到码垛复位位置 -2025-09-24 11:21:18 - 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 -2025-09-24 11:21:18 - 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"}]} -2025-09-24 11:21:18 - INFO - 拍照 -2025-09-24 11:21:37 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:21:37 - 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 11:21:37 - 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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 - str_feed_take移动到抓料位置 -2025-09-24 11:23:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:23:37 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:37 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:23:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:23:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:23:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:23:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:38 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:23:38 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:23:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:23:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:23:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:39 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:23:39 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:23:39 - 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INFO - 拍照 -2025-09-24 11:24:17 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 11:24:17 - 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 -2025-09-24 11:24:17 - 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 11:24:17 - INFO - 执行完成FPhoto -2025-09-24 11:24:19 - INFO - 移动到中位位置 -2025-09-24 11:24:19 - 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 11:24:19 - 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 11:24:19 - INFO - 移动到中位位置 -2025-09-24 11:24:19 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:21 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:21 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:22 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:22 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:23 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:23 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:24 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:24:24 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:24:24 - INFO - 机器人已到达抓料点位 -2025-09-24 11:24:24 - 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 11:24:24 - 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 11:24:24 - INFO - 移动到中位位置 -2025-09-24 11:24:25 - 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 11:24:25 - 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INFO - 移动到码垛中间点位置 -2025-09-24 11:24:30 - 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 11:24:30 - 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 11:24:34 - INFO - 移动到扔袋位置 -2025-09-24 11:24:35 - INFO - 移动到扔袋位置 -2025-09-24 11:24:35 - INFO - 移动到扔袋位置 -2025-09-24 11:24:36 - INFO - 移动到扔袋位置 -2025-09-24 11:24:36 - INFO - 已码垛数量：28 -2025-09-24 11:24:37 - 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 11:24:37 - 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 11:24:37 - INFO - 移动到码垛复位位置 -2025-09-24 11:24:37 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:00 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:00 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:01 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:01 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:25:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:25:02 - 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INFO - 机器人尚未到达抓料点位 -2025-09-24 11:26:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:26:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:26:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:26:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:26:29 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:26:29 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:26:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:26:30 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:26:30 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:26:30 - INFO - 机器人已到达抓料点位 -2025-09-24 11:26:30 - 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 11:26:30 - 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 11:26:30 - INFO - 移动到中位位置 -2025-09-24 11:26:30 - 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 11:26:30 - 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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 - 移动到中位位置 -2025-09-24 11:37:31 - 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 -2025-09-24 11:37:31 - 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"}]} -2025-09-24 11:37:35 - INFO - 移动到码垛中间点位置 -2025-09-24 11:37:35 - 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 11:37:35 - 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 11:37:39 - INFO - 移动到扔袋位置 -2025-09-24 11:37:40 - INFO - 移动到扔袋位置 -2025-09-24 11:37:40 - INFO - 移动到扔袋位置 -2025-09-24 11:37:41 - INFO - 移动到扔袋位置 -2025-09-24 11:37:41 - 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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 11:38:22 - INFO - 执行完成FPhoto -2025-09-24 11:38:23 - INFO - 移动到中位位置 -2025-09-24 11:38:23 - 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 11:38:23 - 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 11:38:24 - INFO - 移动到中位位置 -2025-09-24 11:38:24 - 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 11:38:24 - 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 11:38:24 - 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 11:38:24 - 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 - 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 11:38:58 - 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 11:38:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:58 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:58 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:59 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:38:59 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:38:59 - 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 11:39:00 - 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 - 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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 - 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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 - 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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 - 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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 - 发送命令{"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 11:46:02 - INFO - 移动到中位位置 -2025-09-24 11:46:02 - 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 11:46:02 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:02 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:03 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:03 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:03 - 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 11:46:04 - 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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:46:43 - 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:-1220.955688-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 11:46:43 - 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 11:46:43 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:46:43 - INFO - 机器人尚未到达抓料点位 -2025-09-24 11:46:43 - 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 11:46:44 - 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 - 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 11:46:53 - INFO - 移动到码垛中间点位置 -2025-09-24 11:46:54 - 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 11:46:54 - 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 11:46:57 - INFO - 移动到扔袋位置 -2025-09-24 11:46:58 - INFO - 移动到扔袋位置 -2025-09-24 11:46:58 - INFO - 移动到扔袋位置 -2025-09-24 11:46:59 - INFO - 移动到扔袋位置 -2025-09-24 11:46:59 - INFO - 已码垛数量：11 -2025-09-24 11:46:59 - 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 11:47:00 - 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 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 - INFO - str_feed_take移动到抓料位置 -2025-09-24 11:48:09 - INFO - 机器人已到达抓料点位 -2025-09-24 11:48:09 - 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 11:48:10 - 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"}]} -2025-09-24 11:48:10 - INFO - 移动到中位位置 -2025-09-24 11:48:10 - 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 -2025-09-24 11:48:10 - 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"}]} -2025-09-24 11:48:10 - INFO - 移动到中位位置 -2025-09-24 11:48:10 - 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 11:48:10 - 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 11:48:11 - INFO - 移动到中位位置 -2025-09-24 11:48:11 - 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 11:48:11 - 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 11:48:15 - 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":"-802.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:48:15 - 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 - 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 11:49:01 - INFO - 移动到扔袋位置 -2025-09-24 11:49:02 - INFO - 移动到扔袋位置 -2025-09-24 11:49:02 - INFO - 移动到扔袋位置 -2025-09-24 11:49:03 - INFO - 移动到扔袋位置 -2025-09-24 11:49:03 - INFO - 已码垛数量：14 -2025-09-24 11:49:03 - 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 11:49:03 - 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 11:49:05 - INFO - 移动到码垛复位位置 -2025-09-24 11:49:05 - 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 11:49:05 - 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 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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-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 - 移动到中位位置 -2025-09-24 11:49:31 - 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 -2025-09-24 11:49:31 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 11:49:32 - INFO - 移动到中位位置 -2025-09-24 11:49:32 - 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 -2025-09-24 11:49:32 - 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"}]} -2025-09-24 11:49:36 - 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 - 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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 - 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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 - 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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 - 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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 - 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 13:44:38 - INFO - 移动到码垛中间点位置 -2025-09-24 13:44:38 - 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 13:44:38 - 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 13:44:42 - INFO - 移动到扔袋位置 -2025-09-24 13:44:43 - INFO - 移动到扔袋位置 -2025-09-24 13:44:44 - INFO - 移动到扔袋位置 -2025-09-24 13:44:45 - INFO - 移动到扔袋位置 -2025-09-24 13:44:45 - INFO - 已码垛数量：18 -2025-09-24 13:44:45 - 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 13:44:45 - 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 13:44:46 - 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 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 - INFO - 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 13:45:06 - 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 13:45:06 - INFO - 移动到中位位置 -2025-09-24 13:45:06 - 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 13:45:06 - 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 13:45:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:06 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:45:06 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:45:06 - 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 - 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 13:45:17 - 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":"-602.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:45:17 - INFO - 移动到码垛中间点位置 -2025-09-24 13:45:17 - INFO - 移动到位置:姿势直线：X:897.553-Y:-210.692-Z:-602.361-U:-58.482-V:19.0-W:0.0 -2025-09-24 13:45:21 - INFO - 移动到扔袋位置 -2025-09-24 13:45:22 - INFO - 移动到扔袋位置 -2025-09-24 13:45:22 - INFO - 移动到扔袋位置 -2025-09-24 13:45:23 - INFO - 移动到扔袋位置 -2025-09-24 13:45:23 - INFO - 已码垛数量：19 -2025-09-24 13:45:23 - 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 13:45:23 - 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 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 - 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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 - INFO - 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 13:46:58 - INFO - 执行完成FPhoto -2025-09-24 13:46:59 - INFO - 移动到中位位置 -2025-09-24 13:47:00 - 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 13:47:00 - 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 13:47:00 - INFO - 移动到中位位置 -2025-09-24 13:47:00 - 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 13:47:00 - 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 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 13:47:00 - 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 - INFO - 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 13:47:45 - 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 13:47:45 - INFO - 移动到中位位置 -2025-09-24 13:47:45 - 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 13:47:45 - 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 13:47:45 - INFO - 移动到中位位置 -2025-09-24 13:47:45 - 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 -2025-09-24 13:47:45 - 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 13:47:46 - 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 - 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 13:48:59 - INFO - 移动到中位位置 -2025-09-24 13:49:00 - 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 -2025-09-24 13:49:01 - INFO - 移动到中位位置 -2025-09-24 13:49:01 - 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 13:49:01 - 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 13:49:05 - INFO - 移动到码垛中间点位置 -2025-09-24 13:49:05 - 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 13:49:05 - 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 13:49:08 - INFO - 移动到扔袋位置 -2025-09-24 13:49:09 - INFO - 移动到扔袋位置 -2025-09-24 13:49:09 - INFO - 移动到扔袋位置 -2025-09-24 13:49:11 - INFO - 移动到扔袋位置 -2025-09-24 13:49:11 - INFO - 已码垛数量：25 -2025-09-24 13:49:11 - 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 13:49:11 - 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 13:49:11 - INFO - 移动到码垛复位位置 -2025-09-24 13:49:11 - 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 13:49:11 - 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 13:49:11 - INFO - 拍照 -2025-09-24 13:49:32 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-09-24 13:49:32 - 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 13:49:32 - 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 13:49:32 - INFO - 执行完成FPhoto -2025-09-24 13:49:33 - 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:-825.0-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":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:49:34 - 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 - 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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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 13:50:14 - INFO - 移动到中位位置 -2025-09-24 13:50:14 - 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 13:50:14 - 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 13:50:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:14 - INFO - 机器人尚未到达抓料点位 -2025-09-24 13:50:14 - INFO - str_feed_take移动到抓料位置 -2025-09-24 13:50:14 - 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 13:50:15 - 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 - INFO - 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0 -2025-09-24 13:51:30 - INFO - 执行完成FPhoto -2025-09-24 13:51:31 - INFO - 移动到中位位置 -2025-09-24 13:51:32 - 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 13:51:32 - 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 13:51:32 - INFO - 移动到中位位置 -2025-09-24 13:51:32 - 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 13:51:32 - 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 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 13:51:32 - 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 - 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INFO - str_feed_take移动到抓料位置 -2025-09-24 21:06:44 - INFO - 机器人已到达抓料点位 -2025-09-24 21:06:44 - 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 21:06:44 - 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 21:06:44 - INFO - 移动到中位位置 -2025-09-24 21:06:44 - 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 21:06:44 - 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 21:06:44 - INFO - 移动到中位位置 -2025-09-24 21:06:45 - 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 -2025-09-24 21:06:45 - 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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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-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:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-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":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:26:28 - INFO - 移动到中位位置 -2025-09-24 21:26:28 - 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 21:26:29 - 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"}]} -2025-09-24 21:26:29 - 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 - 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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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-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 21:29:46 - 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 -2025-09-24 21:29:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:29:46 - 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 21:29:46 - 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 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} -2025-09-24 21:47:09 - 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:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0 -2025-09-24 21:47:09 - 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 21:47:09 - INFO - 移动到中位位置 -2025-09-24 21:47:09 - 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 -2025-09-24 21:47:09 - 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"}]} -2025-09-24 21:47:09 - 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 - INFO - 按下急停 -2025-09-24 21:47:18 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-09-24 21:47:18 - INFO - 切换到工具坐标 -2025-09-24 21:47:18 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-09-24 21:47:18 - INFO - 切换到自动运行状态 -2025-09-24 21:47:18 - INFO - 第一层确认生产 -2025-09-24 21:47:19 - INFO - 1号线:投料开始 -2025-09-24 21:47:20 - 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"}]} -2025-09-24 21:47:20 - INFO - 发送IO控制: 2，1 -2025-09-24 21:47:25 - 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 21:47:25 - INFO - 发送IO控制: 2，0 -2025-09-24 21:47:26 - INFO - 投料开始 -2025-09-24 21:47:26 - 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 21:47:26 - 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"}]} -2025-09-24 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 - 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INFO - 移动到中位位置 -2025-10-20 19:38:57 - 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 -2025-10-20 19:38:57 - 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"}]} -2025-10-20 19:38:57 - INFO - 检测是否安全投料 -2025-10-20 19:38:58 - 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 -2025-10-20 19:38:58 - 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"}]} -2025-10-20 19:38:58 - INFO - 检测是否安全投料 -2025-10-20 19:38:58 - 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 -2025-10-20 19:38:58 - 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"}]} -2025-10-20 19:38:58 - INFO - 拍照 -2025-10-20 19:38:58 - INFO - 识别图像成功 -2025-10-20 19:38:58 - 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 -2025-10-20 19:38:58 - 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"}]} -2025-10-20 19:38:59 - INFO - 拍照 -2025-10-20 19:38:59 - INFO - 传感器2检测到料包到位开始执行抓取 -2025-10-20 19:39:12 - INFO - 退出系统 -2025-10-20 19:39:29 - 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"}]} -2025-10-20 19:50:26 - INFO - 进入系统 -2025-10-20 19:50:45 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-10-20 19:50:45 - INFO - 切换到工具坐标 -2025-10-20 19:50:45 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-10-20 19:50:46 - INFO - 切换到自动运行状态 -2025-10-20 19:50:56 - INFO - 第一层确认生产 -2025-10-20 19:51:33 - INFO - 退出系统 -2025-10-20 19:51:44 - INFO - 进入系统 -2025-10-20 19:51:47 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-10-20 19:51:47 - INFO - 切换到工具坐标 -2025-10-20 19:51:47 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-10-20 19:51:47 - INFO - 切换到自动运行状态 -2025-10-20 19:51:54 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-10-20 19:51:54 - INFO - 切换到工具坐标 -2025-10-20 19:51:55 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-10-20 19:51:55 - INFO - 切换到自动运行状态 -2025-10-20 19:51:55 - INFO - 第一层确认生产 -2025-10-20 19:52:01 - INFO - 退出系统 -2025-10-20 19:52:49 - INFO - 进入系统 -2025-10-20 19:52:55 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]} -2025-10-20 19:52:56 - INFO - 切换到工具坐标 -2025-10-20 19:52:56 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]} -2025-10-20 19:52:56 - INFO - 切换到自动运行状态 -2025-10-20 19:53:06 - INFO - 退出系统 +2025-10-24 11:07:02 - INFO - 进入系统 +2025-10-24 11:07:14 - INFO - 退出系统