805 lines
74 KiB
Plaintext
805 lines
74 KiB
Plaintext
2025-08-12 10:22:17 - INFO - 进入系统
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2025-08-12 10:22:25 - INFO - 第一层确认生产
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2025-08-12 10:22:25 - INFO - 反应釜1:投料开始
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2025-08-12 10:22:25 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
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2025-08-12 10:22:25 - INFO - 发送IO控制: 2，1
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2025-08-12 10:22:30 - INFO - 第一层确认生产
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2025-08-12 10:22:30 - INFO - 反应釜1:投料开始
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2025-08-12 10:22:30 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
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2025-08-12 10:22:30 - INFO - 发送IO控制: 2，0
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2025-08-12 10:22:30 - INFO - 投料开始
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2025-08-12 10:22:31 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
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2025-08-12 10:22:31 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:31 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
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2025-08-12 10:22:32 - INFO - 投料开始
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2025-08-12 10:22:33 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:33 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
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2025-08-12 10:22:33 - INFO - 移动到中位位置
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2025-08-12 10:22:33 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
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2025-08-12 10:22:33 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:33 - INFO - [调试计数] 已进入 FMid 分支 1 次
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2025-08-12 10:22:33 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:33 - INFO - 检测是否安全投料
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2025-08-12 10:22:33 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
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2025-08-12 10:22:33 - INFO - 检测是否安全投料
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2025-08-12 10:22:34 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:34 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
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2025-08-12 10:22:34 - INFO - 拍照
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2025-08-12 10:22:34 - INFO - 识别图像成功
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2025-08-12 10:22:34 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:22:34 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:22:35 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:22:36 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:22:37 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:22:38 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:22:39 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:22:40 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:22:41 - INFO - 清除报警
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2025-08-12 10:22:41 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
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2025-08-12 10:22:41 - INFO - 投料停止
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2025-08-12 10:22:41 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:22:42 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
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2025-08-12 10:22:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:43 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
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2025-08-12 10:22:43 - INFO - 执行完成FPhoto
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2025-08-12 10:22:43 - INFO - 拍照
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2025-08-12 10:22:43 - INFO - 识别图像成功
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2025-08-12 10:22:43 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
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2025-08-12 10:22:43 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
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2025-08-12 10:22:43 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:43 - INFO - 执行完成FPhoto
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2025-08-12 10:22:44 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:44 - INFO - 移动到中位位置
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2025-08-12 10:22:44 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
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2025-08-12 10:22:44 - INFO - [调试计数] 已进入 FMid 分支 2 次
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2025-08-12 10:22:47 - INFO - 移动到中位位置
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2025-08-12 10:22:47 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
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2025-08-12 10:22:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:47 - INFO - [调试计数] 已进入 FMid 分支 3 次
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2025-08-12 10:22:49 - INFO - 移动到中位位置
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2025-08-12 10:22:49 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
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2025-08-12 10:22:49 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:49 - INFO - [调试计数] 已进入 FMid 分支 4 次
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2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:50 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:50 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:50 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:50 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:50 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:51 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:51 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:52 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:52 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:53 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:53 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:54 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:54 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:55 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:22:55 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:22:55 - INFO - 🟢 机器人已到达抓料点位
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2025-08-12 10:22:56 - INFO - 已设置放置点: X=-187.12
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2025-08-12 10:22:56 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
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2025-08-12 10:22:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:56 - INFO - 移动到中位位置
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2025-08-12 10:22:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:56 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
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2025-08-12 10:22:56 - INFO - [调试计数] 已进入 FMid 分支 5 次
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2025-08-12 10:22:56 - INFO - 移动到中位位置
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2025-08-12 10:22:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:57 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
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2025-08-12 10:22:57 - INFO - [调试计数] 已进入 FMid 分支 6 次
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2025-08-12 10:22:57 - INFO - 移动到中位位置
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2025-08-12 10:22:57 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:22:57 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
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2025-08-12 10:22:57 - INFO - [调试计数] 已进入 FMid 分支 7 次
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2025-08-12 10:23:05 - INFO - 移动到中位位置
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2025-08-12 10:23:05 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
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2025-08-12 10:23:05 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:23:05 - INFO - [调试计数] 已进入 FMid 分支 8 次
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2025-08-12 10:23:09 - INFO - 移动到破袋位置
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2025-08-12 10:23:09 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
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2025-08-12 10:23:09 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:23:09 - INFO - 拍照
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2025-08-12 10:23:10 - INFO - 识别图像成功
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2025-08-12 10:23:10 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:23:10 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:23:11 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:23:12 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:23:13 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:23:14 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:23:16 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:23:17 - INFO - ⏳ 等待传感器2料包信号...
|
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2025-08-12 10:23:18 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:19 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:20 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:21 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:22 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:23 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:24 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:25 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:26 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:27 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:28 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:29 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:30 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:31 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:32 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:33 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:23:34 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
|
||
2025-08-12 10:23:34 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:23:35 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
|
||
2025-08-12 10:23:35 - INFO - 执行完成FPhoto
|
||
2025-08-12 10:23:35 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:23:35 - INFO - 移动到中位位置
|
||
2025-08-12 10:23:35 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
|
||
2025-08-12 10:23:35 - INFO - [调试计数] 已进入 FMid 分支 9 次
|
||
2025-08-12 10:23:38 - INFO - 移动到中位位置
|
||
2025-08-12 10:23:38 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
|
||
2025-08-12 10:23:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:23:38 - INFO - [调试计数] 已进入 FMid 分支 10 次
|
||
2025-08-12 10:23:40 - INFO - 移动到中位位置
|
||
2025-08-12 10:23:40 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
|
||
2025-08-12 10:23:41 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:23:41 - INFO - [调试计数] 已进入 FMid 分支 11 次
|
||
2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:41 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:41 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:41 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:41 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:42 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:42 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:43 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:43 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:44 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:44 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:45 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:45 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:46 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:46 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:23:47 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:23:47 - INFO - 🟢 机器人已到达抓料点位
|
||
2025-08-12 10:23:47 - INFO - 已设置放置点: X=1069.08
|
||
2025-08-12 10:23:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:23:47 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
|
||
2025-08-12 10:23:47 - INFO - 移动到中位位置
|
||
2025-08-12 10:23:47 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
|
||
2025-08-12 10:23:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:23:47 - INFO - [调试计数] 已进入 FMid 分支 12 次
|
||
2025-08-12 10:23:48 - INFO - 移动到中位位置
|
||
2025-08-12 10:23:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:23:48 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
|
||
2025-08-12 10:23:48 - INFO - [调试计数] 已进入 FMid 分支 13 次
|
||
2025-08-12 10:23:48 - INFO - 移动到中位位置
|
||
2025-08-12 10:23:48 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
||
2025-08-12 10:23:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:23:48 - INFO - [调试计数] 已进入 FMid 分支 14 次
|
||
2025-08-12 10:23:56 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:23:56 - INFO - 移动到中位位置
|
||
2025-08-12 10:23:56 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
|
||
2025-08-12 10:23:56 - INFO - [调试计数] 已进入 FMid 分支 15 次
|
||
2025-08-12 10:24:00 - INFO - 移动到破袋位置
|
||
2025-08-12 10:24:00 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:24:00 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:24:00 - INFO - 拍照
|
||
2025-08-12 10:24:00 - INFO - 识别图像成功
|
||
2025-08-12 10:24:01 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:01 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:02 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:03 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:04 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:05 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:06 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:07 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:08 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:10 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:11 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:12 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:13 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:14 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:15 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:16 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:17 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:18 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:19 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:20 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:21 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:22 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:23 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:23 - ERROR - 'str' object has no attribute 'release'
|
||
2025-08-12 10:24:24 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:25 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:26 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:26 - ERROR - 'str' object has no attribute 'release'
|
||
2025-08-12 10:24:27 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:28 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:29 - ERROR - 'str' object has no attribute 'release'
|
||
2025-08-12 10:24:29 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:30 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:31 - ERROR - 'str' object has no attribute 'release'
|
||
2025-08-12 10:24:31 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:32 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:24:33 - ERROR - 'str' object has no attribute 'release'
|
||
2025-08-12 10:30:07 - INFO - 进入系统
|
||
2025-08-12 10:30:12 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["switchTool","2"]}
|
||
2025-08-12 10:30:12 - INFO - 切换到工具坐标
|
||
2025-08-12 10:30:12 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
|
||
2025-08-12 10:30:12 - INFO - 切换到自动运行状态
|
||
2025-08-12 10:30:13 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:13 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:13 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:13 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:14 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:14 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:14 - INFO - 第一层确认生产
|
||
2025-08-12 10:30:14 - INFO - 反应釜1:投料开始
|
||
2025-08-12 10:30:14 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
|
||
2025-08-12 10:30:14 - INFO - 发送IO控制: 2，1
|
||
2025-08-12 10:30:14 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:15 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:15 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:15 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:15 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:15 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:15 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:15 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:16 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:16 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:16 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:16 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:16 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:17 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:17 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:17 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:17 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:17 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:18 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:18 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:18 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:18 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:18 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:19 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:19 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:19 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:19 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
|
||
2025-08-12 10:30:19 - INFO - 发送IO控制: 2，0
|
||
2025-08-12 10:30:19 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:19 - INFO - 清除报警
|
||
2025-08-12 10:30:20 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
|
||
2025-08-12 10:30:20 - INFO - 投料停止
|
||
2025-08-12 10:30:20 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:20 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:20 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:20 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:20 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:20 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:21 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:21 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:21 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:21 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:22 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:22 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:22 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:22 - ERROR - 发生报警：42
|
||
2025-08-12 10:30:24 - INFO - 清除报警
|
||
2025-08-12 10:30:24 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
|
||
2025-08-12 10:30:24 - INFO - 投料停止
|
||
2025-08-12 10:30:27 - INFO - 清除报警
|
||
2025-08-12 10:30:27 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]}
|
||
2025-08-12 10:30:27 - INFO - 开始复位
|
||
2025-08-12 10:30:27 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
|
||
2025-08-12 10:30:28 - ERROR - 机械臂未按照实际路线点移动，未能寻找到适配路径点位
|
||
2025-08-12 10:30:28 - INFO - 发送IO控制: 2，1
|
||
2025-08-12 10:30:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:30:28 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
|
||
2025-08-12 10:30:34 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
|
||
2025-08-12 10:30:35 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:30:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:30:38 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
|
||
2025-08-12 10:30:38 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
|
||
2025-08-12 10:30:39 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:30:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:30:42 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:30:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:30:47 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:30:47 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:30:48 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:30:48 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
|
||
2025-08-12 10:30:48 - INFO - 发送IO控制: 2，0
|
||
2025-08-12 10:30:57 - INFO - 投料暂停
|
||
2025-08-12 10:30:57 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","1"]}
|
||
2025-08-12 10:30:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["actionPause","0"]}
|
||
2025-08-12 10:30:58 - INFO - 投料继续
|
||
2025-08-12 10:30:58 - INFO - 发送命令{"dsID":"www.hc-system.com.RemoteMonitor","reqType":"command","cmdData":["startButton","1"]}
|
||
2025-08-12 10:30:58 - INFO - 切换到自动运行状态
|
||
2025-08-12 10:30:58 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
|
||
2025-08-12 10:30:58 - INFO - 投料开始
|
||
2025-08-12 10:30:59 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:30:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:30:59 - INFO - 投料开始
|
||
2025-08-12 10:31:00 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:01 - INFO - 移动到中位位置
|
||
2025-08-12 10:31:01 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:01 - INFO - [调试计数] 已进入 FMid 分支 1 次
|
||
2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:01 - INFO - 检测是否安全投料
|
||
2025-08-12 10:31:01 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:01 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:02 - INFO - 检测是否安全投料
|
||
2025-08-12 10:31:02 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:02 - INFO - 投料结束
|
||
2025-08-12 10:31:02 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:02 - INFO - 移动到拍照位置
|
||
2025-08-12 10:31:02 - INFO - 复位成功
|
||
2025-08-12 10:31:02 - ERROR - 关闭传感器线程异常: log_message() missing 1 required positional argument: 'message'
|
||
2025-08-12 10:31:04 - INFO - 第一层确认生产
|
||
2025-08-12 10:31:04 - INFO - 反应釜1:投料开始
|
||
2025-08-12 10:31:04 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]}
|
||
2025-08-12 10:31:05 - INFO - 发送IO控制: 2，1
|
||
2025-08-12 10:31:09 - INFO - 发送命令{"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]}
|
||
2025-08-12 10:31:10 - INFO - 发送IO控制: 2，0
|
||
2025-08-12 10:31:10 - INFO - 投料开始
|
||
2025-08-12 10:31:11 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:11 - ERROR - 启动传感器线程失败: log_message() missing 1 required positional argument: 'message'
|
||
2025-08-12 10:31:11 - INFO - 投料开始
|
||
2025-08-12 10:31:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:12 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:12 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:12 - INFO - 移动到中位位置
|
||
2025-08-12 10:31:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:12 - INFO - [调试计数] 已进入 FMid 分支 2 次
|
||
2025-08-12 10:31:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:13 - INFO - 检测是否安全投料
|
||
2025-08-12 10:31:13 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:13 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:13 - INFO - 检测是否安全投料
|
||
2025-08-12 10:31:13 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:13 - INFO - 拍照
|
||
2025-08-12 10:31:13 - INFO - 识别图像成功
|
||
2025-08-12 10:31:13 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:13 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:14 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:16 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
|
||
2025-08-12 10:31:16 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
||
2025-08-12 10:31:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:16 - INFO - 执行完成FPhoto
|
||
2025-08-12 10:31:16 - INFO - 拍照
|
||
2025-08-12 10:31:16 - INFO - 识别图像成功
|
||
2025-08-12 10:31:16 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
|
||
2025-08-12 10:31:16 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
|
||
2025-08-12 10:31:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:17 - INFO - 执行完成FPhoto
|
||
2025-08-12 10:31:17 - INFO - 移动到中位位置
|
||
2025-08-12 10:31:17 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
|
||
2025-08-12 10:31:17 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:31:17 - INFO - [调试计数] 已进入 FMid 分支 3 次
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2025-08-12 10:31:20 - INFO - 移动到中位位置
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2025-08-12 10:31:20 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:31:20 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
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2025-08-12 10:31:20 - INFO - [调试计数] 已进入 FMid 分支 4 次
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2025-08-12 10:31:22 - INFO - 移动到中位位置
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2025-08-12 10:31:22 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
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2025-08-12 10:31:22 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
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2025-08-12 10:31:23 - INFO - [调试计数] 已进入 FMid 分支 5 次
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2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:23 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:31:23 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:24 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:24 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:25 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:25 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:26 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:26 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:27 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:27 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:31:28 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:28 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:31:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:31:29 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:31:29 - INFO - 🟢 机器人已到达抓料点位
|
||
2025-08-12 10:31:29 - INFO - 已设置放置点: X=-187.12
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2025-08-12 10:31:29 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
|
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2025-08-12 10:31:29 - INFO - 移动到中位位置
|
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2025-08-12 10:31:29 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
|
||
2025-08-12 10:31:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:31:29 - INFO - [调试计数] 已进入 FMid 分支 6 次
|
||
2025-08-12 10:31:29 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:29 - INFO - 移动到中位位置
|
||
2025-08-12 10:31:30 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
|
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2025-08-12 10:31:30 - INFO - [调试计数] 已进入 FMid 分支 7 次
|
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2025-08-12 10:31:30 - INFO - 移动到中位位置
|
||
2025-08-12 10:31:30 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:30 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
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2025-08-12 10:31:30 - INFO - [调试计数] 已进入 FMid 分支 8 次
|
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2025-08-12 10:31:38 - INFO - 移动到中位位置
|
||
2025-08-12 10:31:38 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
|
||
2025-08-12 10:31:38 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:31:38 - INFO - [调试计数] 已进入 FMid 分支 9 次
|
||
2025-08-12 10:31:42 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:31:42 - INFO - 移动到破袋位置
|
||
2025-08-12 10:31:42 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
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2025-08-12 10:31:42 - INFO - 拍照
|
||
2025-08-12 10:31:42 - INFO - 识别图像成功
|
||
2025-08-12 10:31:42 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:43 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:44 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:45 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:46 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:47 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:48 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:49 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:50 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:51 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:52 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:53 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:54 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:55 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:57 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:58 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:31:59 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:00 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:01 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:02 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
|
||
2025-08-12 10:32:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:02 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
|
||
2025-08-12 10:32:02 - INFO - 执行完成FPhoto
|
||
2025-08-12 10:32:02 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:02 - INFO - 移动到中位位置
|
||
2025-08-12 10:32:02 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
|
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2025-08-12 10:32:03 - INFO - [调试计数] 已进入 FMid 分支 10 次
|
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2025-08-12 10:32:06 - INFO - 移动到中位位置
|
||
2025-08-12 10:32:06 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:06 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
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2025-08-12 10:32:06 - INFO - [调试计数] 已进入 FMid 分支 11 次
|
||
2025-08-12 10:32:08 - INFO - 移动到中位位置
|
||
2025-08-12 10:32:08 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:08 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
|
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2025-08-12 10:32:08 - INFO - [调试计数] 已进入 FMid 分支 12 次
|
||
2025-08-12 10:32:08 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:09 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:09 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:10 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:10 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:11 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:11 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
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2025-08-12 10:32:12 - INFO - 🟡 机器人尚未到达抓料点位
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2025-08-12 10:32:12 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:13 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:13 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:14 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:14 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:14 - INFO - 🟡 机器人尚未到达抓料点位
|
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2025-08-12 10:32:14 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:14 - INFO - 🟢 机器人已到达抓料点位
|
||
2025-08-12 10:32:14 - INFO - 已设置放置点: X=1067.08
|
||
2025-08-12 10:32:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:32:15 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
|
||
2025-08-12 10:32:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:15 - INFO - 移动到中位位置
|
||
2025-08-12 10:32:15 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
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2025-08-12 10:32:15 - INFO - [调试计数] 已进入 FMid 分支 13 次
|
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2025-08-12 10:32:15 - INFO - 移动到中位位置
|
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2025-08-12 10:32:15 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
|
||
2025-08-12 10:32:15 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:32:15 - INFO - [调试计数] 已进入 FMid 分支 14 次
|
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2025-08-12 10:32:16 - INFO - 移动到中位位置
|
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2025-08-12 10:32:16 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
||
2025-08-12 10:32:16 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:32:16 - INFO - [调试计数] 已进入 FMid 分支 15 次
|
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2025-08-12 10:32:23 - INFO - 移动到中位位置
|
||
2025-08-12 10:32:24 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:32:24 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
|
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2025-08-12 10:32:24 - INFO - [调试计数] 已进入 FMid 分支 16 次
|
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2025-08-12 10:32:28 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:32:28 - INFO - 移动到破袋位置
|
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2025-08-12 10:32:28 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
|
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2025-08-12 10:32:28 - INFO - 拍照
|
||
2025-08-12 10:32:28 - INFO - 识别图像成功
|
||
2025-08-12 10:32:28 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:29 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:30 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:31 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:32 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:33 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:34 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:35 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:36 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:37 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:38 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:39 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:40 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:41 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:42 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:43 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:44 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:32:45 - INFO - ✅ 传感器2检测到料包到位，开始执行抓取
|
||
2025-08-12 10:32:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.528625","m1":"-1299.985718","m2":"-413.431213","m3":"-151.127274","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:32:46 - INFO - 移动到位置:姿势直线：X:-569.528625-Y:-1299.985718-Z:-413.431213-U:-151.127274-V:0.0-W:-0.0
|
||
2025-08-12 10:32:46 - INFO - 执行完成FPhoto
|
||
2025-08-12 10:32:46 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.531006","m1":"-1299.971069","m2":"-825.315613","m3":"-151.126694","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:46 - INFO - 移动到中位位置
|
||
2025-08-12 10:32:46 - INFO - 移动到位置:姿势直线：X:-569.531006-Y:-1299.971069-Z:-825.315613-U:-151.126694-V:0.0-W:-0.0
|
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2025-08-12 10:32:46 - INFO - [调试计数] 已进入 FMid 分支 17 次
|
||
2025-08-12 10:32:49 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:49 - INFO - 移动到中位位置
|
||
2025-08-12 10:32:49 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
|
||
2025-08-12 10:32:50 - INFO - [调试计数] 已进入 FMid 分支 18 次
|
||
2025-08-12 10:32:52 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:52 - INFO - 移动到中位位置
|
||
2025-08-12 10:32:52 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
|
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2025-08-12 10:32:52 - INFO - [调试计数] 已进入 FMid 分支 19 次
|
||
2025-08-12 10:32:52 - INFO - str_feed_take移动到抓料位置
|
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2025-08-12 10:32:52 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:52 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:52 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:53 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:53 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:54 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:54 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:55 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:55 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:56 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:56 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:57 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:57 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:58 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:58 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:58 - INFO - 🟡 机器人尚未到达抓料点位
|
||
2025-08-12 10:32:58 - INFO - str_feed_take移动到抓料位置
|
||
2025-08-12 10:32:58 - INFO - 🟢 机器人已到达抓料点位
|
||
2025-08-12 10:32:58 - INFO - 已设置放置点: X=-187.12
|
||
2025-08-12 10:32:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.543396","m1":"-1299.659543","m2":"-1269.931256","m3":"-151.12764","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:58 - INFO - 移动到位置:姿势直线：X:-569.543396-Y:-1299.659543-Z:-1269.931256-U:-151.12764-V:0.258-W:0.258
|
||
2025-08-12 10:32:58 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.524475","m1":"-1299.973877","m2":"-825.314453","m3":"-151.126846","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:59 - INFO - 移动到中位位置
|
||
2025-08-12 10:32:59 - INFO - 移动到位置:姿势直线：X:-569.524475-Y:-1299.973877-Z:-825.314453-U:-151.126846-V:0.0-W:-0.0
|
||
2025-08-12 10:32:59 - INFO - [调试计数] 已进入 FMid 分支 20 次
|
||
2025-08-12 10:32:59 - INFO - 移动到中位位置
|
||
2025-08-12 10:32:59 - INFO - 移动到位置:姿势直线：X:-569.522156-Y:-1299.988647-Z:-413.430023-U:-151.126541-V:0.0-W:-0.0
|
||
2025-08-12 10:32:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-569.522156","m1":"-1299.988647","m2":"-413.430023","m3":"-151.126541","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:59 - INFO - [调试计数] 已进入 FMid 分支 21 次
|
||
2025-08-12 10:32:59 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1143.22937","m1":"-822.204346","m2":"-84.250801","m3":"-73.561378","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:32:59 - INFO - 移动到中位位置
|
||
2025-08-12 10:33:00 - INFO - 移动到位置:姿势直线：X:1143.22937-Y:-822.204346-Z:-84.250801-U:-73.561378-V:0.0-W:-0.0
|
||
2025-08-12 10:33:00 - INFO - [调试计数] 已进入 FMid 分支 22 次
|
||
2025-08-12 10:33:07 - INFO - 移动到中位位置
|
||
2025-08-12 10:33:07 - INFO - 移动到位置:姿势直线：X:890.821655-Y:-313.300446-Z:-691.557617-U:-63.248192-V:0.0-W:-0.0
|
||
2025-08-12 10:33:07 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"890.821655","m1":"-313.300446","m2":"-691.557617","m3":"-63.248192","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
||
2025-08-12 10:33:08 - INFO - [调试计数] 已进入 FMid 分支 23 次
|
||
2025-08-12 10:33:11 - INFO - 发送命令{"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"-828.689758","m1":"-1146.968872","m2":"-77.084404","m3":"-90.137154","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]}
|
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2025-08-12 10:33:12 - INFO - 移动到破袋位置
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2025-08-12 10:33:12 - INFO - 移动到位置:姿势直线：X:-828.689758-Y:-1146.968872-Z:-77.084404-U:-90.137154-V:0.0-W:-0.0
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2025-08-12 10:33:12 - INFO - 拍照
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2025-08-12 10:33:12 - INFO - 识别图像成功
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2025-08-12 10:33:12 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:33:13 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:33:14 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:33:15 - INFO - ⏳ 等待传感器2料包信号...
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2025-08-12 10:33:16 - INFO - ⏳ 等待传感器2料包信号...
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||
2025-08-12 10:33:17 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:18 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:19 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:20 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:21 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:22 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:23 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:24 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:25 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:26 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:27 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:28 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:29 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:30 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:31 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:32 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:33 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:35 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:36 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:37 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:38 - INFO - ⏳ 等待传感器2料包信号...
|
||
2025-08-12 10:33:39 - ERROR - 'str' object has no attribute 'release'
|
||
2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.
|
||
2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.
|
||
2025-08-12 10:33:41 - ERROR - Feeding运行异常: Internal C++ object (Feeding) already deleted.
|