feature/weight_show #2
314
.gitignore
vendored
314
.gitignore
vendored
@ -1,64 +1,276 @@
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# Python
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# ---> Qt
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**/__pycache__/
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# C++ objects and libs
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*.slo
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*.lo
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||||||
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*.o
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*.a
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||||||
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*.la
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||||||
|
*.lai
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||||||
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*.so
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||||||
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*.so.*
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*.dll
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*.dylib
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# Qt-es
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object_script.*.Release
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object_script.*.Debug
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*_plugin_import.cpp
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/.qmake.cache
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/.qmake.stash
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||||||
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*.pro.user
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||||||
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*.pro.user.*
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*.qbs.user
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*.qbs.user.*
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*.moc
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moc_*.cpp
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moc_*.h
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qrc_*.cpp
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ui_*.h
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*.qmlc
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*.jsc
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Makefile*
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*build-*
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*.qm
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*.prl
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# Qt unit tests
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target_wrapper.*
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# QtCreator
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*.autosave
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# QtCreator Qml
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*.qmlproject.user
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*.qmlproject.user.*
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# QtCreator CMake
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CMakeLists.txt.user*
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# QtCreator 4.8< compilation database
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compile_commands.json
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||||||
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# QtCreator local machine specific files for imported projects
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||||||
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*creator.user*
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*_qmlcache.qrc
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# ---> Python
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# Byte-compiled / optimized / DLL files
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__pycache__/
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*.py[cod]
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*.py[cod]
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*$py.class
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*$py.class
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# C extensions
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*.so
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# IDEs and editors
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# Distribution / packaging
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.idea/
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.Python
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build/
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develop-eggs/
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dist/
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downloads/
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eggs/
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.eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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share/python-wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# PyInstaller
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# Usually these files are written by a python script from a template
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# before PyInstaller builds the exe, so as to inject date/other infos into it.
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||||||
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*.manifest
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||||||
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*.spec
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||||||
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||||||
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# Installer logs
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||||||
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pip-log.txt
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||||||
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pip-delete-this-directory.txt
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# Unit test / coverage reports
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||||||
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htmlcov/
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.tox/
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.nox/
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.coverage
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.coverage.*
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.cache
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nosetests.xml
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||||||
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coverage.xml
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||||||
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*.cover
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||||||
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*.py,cover
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.hypothesis/
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.pytest_cache/
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cover/
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|
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# Translations
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||||||
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*.mo
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||||||
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*.pot
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# Django stuff:
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||||||
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*.log
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||||||
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local_settings.py
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db.sqlite3
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db.sqlite3-journal
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# Flask stuff:
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instance/
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.webassets-cache
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||||||
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# Scrapy stuff:
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||||||
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.scrapy
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# Sphinx documentation
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||||||
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docs/_build/
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||||||
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# PyBuilder
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||||||
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.pybuilder/
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target/
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# Jupyter Notebook
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.ipynb_checkpoints
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# IPython
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||||||
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profile_default/
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ipython_config.py
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# pyenv
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||||||
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# For a library or package, you might want to ignore these files since the code is
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# intended to run in multiple environments; otherwise, check them in:
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# .python-version
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||||||
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# pipenv
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||||||
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# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
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# However, in case of collaboration, if having platform-specific dependencies or dependencies
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# having no cross-platform support, pipenv may install dependencies that don't work, or not
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# install all needed dependencies.
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#Pipfile.lock
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|
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# UV
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||||||
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# Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
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||||||
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# This is especially recommended for binary packages to ensure reproducibility, and is more
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# commonly ignored for libraries.
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#uv.lock
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# poetry
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||||||
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# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
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||||||
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# This is especially recommended for binary packages to ensure reproducibility, and is more
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# commonly ignored for libraries.
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# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
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#poetry.lock
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|
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# pdm
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# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
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||||||
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#pdm.lock
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||||||
|
# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
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# in version control.
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# https://pdm.fming.dev/latest/usage/project/#working-with-version-control
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.pdm.toml
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.pdm-python
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.pdm-build/
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|
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# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
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__pypackages__/
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|
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||||||
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# Celery stuff
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||||||
|
celerybeat-schedule
|
||||||
|
celerybeat.pid
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||||||
|
|
||||||
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# SageMath parsed files
|
||||||
|
*.sage.py
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||||||
|
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||||||
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# Environments
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||||||
|
.env
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||||||
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.venv
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env/
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venv/
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|
ENV/
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||||||
|
env.bak/
|
||||||
|
venv.bak/
|
||||||
|
|
||||||
|
# Spyder project settings
|
||||||
|
.spyderproject
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||||||
|
.spyproject
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||||||
|
|
||||||
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# Rope project settings
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||||||
|
.ropeproject
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|
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||||||
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# mkdocs documentation
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/site
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# mypy
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.mypy_cache/
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.dmypy.json
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dmypy.json
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||||||
|
|
||||||
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# Pyre type checker
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||||||
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.pyre/
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||||||
|
|
||||||
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# pytype static type analyzer
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||||||
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.pytype/
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||||||
|
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||||||
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# Cython debug symbols
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||||||
|
cython_debug/
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||||||
|
|
||||||
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# PyCharm
|
||||||
|
# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
|
||||||
|
# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
|
||||||
|
# and can be added to the global gitignore or merged into this file. For a more nuclear
|
||||||
|
# option (not recommended) you can uncomment the following to ignore the entire idea folder.
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||||||
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#.idea/
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|
|
||||||
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# Ruff stuff:
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||||||
|
.ruff_cache/
|
||||||
|
|
||||||
|
# PyPI configuration file
|
||||||
|
.pypirc
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||||||
|
|
||||||
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# 忽略.vscode文件夹
|
||||||
.vscode/
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.vscode/
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||||||
*.suo
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.VSCodeCounter
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||||||
# *.ntvs*
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|
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# *.njsproj
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|
||||||
# # *.sln
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# *.sw?
|
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||||||
|
|
||||||
# OS generated files
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# 忽略工作区文件
|
||||||
# .DS_Store
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*.code-workspace
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||||||
# .DS_Store?
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.DS_Store
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||||||
# ._*
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||||||
# .Spotlight-V100
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||||||
# .Trashes
|
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||||||
# ehthumbs.db
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||||||
# Thumbs.db
|
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||||||
|
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||||||
# Logs
|
# 忽略 .idea
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||||||
|
.idea/
|
||||||
|
|
||||||
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# 忽略python缓存文件
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||||||
|
*/__pycache__
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||||||
|
*.py[cod]
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||||||
|
|
||||||
|
# 忽略日志文件
|
||||||
log/
|
log/
|
||||||
*.log
|
*.log
|
||||||
*.log.*
|
|
||||||
|
|
||||||
|
# 忽略测试文件
|
||||||
|
test.py
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||||||
|
|
||||||
# Temporary files
|
# 忽略配置文件
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||||||
# *.tmp
|
config.json
|
||||||
# *.temp
|
|
||||||
# .cache/
|
|
||||||
|
|
||||||
# Test coverage
|
# 忽略下载文件夹
|
||||||
# .coverage
|
download/
|
||||||
# .coverage.*
|
|
||||||
# coverage.xml
|
|
||||||
|
|
||||||
# Debug
|
# 忽略构建文件夹
|
||||||
# *.pyc
|
build/
|
||||||
# *.pyd
|
dist/
|
||||||
# *.so
|
PyQt_Fluent_Widgets.egg-info/
|
||||||
# *.dll
|
PySide6_Fluent_Widgets.egg-info/
|
||||||
# *.exe
|
PyQt6_Fluent_Widgets.egg-info/
|
||||||
|
PySide2_Fluent_Widgets.egg-info/
|
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# Runtime data
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/COM/__pycache__
|
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# pids
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/__pycache__
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# *.pid
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/CU/__pycache__
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# *.seed
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/EMV/__pycache__
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||||||
# *.pid.lock
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/Model/__pycache__
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||||||
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/Trace/__pycache__
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||||||
# Project specific
|
/Util/__pycache__
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# test.py
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/view/__pycache__
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# test2.py
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/log/log.log
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# test3.py
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|
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# test6.py
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# TEST3.py
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|
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# workflow_test.py
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# MvFGSdkLog/
|
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# MvSDKLog/
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# Trace/com_pose.txt
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# Trace/com_pose2.txt
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@ -47,6 +47,7 @@ photo_v5 = 0.0
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photo_w5 = 1.0
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photo_w5 = 1.0
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linecount = 2
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linecount = 2
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remain_linename = 1
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remain_linename = 1
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remain_dropweight_kg = 50
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remain_count = 18
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remain_count = 18
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maduo_count = 30
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maduo_count = 30
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io_take_addr = 8
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io_take_addr = 8
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735
log/log.log
735
log/log.log
@ -1,735 +0,0 @@
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2025-09-29 15:43:48 - INFO- 进入系统
|
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||||||
2025-09-29 15:43:50 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
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|
||||||
2025-09-29 15:43:50 - INFO- 切换到工具坐标
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2025-09-29 15:43:51 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
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||||||
2025-09-29 15:43:51 - INFO- 切换到自动运行状态
|
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||||||
2025-09-29 15:43:51 - INFO- 第一层确认生产
|
|
||||||
2025-09-29 15:43:52 - INFO- 1号线:投料开始
|
|
||||||
2025-09-29 15:43:52 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
|
|
||||||
2025-09-29 15:43:52 - INFO- 发送IO控制: 2，1
|
|
||||||
2025-09-29 15:43:57 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
|
|
||||||
2025-09-29 15:43:57 - INFO- 发送IO控制: 2，0
|
|
||||||
2025-09-29 15:43:57 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-29 15:43:57 - INFO- 投料开始
|
|
||||||
2025-09-29 15:43:58 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-29 15:43:58 - INFO- 投料开始
|
|
||||||
2025-09-29 15:43:58 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-29 15:43:58 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-29 15:43:58 - INFO- 移动到中位位置
|
|
||||||
2025-09-29 15:43:58 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-29 15:43:58 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-29 15:43:58 - INFO- 检测是否安全投料
|
|
||||||
2025-09-29 15:43:58 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-29 15:43:59 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-29 15:43:59 - INFO- 检测是否安全投料
|
|
||||||
2025-09-29 15:43:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-29 15:43:59 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-29 15:43:59 - INFO- 拍照
|
|
||||||
2025-09-29 15:43:59 - INFO- 识别图像成功
|
|
||||||
2025-09-29 15:43:59 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-29 15:43:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-29 15:43:59 - INFO- 拍照
|
|
||||||
2025-09-29 15:44:00 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-29 15:44:00 - INFO- 拍照
|
|
||||||
2025-09-29 15:44:01 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-29 15:44:03 - INFO- 拍照
|
|
||||||
2025-09-29 15:44:04 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-29 15:44:06 - INFO- 拍照
|
|
||||||
2025-09-29 15:44:06 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-29 15:44:08 - INFO- 拍照
|
|
||||||
2025-09-29 15:44:09 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-29 15:44:10 - INFO- 清除报警
|
|
||||||
2025-09-29 15:44:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
|
|
||||||
2025-09-29 15:44:10 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]}
|
|
||||||
2025-09-29 15:44:10 - INFO- 按下急停
|
|
||||||
2025-09-29 16:07:31 - INFO- 退出系统
|
|
||||||
2025-09-29 17:13:28 - INFO- 进入系统
|
|
||||||
2025-09-29 18:10:00 - INFO- 进入系统
|
|
||||||
2025-09-29 18:13:45 - ERROR- 'DropLine1'
|
|
||||||
2025-09-29 18:13:53 - ERROR- 'DropLine1'
|
|
||||||
2025-09-29 18:15:12 - ERROR- 'DropLine1'
|
|
||||||
2025-09-29 18:41:25 - INFO- 进入系统
|
|
||||||
2025-09-29 18:51:11 - INFO- 退出系统
|
|
||||||
2025-09-29 19:14:54 - INFO- 进入系统
|
|
||||||
2025-09-29 19:15:19 - INFO- 设置拍照点2:0.0,0.0,0.0
|
|
||||||
2025-09-29 19:15:29 - INFO- 设置拍照点2:0.0,0.0,0.0
|
|
||||||
2025-09-29 19:15:35 - INFO- 退出系统
|
|
||||||
2025-09-29 19:15:47 - INFO- 进入系统
|
|
||||||
2025-09-29 19:16:23 - INFO- 退出系统
|
|
||||||
2025-09-29 19:21:40 - INFO- 进入系统
|
|
||||||
2025-09-29 19:31:06 - INFO- 退出系统
|
|
||||||
2025-09-30 09:46:32 - INFO- 进入系统
|
|
||||||
2025-09-30 09:47:01 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
|
|
||||||
2025-09-30 09:47:01 - INFO- 切换到工具坐标
|
|
||||||
2025-09-30 09:47:01 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
|
|
||||||
2025-09-30 09:47:01 - INFO- 切换到自动运行状态
|
|
||||||
2025-09-30 09:47:02 - INFO- 第一层确认生产
|
|
||||||
2025-09-30 09:47:03 - INFO- 1号线:投料开始
|
|
||||||
2025-09-30 09:47:03 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
|
|
||||||
2025-09-30 09:47:03 - INFO- 发送IO控制: 2，1
|
|
||||||
2025-09-30 09:47:08 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
|
|
||||||
2025-09-30 09:47:08 - INFO- 发送IO控制: 2，0
|
|
||||||
2025-09-30 09:47:08 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:47:08 - INFO- 投料开始
|
|
||||||
2025-09-30 09:47:09 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:47:09 - INFO- 投料开始
|
|
||||||
2025-09-30 09:47:09 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:47:09 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:47:09 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 09:47:09 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:47:09 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:47:09 - INFO- 检测是否安全投料
|
|
||||||
2025-09-30 09:47:09 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:47:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:47:10 - INFO- 检测是否安全投料
|
|
||||||
2025-09-30 09:47:10 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:47:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:47:10 - INFO- 拍照
|
|
||||||
2025-09-30 09:47:10 - INFO- 识别图像成功
|
|
||||||
2025-09-30 09:47:10 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:47:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:47:10 - INFO- 拍照
|
|
||||||
2025-09-30 09:47:11 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-30 09:47:11 - INFO- 拍照
|
|
||||||
2025-09-30 09:47:12 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-30 09:47:14 - INFO- 拍照
|
|
||||||
2025-09-30 09:47:15 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-30 09:47:17 - INFO- 拍照
|
|
||||||
2025-09-30 09:47:17 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-30 09:47:19 - INFO- 拍照
|
|
||||||
2025-09-30 09:47:20 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-30 09:47:22 - INFO- 拍照
|
|
||||||
2025-09-30 09:47:22 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-30 09:47:25 - INFO- 拍照
|
|
||||||
2025-09-30 09:47:25 - ERROR- 夹爪打开失败
|
|
||||||
2025-09-30 09:47:27 - INFO- 清除报警
|
|
||||||
2025-09-30 09:47:27 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
|
|
||||||
2025-09-30 09:47:27 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]}
|
|
||||||
2025-09-30 09:47:27 - INFO- 按下急停
|
|
||||||
2025-09-30 09:47:30 - INFO- 退出系统
|
|
||||||
2025-09-30 09:53:07 - INFO- 进入系统
|
|
||||||
2025-09-30 09:53:09 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
|
|
||||||
2025-09-30 09:53:09 - INFO- 切换到工具坐标
|
|
||||||
2025-09-30 09:53:10 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
|
|
||||||
2025-09-30 09:53:10 - INFO- 切换到自动运行状态
|
|
||||||
2025-09-30 09:53:10 - INFO- 第一层确认生产
|
|
||||||
2025-09-30 09:53:13 - INFO- 1号线:投料开始
|
|
||||||
2025-09-30 09:53:14 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
|
|
||||||
2025-09-30 09:53:14 - INFO- 发送IO控制: 2，1
|
|
||||||
2025-09-30 09:53:19 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
|
|
||||||
2025-09-30 09:53:19 - INFO- 发送IO控制: 2，0
|
|
||||||
2025-09-30 09:53:19 - INFO- 投料开始
|
|
||||||
2025-09-30 09:53:19 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:53:19 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:53:19 - INFO- 投料开始
|
|
||||||
2025-09-30 09:53:19 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:53:19 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:53:19 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 09:53:20 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:53:20 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:53:24 - INFO- 检测是否安全投料
|
|
||||||
2025-09-30 09:53:25 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:53:27 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:53:27 - INFO- 检测是否安全投料
|
|
||||||
2025-09-30 09:53:28 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:53:28 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:53:35 - INFO- 拍照
|
|
||||||
2025-09-30 09:53:35 - INFO- 识别图像成功
|
|
||||||
2025-09-30 09:53:36 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:53:36 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:53:36 - INFO- 拍照
|
|
||||||
2025-09-30 09:54:42 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 09:57:59 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:57:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:57:59 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 09:57:59 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 09:57:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:57:59 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:57:59 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 09:57:59 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 09:58:00 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 09:58:00 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:00 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:00 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:01 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:01 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:01 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:03 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:03 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:03 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:05 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:05 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:06 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:07 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:08 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:08 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:10 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:10 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:10 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:12 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:12 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:12 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:14 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:14 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:14 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:16 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:16 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:16 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:18 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:18 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:18 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:20 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:20 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:20 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:22 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:22 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:23 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:24 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:25 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:25 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:27 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:27 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:27 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:29 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:29 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:29 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:31 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:31 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:31 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:33 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:33 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:33 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:35 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:35 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:35 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:37 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:37 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:37 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:39 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:39 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:39 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:41 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:41 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:42 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:43 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:44 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:44 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:46 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:46 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:46 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:48 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:48 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:48 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:50 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:50 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:50 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:52 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:52 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:52 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:54 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:54 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:54 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:56 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:56 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:56 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:58:58 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:58:58 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:58:59 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:59:00 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:59:01 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:59:01 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:59:03 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:59:03 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 09:59:03 - ERROR- 夹爪关闭失败
|
|
||||||
2025-09-30 09:59:07 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 09:59:07 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 10:00:01 - INFO- 进入系统
|
|
||||||
2025-09-30 10:00:04 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
|
|
||||||
2025-09-30 10:00:05 - INFO- 切换到工具坐标
|
|
||||||
2025-09-30 10:00:05 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
|
|
||||||
2025-09-30 10:00:05 - INFO- 切换到自动运行状态
|
|
||||||
2025-09-30 10:00:05 - INFO- 第一层确认生产
|
|
||||||
2025-09-30 10:00:06 - INFO- 1号线:投料开始
|
|
||||||
2025-09-30 10:00:06 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
|
|
||||||
2025-09-30 10:00:06 - INFO- 发送IO控制: 2，1
|
|
||||||
2025-09-30 10:00:11 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
|
|
||||||
2025-09-30 10:00:11 - INFO- 发送IO控制: 2，0
|
|
||||||
2025-09-30 10:00:11 - INFO- 投料开始
|
|
||||||
2025-09-30 10:00:12 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:12 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:12 - INFO- 投料开始
|
|
||||||
2025-09-30 10:00:12 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:12 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:12 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:00:12 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:12 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:24 - INFO- 检测是否安全投料
|
|
||||||
2025-09-30 10:00:24 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:25 - INFO- 检测是否安全投料
|
|
||||||
2025-09-30 10:00:28 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:28 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:29 - INFO- 拍照
|
|
||||||
2025-09-30 10:00:29 - INFO- 识别图像成功
|
|
||||||
2025-09-30 10:00:30 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:32 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:32 - INFO- 拍照
|
|
||||||
2025-09-30 10:00:34 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 10:00:34 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:35 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:35 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 10:00:36 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:00:36 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:37 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:38 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:00:38 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:38 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:38 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 10:00:38 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 10:00:46 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:46 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:47 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:00:47 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:47 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:47 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:47 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:00:47 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:47 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:00:47 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
|
|
||||||
2025-09-30 10:00:47 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:48 - INFO- 移动到码垛中间点位置
|
|
||||||
2025-09-30 10:00:48 - INFO- 移动到位置:姿势直线：X:842.553-Y:-185.692-Z:-1052.361-U:-58.482-V:9.0-W:0.0
|
|
||||||
2025-09-30 10:00:48 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"842.553","m1":"-185.692","m2":"-1052.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:48 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:00:48 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:00:48 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:00:49 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:00:49 - INFO- 已码垛数量：9
|
|
||||||
2025-09-30 10:00:49 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
|
|
||||||
2025-09-30 10:00:50 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:00:50 - INFO- 移动到码垛复位位置
|
|
||||||
2025-09-30 10:00:50 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:00:50 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:01:23 - INFO- 拍照
|
|
||||||
2025-09-30 10:01:23 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 10:01:23 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:01:23 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:01:23 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 10:01:24 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:01:25 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:01:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:01:25 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:01:25 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:01:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:01:25 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 10:01:25 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 10:01:25 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:01:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:01:26 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:01:26 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:01:26 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:01:26 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:01:26 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:01:26 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:01:26 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:01:26 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
|
|
||||||
2025-09-30 10:01:26 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:01:27 - INFO- 移动到码垛中间点位置
|
|
||||||
2025-09-30 10:01:27 - INFO- 移动到位置:姿势直线：X:842.553-Y:544.308-Z:-1052.361-U:-238.482-V:10.0-W:0.0
|
|
||||||
2025-09-30 10:01:27 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"842.553","m1":"544.308","m2":"-1052.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:01:27 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:01:27 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:01:27 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:01:28 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:01:28 - INFO- 已码垛数量：10
|
|
||||||
2025-09-30 10:01:28 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
|
|
||||||
2025-09-30 10:01:28 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:01:28 - INFO- 移动到码垛复位位置
|
|
||||||
2025-09-30 10:01:28 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:01:28 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:03 - INFO- 拍照
|
|
||||||
2025-09-30 10:02:03 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 10:02:03 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:03 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:06 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 10:02:06 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:06 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:06 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:07 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:07 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:07 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:07 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 10:02:07 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 10:02:07 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:07 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:07 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:07 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:08 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:08 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:08 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:08 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:08 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:08 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
|
|
||||||
2025-09-30 10:02:08 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:08 - INFO- 移动到码垛中间点位置
|
|
||||||
2025-09-30 10:02:08 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1052.553","m1":"-395.692","m2":"-902.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:09 - INFO- 移动到位置:姿势直线：X:1052.553-Y:-395.692-Z:-902.361-U:-148.482-V:11.0-W:0.0
|
|
||||||
2025-09-30 10:02:09 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:02:09 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:02:09 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:02:09 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:02:10 - INFO- 已码垛数量：11
|
|
||||||
2025-09-30 10:02:10 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
|
|
||||||
2025-09-30 10:02:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:10 - INFO- 移动到码垛复位位置
|
|
||||||
2025-09-30 10:02:10 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:10 - INFO- 拍照
|
|
||||||
2025-09-30 10:02:10 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 10:02:10 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:11 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 10:02:11 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:11 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:11 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:11 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:12 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 10:02:12 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 10:02:12 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:12 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:12 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:12 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:12 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:12 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:12 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:13 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:13 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:13 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
|
|
||||||
2025-09-30 10:02:13 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:13 - INFO- 移动到码垛中间点位置
|
|
||||||
2025-09-30 10:02:13 - INFO- 移动到位置:姿势直线：X:1052.553-Y:704.308-Z:-902.361-U:-148.482-V:12.0-W:0.0
|
|
||||||
2025-09-30 10:02:13 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1052.553","m1":"704.308","m2":"-902.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:13 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:02:13 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:02:14 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:02:14 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 10:02:14 - INFO- 已码垛数量：12
|
|
||||||
2025-09-30 10:02:14 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
|
|
||||||
2025-09-30 10:02:14 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:14 - INFO- 移动到码垛复位位置
|
|
||||||
2025-09-30 10:02:14 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:15 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:15 - INFO- 拍照
|
|
||||||
2025-09-30 10:02:15 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 10:02:15 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:15 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:15 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 10:02:15 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:15 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:15 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:16 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 10:02:16 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:16 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:16 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 10:02:16 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 10:02:16 - INFO- 清除报警
|
|
||||||
2025-09-30 10:02:16 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
|
|
||||||
2025-09-30 10:02:16 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionStop","1"]}
|
|
||||||
2025-09-30 10:02:16 - INFO- 按下急停
|
|
||||||
2025-09-30 10:02:17 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 10:02:17 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 10:02:50 - INFO- 退出系统
|
|
||||||
2025-09-30 11:32:39 - INFO- 进入系统
|
|
||||||
2025-09-30 11:37:31 - INFO- 退出系统
|
|
||||||
2025-09-30 11:37:41 - INFO- 进入系统
|
|
||||||
2025-09-30 11:37:48 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
|
|
||||||
2025-09-30 11:37:48 - INFO- 切换到工具坐标
|
|
||||||
2025-09-30 11:37:48 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
|
|
||||||
2025-09-30 11:37:48 - INFO- 切换到自动运行状态
|
|
||||||
2025-09-30 11:37:51 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
|
|
||||||
2025-09-30 11:37:51 - INFO- 切换到工具坐标
|
|
||||||
2025-09-30 11:37:51 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
|
|
||||||
2025-09-30 11:37:51 - INFO- 切换到自动运行状态
|
|
||||||
2025-09-30 11:37:55 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
|
|
||||||
2025-09-30 11:37:55 - INFO- 切换到工具坐标
|
|
||||||
2025-09-30 11:37:55 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
|
|
||||||
2025-09-30 11:37:55 - INFO- 切换到自动运行状态
|
|
||||||
2025-09-30 11:37:59 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
|
|
||||||
2025-09-30 11:37:59 - INFO- 切换到工具坐标
|
|
||||||
2025-09-30 11:37:59 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
|
|
||||||
2025-09-30 11:37:59 - INFO- 切换到自动运行状态
|
|
||||||
2025-09-30 11:39:42 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
|
|
||||||
2025-09-30 11:39:42 - INFO- 切换到工具坐标
|
|
||||||
2025-09-30 11:39:42 - INFO- 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
|
|
||||||
2025-09-30 11:39:42 - INFO- 切换到自动运行状态
|
|
||||||
2025-09-30 11:39:43 - INFO- 第一层确认生产
|
|
||||||
2025-09-30 11:39:44 - INFO- 1号线:投料开始
|
|
||||||
2025-09-30 11:39:44 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
|
|
||||||
2025-09-30 11:39:44 - INFO- 发送IO控制: 2，1
|
|
||||||
2025-09-30 11:39:49 - INFO- 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
|
|
||||||
2025-09-30 11:39:49 - INFO- 发送IO控制: 2，0
|
|
||||||
2025-09-30 11:39:49 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:49 - INFO- 投料开始
|
|
||||||
2025-09-30 11:39:49 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:49 - INFO- 投料开始
|
|
||||||
2025-09-30 11:39:49 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:49 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:50 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:50 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:50 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:50 - INFO- 检测是否安全投料
|
|
||||||
2025-09-30 11:39:50 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:50 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:50 - INFO- 检测是否安全投料
|
|
||||||
2025-09-30 11:39:50 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:51 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:51 - INFO- 拍照
|
|
||||||
2025-09-30 11:39:51 - INFO- 识别图像成功
|
|
||||||
2025-09-30 11:39:51 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:51 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:51 - INFO- 拍照
|
|
||||||
2025-09-30 11:39:51 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 11:39:51 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:51 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:52 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 11:39:52 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:52 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:52 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:52 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:52 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:52 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:52 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 11:39:52 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 11:39:52 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:53 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:53 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:53 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:53 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:53 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:53 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:53 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:53 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:53 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:39:54 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:54 - INFO- 移动到码垛中间点位置
|
|
||||||
2025-09-30 11:39:54 - INFO- 移动到位置:姿势直线：X:1052.553-Y:179.308-Z:-902.361-U:-148.482-V:13.0-W:0.0
|
|
||||||
2025-09-30 11:39:54 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1052.553","m1":"179.308","m2":"-902.361","m3":"-148.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:54 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:39:54 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:39:54 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:39:54 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:39:54 - INFO- 已码垛数量：13
|
|
||||||
2025-09-30 11:39:55 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:39:55 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:55 - INFO- 移动到码垛复位位置
|
|
||||||
2025-09-30 11:39:55 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:55 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:55 - INFO- 拍照
|
|
||||||
2025-09-30 11:39:55 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 11:39:55 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:55 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:56 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 11:39:56 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:56 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:56 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:56 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:56 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:56 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:56 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 11:39:56 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 11:39:57 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:57 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:57 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:57 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:57 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:57 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:57 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:57 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:57 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:39:58 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:39:58 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:58 - INFO- 移动到码垛中间点位置
|
|
||||||
2025-09-30 11:39:58 - INFO- 移动到位置:姿势直线：X:1792.553-Y:-185.692-Z:-902.361-U:-58.482-V:14.0-W:0.0
|
|
||||||
2025-09-30 11:39:58 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1792.553","m1":"-185.692","m2":"-902.361","m3":"-58.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:58 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:39:58 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:39:58 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:39:58 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:39:59 - INFO- 已码垛数量：14
|
|
||||||
2025-09-30 11:39:59 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:39:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:59 - INFO- 移动到码垛复位位置
|
|
||||||
2025-09-30 11:39:59 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:39:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:39:59 - INFO- 拍照
|
|
||||||
2025-09-30 11:39:59 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 11:39:59 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:00 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:00 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 11:40:00 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:00 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:00 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:00 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:00 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:00 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:00 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 11:40:00 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 11:40:01 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:01 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:01 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:01 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:01 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:01 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:01 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:01 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:01 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:02 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:40:02 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:02 - INFO- 移动到码垛中间点位置
|
|
||||||
2025-09-30 11:40:02 - INFO- 移动到位置:姿势直线：X:1792.553-Y:544.308-Z:-902.361-U:-238.482-V:15.0-W:0.0
|
|
||||||
2025-09-30 11:40:02 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1792.553","m1":"544.308","m2":"-902.361","m3":"-238.482","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:02 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:02 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:02 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:02 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:03 - INFO- 已码垛数量：15
|
|
||||||
2025-09-30 11:40:03 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:40:03 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:03 - INFO- 移动到码垛复位位置
|
|
||||||
2025-09-30 11:40:03 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:03 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:03 - INFO- 拍照
|
|
||||||
2025-09-30 11:40:03 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 11:40:03 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:04 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:04 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 11:40:04 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:04 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:04 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:04 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:04 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:04 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:07 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 11:40:07 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 11:40:09 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:10 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:10 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:10 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:11 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:11 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:11 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:11 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:40:11 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1582.553","m1":"-395.692","m2":"-752.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:13 - INFO- 移动到码垛中间点位置
|
|
||||||
2025-09-30 11:40:15 - INFO- 移动到位置:姿势直线：X:1582.553-Y:-395.692-Z:-752.361-U:31.518-V:16.0-W:0.0
|
|
||||||
2025-09-30 11:40:16 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:18 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:18 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:18 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:19 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:19 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:19 - INFO- 已码垛数量：16
|
|
||||||
2025-09-30 11:40:19 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:40:19 - INFO- 移动到码垛复位位置
|
|
||||||
2025-09-30 11:40:19 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:19 - INFO- 拍照
|
|
||||||
2025-09-30 11:40:19 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:19 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 11:40:20 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:20 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 11:40:20 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:20 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:20 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:20 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:20 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:20 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:21 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 11:40:22 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 11:40:22 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:24 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:24 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:24 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:24 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:24 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:25 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:25 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:25 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:40:25 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:25 - INFO- 移动到码垛中间点位置
|
|
||||||
2025-09-30 11:40:26 - INFO- 移动到位置:姿势直线：X:1582.553-Y:704.308-Z:-752.361-U:31.518-V:17.0-W:0.0
|
|
||||||
2025-09-30 11:40:26 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1582.553","m1":"704.308","m2":"-752.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:27 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:27 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:28 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:28 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:28 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:28 - INFO- 已码垛数量：17
|
|
||||||
2025-09-30 11:40:28 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:40:29 - INFO- 移动到码垛复位位置
|
|
||||||
2025-09-30 11:40:29 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:29 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:29 - INFO- 拍照
|
|
||||||
2025-09-30 11:40:29 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 11:40:29 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:29 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:29 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 11:40:29 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:30 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:30 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:30 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:30 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:30 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:31 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 11:40:32 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 11:40:32 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:33 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:33 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:33 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:34 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:37 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:37 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:38 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:38 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:38 - INFO- 移动到位置:姿势曲线：X:-21.648-Y:-20.0-Z:98.003-U:-225.353-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:40:38 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-21.648","m1":"-20.0","m2":"98.003","m3":"-225.353","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:38 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1582.553","m1":"179.308","m2":"-752.361","m3":"31.518","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:38 - INFO- 移动到码垛中间点位置
|
|
||||||
2025-09-30 11:40:38 - INFO- 移动到位置:姿势直线：X:1582.553-Y:179.308-Z:-752.361-U:31.518-V:18.0-W:0.0
|
|
||||||
2025-09-30 11:40:38 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:38 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:39 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:39 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"4","m0":"-44.431","m1":"-60.0","m2":"-80.5","m3":"51.386","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:39 - INFO- 移动到扔袋位置
|
|
||||||
2025-09-30 11:40:39 - INFO- 已码垛数量：18
|
|
||||||
2025-09-30 11:40:39 - INFO- 移动到位置:姿势曲线：X:-44.431-Y:-60.0-Z:-80.5-U:51.386-V:0.0-W:0.0
|
|
||||||
2025-09-30 11:40:39 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"19.275372","m1":"-1531.274658","m2":"-59.998802","m3":"-73.544907","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:39 - INFO- 移动到码垛复位位置
|
|
||||||
2025-09-30 11:40:39 - INFO- 移动到位置:姿势直线：X:19.275372-Y:-1531.274658-Z:-59.998802-U:-73.544907-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:39 - INFO- 拍照
|
|
||||||
2025-09-30 11:40:40 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:40 - INFO- 传感器2检测到料包到位开始执行抓取
|
|
||||||
2025-09-30 11:40:40 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:40 - INFO- 执行完成FPhoto
|
|
||||||
2025-09-30 11:40:40 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:40 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:40 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:40 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:40 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-1220.955688-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:41 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-1220.955688","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:41 - INFO- str_feed_take移动到抓料位置
|
|
||||||
2025-09-30 11:40:41 - INFO- 机器人已到达抓料点位
|
|
||||||
2025-09-30 11:40:41 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:41 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:41 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:41 - INFO- 移动到位置:姿势直线：X:-550.23053-Y:-1411.78418-Z:-825.0-U:-149.776047-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:41 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-550.23053","m1":"-1411.78418","m2":"-825.0","m3":"-149.776047","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:41 - INFO- 移动到中位位置
|
|
||||||
2025-09-30 11:40:42 - INFO- 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
|
||||||
2025-09-30 11:40:42 - INFO- 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
|
||||||
2025-09-30 11:40:42 - INFO- 移动到中位位置
|
|
||||||
112
main.py
112
main.py
@ -48,6 +48,7 @@ from ui_MainWin import Ui_MainWindow
|
|||||||
from view.ResetView import StopDialog
|
from view.ResetView import StopDialog
|
||||||
from EMV.EMV import RelayController
|
from EMV.EMV import RelayController
|
||||||
from CU.drop import DropPositionManager
|
from CU.drop import DropPositionManager
|
||||||
|
import re
|
||||||
|
|
||||||
|
|
||||||
class MainWindow(QMainWindow, Ui_MainWindow):
|
class MainWindow(QMainWindow, Ui_MainWindow):
|
||||||
@ -764,6 +765,7 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
|||||||
|
|
||||||
self.last_time = time.time()
|
self.last_time = time.time()
|
||||||
self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName')
|
self.remain_lineName = self.configReader.get('Robot_Feed', 'remain_lineName')
|
||||||
|
self.remain_drop_weight = self.configReader.get("Robot_Feed", "remain_dropweight_kg") # 9/29 投料重量, 单位kg
|
||||||
self.remain_Count = int(self.configReader.get('Robot_Feed', 'remain_Count'))
|
self.remain_Count = int(self.configReader.get('Robot_Feed', 'remain_Count'))
|
||||||
self.maduo_Count = int(self.configReader.get('Robot_Feed', 'maduo_Count'))
|
self.maduo_Count = int(self.configReader.get('Robot_Feed', 'maduo_Count'))
|
||||||
self.label_remain_num.setText(str(self.remain_Count))
|
self.label_remain_num.setText(str(self.remain_Count))
|
||||||
@ -803,8 +805,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
|||||||
if line_model:
|
if line_model:
|
||||||
self.feedLine_dict[f'{Constant.dropLine_set_section}-35'] = line_model
|
self.feedLine_dict[f'{Constant.dropLine_set_section}-35'] = line_model
|
||||||
|
|
||||||
self.updateUI_Select_Line()
|
# self.updateUI_Select_Line()
|
||||||
pass
|
# 9/29 初始化线名选择框 和 重量选择框
|
||||||
|
self.updateui_select_line_by_feedLine_ini()
|
||||||
|
self.updateui_select_dropweight_by_drop_ini()
|
||||||
|
|
||||||
def init_robot_info(self):
|
def init_robot_info(self):
|
||||||
j1_min = int(self.configReader.get('Robot_Feed', 'j1_min'))
|
j1_min = int(self.configReader.get('Robot_Feed', 'j1_min'))
|
||||||
@ -1491,6 +1495,90 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
|||||||
self.comboBox_lineIndex.clear()
|
self.comboBox_lineIndex.clear()
|
||||||
for key, value in self.feedLine_dict.items():
|
for key, value in self.feedLine_dict.items():
|
||||||
self.comboBox_lineIndex.addItem(value.name, key)
|
self.comboBox_lineIndex.addItem(value.name, key)
|
||||||
|
|
||||||
|
# 9/29: 只需要加载FeedLine.ini中的name 作为comboBox_lineIndex的选项
|
||||||
|
def updateui_select_line_by_feedLine_ini(self):
|
||||||
|
self.comboBox_lineIndex.clear()
|
||||||
|
configReader = configparser.ConfigParser()
|
||||||
|
configReader.read(Constant.feedLine_set_file, encoding="utf-8")
|
||||||
|
for index in range(1, Constant.MAX_Line_num):
|
||||||
|
section = f"{Constant.feedLine_set_section}{index}"
|
||||||
|
if configReader.has_section(section):
|
||||||
|
line_name = configReader.get(section, "name")
|
||||||
|
self.comboBox_lineIndex.addItem(line_name, section)
|
||||||
|
|
||||||
|
# 设置初始化选中，初始选中 f'{Constant.feedLine_set_section}{self.remain_linename}'
|
||||||
|
if self.remain_lineName:
|
||||||
|
selected_value = f"{Constant.feedLine_set_section}{self.remain_lineName}"
|
||||||
|
selected_index = self.comboBox_lineIndex.findData(selected_value)
|
||||||
|
if selected_index >= 0:
|
||||||
|
self.comboBox_lineIndex.setCurrentIndex(selected_index)
|
||||||
|
|
||||||
|
# 9/29 初始化加载 drop.ini 中的name，获取预先设置的重量
|
||||||
|
def updateui_select_dropweight_by_drop_ini(self):
|
||||||
|
self.comboBox_dropWeight.clear()
|
||||||
|
configReader = configparser.ConfigParser()
|
||||||
|
# 读取重量路径配置文件 drop.ini
|
||||||
|
configReader.read(Constant.dropLine_set_file, encoding="utf-8")
|
||||||
|
|
||||||
|
# drop_name匹配xxxkg获取重量
|
||||||
|
weight_pattern = re.compile(r'(\d+kg)')
|
||||||
|
|
||||||
|
for index in range(1, Constant.MAX_Line_num):
|
||||||
|
section = f"{Constant.dropLine_set_section}{index}"
|
||||||
|
if configReader.has_section(section):
|
||||||
|
drop_name = configReader.get(section, "name")
|
||||||
|
match = weight_pattern.search(drop_name)
|
||||||
|
if match:
|
||||||
|
# 提取匹配到的内容（如"50kg"）
|
||||||
|
weight_text = match.group(1)
|
||||||
|
else:
|
||||||
|
# 无法匹配xxxkg， 则使用"未知重量"
|
||||||
|
weight_text = "未知重量"
|
||||||
|
# userData: 如 DropLine50kg
|
||||||
|
userData = f"{Constant.dropLine_set_section}{weight_text}"
|
||||||
|
self.comboBox_dropWeight.addItem(weight_text, userData)
|
||||||
|
|
||||||
|
# 连接槽函数
|
||||||
|
self.comboBox_dropWeight.currentIndexChanged.connect(self.on_drop_weight_changed)
|
||||||
|
|
||||||
|
# 设置初始化选中的重量
|
||||||
|
if self.remain_drop_weight:
|
||||||
|
# selected_value: 如 DropLine50kg
|
||||||
|
selected_value = f"{Constant.dropLine_set_section}{self.remain_drop_weight}kg"
|
||||||
|
selected_index = self.comboBox_dropWeight.findData(selected_value)
|
||||||
|
if selected_index >= 0:
|
||||||
|
self.comboBox_dropWeight.setCurrentIndex(selected_index)
|
||||||
|
# 初始化重量提示标签
|
||||||
|
self.weight_label_info.setText(f"Tips: 当前选择的码垛重量为 {self.remain_drop_weight}kg")
|
||||||
|
|
||||||
|
|
||||||
|
"""9/29 重量下拉框选中项变化时, 更新self.remain_drop_weight"""
|
||||||
|
def on_drop_weight_changed(self, index):
|
||||||
|
# 默认的重量为 50 kg
|
||||||
|
default_weight = 50
|
||||||
|
|
||||||
|
if index < 0: # 没有选中项时（如下拉框为空）
|
||||||
|
self.remain_drop_weight = default_weight
|
||||||
|
return
|
||||||
|
|
||||||
|
# 获取当前选中项的显示文本（如"50kg"）
|
||||||
|
selected_text = self.comboBox_dropWeight.currentText()
|
||||||
|
|
||||||
|
# 提取重量数值（从"50kg"中提取"50"）
|
||||||
|
weight_pattern = re.compile(r'(\d+)kg')
|
||||||
|
match = weight_pattern.search(selected_text)
|
||||||
|
if match:
|
||||||
|
# 提取数字部分（如"50"）
|
||||||
|
self.remain_drop_weight = match.group(1)
|
||||||
|
else:
|
||||||
|
# 若为"未知重量"，remain_drop_weight 也为 default_weight
|
||||||
|
self.remain_drop_weight = default_weight
|
||||||
|
|
||||||
|
# 更新上方的码垛重量提示Tips：
|
||||||
|
self.weight_label_info.setText(f"Tips: 当前选择的码垛重量为 {selected_text}")
|
||||||
|
|
||||||
|
|
||||||
def updateUI_label_status(self):
|
def updateUI_label_status(self):
|
||||||
if self.robotClient.status_model.isMoving==1:
|
if self.robotClient.status_model.isMoving==1:
|
||||||
self.label_move_sign.show()
|
self.label_move_sign.show()
|
||||||
@ -1945,7 +2033,9 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
|||||||
def send_click_change_stackView(self,index):
|
def send_click_change_stackView(self,index):
|
||||||
self.stackedWidget_view.setCurrentIndex(index)
|
self.stackedWidget_view.setCurrentIndex(index)
|
||||||
if index == 0:
|
if index == 0:
|
||||||
self.updateUI_Select_Line()
|
# 9/29： 切换界面，不刷新 线名选择框 comboBox_lineIndex
|
||||||
|
# self.updateUI_Select_Line()
|
||||||
|
pass
|
||||||
if index == 2:
|
if index == 2:
|
||||||
self.updateRobotSeting()
|
self.updateRobotSeting()
|
||||||
self.updateUI_Photo_Set()
|
self.updateUI_Photo_Set()
|
||||||
@ -2009,16 +2099,20 @@ class MainWindow(QMainWindow, Ui_MainWindow):
|
|||||||
#记录投料袋数
|
#记录投料袋数
|
||||||
def record_remain_num(self):
|
def record_remain_num(self):
|
||||||
try:
|
try:
|
||||||
self.configReader = configparser.ConfigParser()
|
self.configReader = configparser.ConfigParser()
|
||||||
self.configReader.read(Constant.set_ini)
|
self.configReader.read(Constant.set_ini)
|
||||||
if self.feeding.feedConfig:
|
if self.feeding.feedConfig:
|
||||||
self.configReader.set('Robot_Feed', 'remain_linename', str(self.feeding.feedConfig.feedLine.id))
|
self.configReader.set('Robot_Feed', 'remain_linename', str(self.feeding.feedConfig.feedLine.id))
|
||||||
self.configReader.set('Robot_Feed', 'remain_count', str(self.feeding.feedConfig.remain_count))
|
self.configReader.set('Robot_Feed', 'remain_count', str(self.feeding.feedConfig.remain_count))
|
||||||
if self.cur_pushbutton_num:
|
if self.cur_pushbutton_num:
|
||||||
self.configReader.set('Robot_Feed', 'maduo_count', self.cur_pushbutton_num.text())
|
self.configReader.set('Robot_Feed', 'maduo_count', self.cur_pushbutton_num.text())
|
||||||
self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
|
|
||||||
|
# 9/29 保存 remain_dropweight_kg 投料的重量，35、50 (单位kg)
|
||||||
|
self.configReader.set("Robot_Feed", "remain_dropweight_kg", str(self.remain_drop_weight))
|
||||||
|
|
||||||
|
self.configReader.write(open(Constant.set_ini, 'w', encoding='utf-8'))
|
||||||
except:
|
except:
|
||||||
log.log_message(logging.ERROR, Constant.str_sys_log_feedNum)
|
log.log_message(logging.ERROR, Constant.str_sys_log_feedNum)
|
||||||
|
|
||||||
|
|
||||||
class MyApplication(QApplication):
|
class MyApplication(QApplication):
|
||||||
|
|||||||
4064
ui_MainWin - 副本 (3).py
Normal file
4064
ui_MainWin - 副本 (3).py
Normal file
File diff suppressed because it is too large
Load Diff
@ -628,7 +628,36 @@ class Ui_MainWindow(object):
|
|||||||
"border-image: None;")
|
"border-image: None;")
|
||||||
self.frame_sign_2.setFrameShape(QFrame.Shape.StyledPanel)
|
self.frame_sign_2.setFrameShape(QFrame.Shape.StyledPanel)
|
||||||
self.frame_sign_2.setFrameShadow(QFrame.Shadow.Raised)
|
self.frame_sign_2.setFrameShadow(QFrame.Shadow.Raised)
|
||||||
self.gridLayout_4 = QGridLayout(self.frame_sign_2)
|
|
||||||
|
|
||||||
|
# 9/30 新增显示 投料的重量的信息
|
||||||
|
self.verticalLayout_sign = QVBoxLayout(self.frame_sign_2)
|
||||||
|
self.verticalLayout_sign.setObjectName(u"verticalLayout_sign")
|
||||||
|
self.verticalLayout_sign.setContentsMargins(0, 0, 0, 0) # 清除边距
|
||||||
|
self.verticalLayout_sign.setSpacing(5) # 新标签与下方网格布局的间距
|
||||||
|
|
||||||
|
# 1. 添加新的信息标签（放在上方）
|
||||||
|
self.weight_label_info = QLabel(self.frame_sign_2)
|
||||||
|
self.weight_label_info.setObjectName(u"label_info")
|
||||||
|
# 设置标签样式 background-color: #2c2c2c;
|
||||||
|
self.weight_label_info.setStyleSheet(u"""
|
||||||
|
QLabel {
|
||||||
|
background-color: rgba(255, 255, 255, 0);
|
||||||
|
color: red;
|
||||||
|
font: 11pt "Microsoft YaHei UI";
|
||||||
|
padding: 5px;
|
||||||
|
border-radius: 3px;
|
||||||
|
}
|
||||||
|
""")
|
||||||
|
self.weight_label_info.setText("显示当前的重量") # 初始信息
|
||||||
|
# self.weight_label_info.setAlignment(Qt.AlignmentFlag.AlignLeft | Qt.AlignmentFlag.AlignVCenter)
|
||||||
|
self.weight_label_info.setAlignment(Qt.AlignmentFlag.AlignCenter) # 居中
|
||||||
|
self.verticalLayout_sign.addWidget(self.weight_label_info)
|
||||||
|
|
||||||
|
|
||||||
|
# 9/10
|
||||||
|
# self.gridLayout_4 = QGridLayout(self.frame_sign_2)
|
||||||
|
self.gridLayout_4 = QGridLayout()
|
||||||
self.gridLayout_4.setObjectName(u"gridLayout_4")
|
self.gridLayout_4.setObjectName(u"gridLayout_4")
|
||||||
self.pushButton_sign_go = QPushButton(self.frame_sign_2)
|
self.pushButton_sign_go = QPushButton(self.frame_sign_2)
|
||||||
self.pushButton_sign_go.setObjectName(u"pushButton_sign_go")
|
self.pushButton_sign_go.setObjectName(u"pushButton_sign_go")
|
||||||
@ -786,6 +815,9 @@ class Ui_MainWindow(object):
|
|||||||
|
|
||||||
self.gridLayout_4.addWidget(self.label_sign_feed, 0, 7, 1, 1)
|
self.gridLayout_4.addWidget(self.label_sign_feed, 0, 7, 1, 1)
|
||||||
|
|
||||||
|
# 9/10 添加 取料中、拍照中等布局
|
||||||
|
self.verticalLayout_sign.addLayout(self.gridLayout_4)
|
||||||
|
|
||||||
|
|
||||||
self.verticalLayout_14.addWidget(self.frame_sign_2)
|
self.verticalLayout_14.addWidget(self.frame_sign_2)
|
||||||
|
|
||||||
@ -3310,6 +3342,47 @@ class Ui_MainWindow(object):
|
|||||||
|
|
||||||
self.verticalLayout_11.addWidget(self.comboBox_lineIndex)
|
self.verticalLayout_11.addWidget(self.comboBox_lineIndex)
|
||||||
|
|
||||||
|
# 9/29 新增重量选择框 和 选择投料重量提示
|
||||||
|
weight_h_layout = QHBoxLayout()
|
||||||
|
# weight_h_layout.setSpacing(10)
|
||||||
|
self.weight_label = QLabel(self.frame_20)
|
||||||
|
self.weight_label.setText("选择码垛重量:")
|
||||||
|
self.weight_label.setStyleSheet("color: white;")
|
||||||
|
weight_h_layout.addWidget(self.weight_label)
|
||||||
|
|
||||||
|
self.comboBox_dropWeight = QComboBox(self.frame_20)
|
||||||
|
self.comboBox_dropWeight.setObjectName(u"comboBox_dropWeight")
|
||||||
|
self.comboBox_dropWeight.setStyleSheet(u"QComboBox {\n"
|
||||||
|
" border-radius: 10px;\n"
|
||||||
|
" padding: 5px 5px 5px 5px;\n"
|
||||||
|
" background-color: #2c2c2c;\n"
|
||||||
|
" color: white;\n"
|
||||||
|
" border: 1px solid #474747;\n"
|
||||||
|
" min-width: 80px;\n"
|
||||||
|
"}\n"
|
||||||
|
"\n"
|
||||||
|
"\n"
|
||||||
|
"QComboBox::drop-down {\n"
|
||||||
|
" width: 0px;\n"
|
||||||
|
" border: none;\n"
|
||||||
|
"\n"
|
||||||
|
"}\n"
|
||||||
|
"\n"
|
||||||
|
"QComboBox::down-arrow {\n"
|
||||||
|
" image: none;\n"
|
||||||
|
"}\n"
|
||||||
|
"\n"
|
||||||
|
"QComboBox QAbstractItemView {\n"
|
||||||
|
" border-bottom-right-radius: 10px;\n"
|
||||||
|
" border-bottom-left-radius: 10px;\n"
|
||||||
|
" background-color: #D3D3D3;\n"
|
||||||
|
" border: 1px solid gray;\n"
|
||||||
|
" padding: 4px 4px 4px 4px;\n"
|
||||||
|
" outline: none;\n"
|
||||||
|
"}")
|
||||||
|
weight_h_layout.addWidget(self.comboBox_dropWeight)
|
||||||
|
self.verticalLayout_11.addLayout(weight_h_layout)
|
||||||
|
|
||||||
self.stackedWidget_num = QStackedWidget(self.frame_20)
|
self.stackedWidget_num = QStackedWidget(self.frame_20)
|
||||||
self.stackedWidget_num.setObjectName(u"stackedWidget_num")
|
self.stackedWidget_num.setObjectName(u"stackedWidget_num")
|
||||||
self.stackedWidget_num.setStyleSheet(u"border:none;")
|
self.stackedWidget_num.setStyleSheet(u"border:none;")
|
||||||
|
|||||||
Reference in New Issue
Block a user