diff --git a/CU/Catch.py b/CU/Catch.py index 8671f36..a7730ae 100644 --- a/CU/Catch.py +++ b/CU/Catch.py @@ -29,10 +29,6 @@ class Catch: self.shake_Q = False def run(self): if self.catch_status == CatchStatus.CNone: - self.shake_continue.SetReset() - # self.robotClient.sendIOControl(self.robotClient.con_ios[1], 0,emptyList='1') - close(0, 1, 0) - self.is_send_take_command = False return if self.catch_status == CatchStatus.CTake: diff --git a/CU/Detect.py b/CU/Detect.py index 271e7d7..162e08e 100644 --- a/CU/Detect.py +++ b/CU/Detect.py @@ -37,8 +37,9 @@ class Detect: return target_position, noraml_base = getPosition(*xyz, *uvw, None, points) + position = Real_Position().init_position(*target_position[:3], *noraml_base[:3]) - position.Z = position.Z + 200 + position.Z = position.Z self.detect_position = position self.detect_status = DetectStatus.DOk diff --git a/CU/Feeding.py b/CU/Feeding.py index 517471f..fc9d30b 100644 --- a/CU/Feeding.py +++ b/CU/Feeding.py @@ -19,7 +19,7 @@ from Model.Position import Real_Position, Detection_Position from enum import Enum, IntEnum from COM.COM_Robot import RobotClient, DetectType from Model.RobotModel import CMDInstructRequest, MoveType -from Trace.handeye_calibration import getxyz +from Trace.handeye_calibration import getPosition from Util.util_math import get_distance from Util.util_time import CRisOrFall from Vision.camera_coordinate_dete import Detection @@ -133,16 +133,15 @@ class FeedLine: for i in range(len(self.feeding_to_end)): if self.feeding_to_end[i].status == FeedStatus.FTake.value: if position != None: - xyz = getxyz(position.X, position.Y, position.Z, position.a, position.b, position.c) - befor_take_position = Real_Position().init_position(xyz[0], - xyz[1], - xyz[2], + befor_take_position = Real_Position().init_position(position.X, + position.Y, + position.Z+dynamic_height, position.U, position.V, position.W) - after_take_position = Real_Position().init_position(xyz[0], - xyz[1], - xyz[2], + after_take_position = Real_Position().init_position(position.X, + position.Y, + position.Z+dynamic_height, position.U, position.V, position.W) diff --git a/Config/FeedLine.ini b/Config/FeedLine.ini index f597b96..d56ccaf 100644 --- a/Config/FeedLine.ini +++ b/Config/FeedLine.ini @@ -59,12 +59,12 @@ status = 6 linetype = 0 [Position9] -x = 1430.492554 -y = 1765.717407 -z = 1832.536255 -u = 1.57702 -v = 4.174215 -w = -87.506783 +x = 1427.58313 +y = 1724.46875 +z = 1831.32312 +u = 1.923308 +v = 3.454441 +w = -87.299934 id = 9 order = 9 lineid = 1 @@ -72,12 +72,12 @@ status = 7 linetype = 0 [Position10] -x = 1375.01416 -y = 1702.021973 -z = 2117.369385 -u = 8.211453 -v = 4.232689 -w = -100.153625 +x = 1339.699585 +y = 1702.385742 +z = 2197.976318 +u = 9.554496 +v = 7.15853 +w = -99.243294 id = 10 order = 10 lineid = 1 @@ -202,12 +202,12 @@ status = 8 linetype = 0 [Position11] -x = 1244.785156 -y = 1848.819702 -z = 2307.201416 -u = -34.622036 -v = 19.413801 -w = -129.918442 +x = 1331.740112 +y = 1787.211548 +z = 2307.181641 +u = -34.621368 +v = 19.412609 +w = -132.657135 id = 11 order = 12 lineid = 1 diff --git a/Model/Position.py b/Model/Position.py index 31dcb48..7a89b59 100644 --- a/Model/Position.py +++ b/Model/Position.py @@ -10,6 +10,10 @@ class Position: self.U = 0.0 self.V = 0.0 self.W = 0.0 + self.a = 0.0 + self.b = 0.0 + self.c = 0.0 + def compare(self,position,is_action=False): distance = math.sqrt((self.X-position.X)**2+ diff --git a/Seting.ini b/Seting.ini index f7e4c14..38e6b71 100644 --- a/Seting.ini +++ b/Seting.ini @@ -59,9 +59,9 @@ smooth = 9 dynamic_height = 350.0 [Speed] -debug_speed = 50 -feed_speed = 550 -reset_speed = 35 +debug_speed = 80 +feed_speed = 100 +reset_speed = 80 [Origin] x = 204.996765 diff --git a/Trace/handeye_calibration.py b/Trace/handeye_calibration.py index 488bfc8..3be6314 100644 --- a/Trace/handeye_calibration.py +++ b/Trace/handeye_calibration.py @@ -76,7 +76,7 @@ def getPosition(x,y,z,a,b,c,rotation,points): # 单位化方向向量 short_edge_direction = edge_vector / np.linalg.norm(edge_vector) - delta = 0#沿法向量方向抬高和压低，-指表示抬高，+值表示压低 + delta = -200#沿法向量方向抬高和压低，-指表示抬高，+值表示压低 angle = np.asarray([a,b,c]) noraml = camera2robot[:3, :3]@angle normal_vector = noraml / np.linalg.norm(noraml) @@ -90,7 +90,7 @@ def getxyz(x,y,z,a,b,c): target = np.asarray([x, y, z, 1]) camera2robot = np.loadtxt('./Trace/com_pose2.txt', delimiter=' ') target_position_raw = np.dot(camera2robot, target) - delta = -200 # 沿法向量方向抬高和压低，-指表示抬高，+值表示压低 + delta = -500 # 沿法向量方向抬高和压低，-指表示抬高，+值表示压低 angle = np.asarray([a, b, c]) noraml = camera2robot[:3, :3] @ angle normal_vector = noraml / np.linalg.norm(noraml) diff --git a/log/log.log b/log/log.log index fff2057..6c2db95 100644 --- a/log/log.log +++ b/log/log.log @@ -10981,3 +10981,2239 @@ 2025-02-26 19:12:17 - INFO - IO: 20 2025-02-26 19:12:30 - INFO - ˳ϵͳ 2025-02-26 19:12:30 - ERROR - model +2025-02-27 10:50:50 - INFO - ϵͳ +2025-02-27 10:51:14 - INFO - ٶ80|100 +2025-02-27 10:51:14 - INFO - ٶ80|100 +2025-02-27 10:51:17 - INFO - ٶ80|100 +2025-02-27 10:51:17 - INFO - ٶ80|100 +2025-02-27 10:51:17 - 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'Real_Position' object has no attribute 'a' +2025-02-27 10:51:57 - INFO - ƶλ +2025-02-27 10:51:57 - INFO - ʶͼɹ +2025-02-27 10:51:58 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:51:58 - INFO - ƶλ +2025-02-27 10:51:58 - INFO - ʶͼɹ +2025-02-27 10:51:58 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:51:58 - INFO - ƶλ +2025-02-27 10:51:58 - INFO - ʶͼɹ +2025-02-27 10:51:58 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:51:58 - INFO - ƶλ +2025-02-27 10:51:58 - INFO - ʶͼɹ +2025-02-27 10:51:59 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:51:59 - INFO - ƶλ +2025-02-27 10:51:59 - INFO - ʶͼɹ +2025-02-27 10:51:59 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:51:59 - INFO - ƶλ +2025-02-27 10:51:59 - INFO - ʶͼɹ +2025-02-27 10:51:59 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:51:59 - INFO - ƶλ +2025-02-27 10:51:59 - INFO - ʶͼɹ +2025-02-27 10:52:00 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:00 - INFO - ƶλ +2025-02-27 10:52:00 - INFO - ʶͼɹ +2025-02-27 10:52:00 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:00 - INFO - ƶλ +2025-02-27 10:52:00 - INFO - ʶͼɹ +2025-02-27 10:52:00 - INFO - ƶλ +2025-02-27 10:52:00 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:00 - INFO - ʶͼɹ +2025-02-27 10:52:01 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:01 - INFO - ƶλ +2025-02-27 10:52:01 - INFO - ʶͼɹ +2025-02-27 10:52:01 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:01 - INFO - ƶλ +2025-02-27 10:52:01 - INFO - ʶͼɹ +2025-02-27 10:52:01 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:01 - INFO - ƶλ +2025-02-27 10:52:01 - INFO - ʶͼɹ +2025-02-27 10:52:02 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:02 - INFO - ƶλ +2025-02-27 10:52:02 - INFO - ʶͼɹ +2025-02-27 10:52:02 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:02 - INFO - ƶλ +2025-02-27 10:52:02 - INFO - ʶͼɹ +2025-02-27 10:52:02 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:02 - INFO - ƶλ +2025-02-27 10:52:02 - INFO - ʶͼɹ +2025-02-27 10:52:03 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:03 - INFO - ƶλ +2025-02-27 10:52:03 - INFO - ʶͼɹ +2025-02-27 10:52:03 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:03 - INFO - ƶλ +2025-02-27 10:52:03 - INFO - ʶͼɹ +2025-02-27 10:52:03 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:03 - INFO - ƶλ +2025-02-27 10:52:03 - INFO - ʶͼɹ +2025-02-27 10:52:04 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:04 - INFO - ƶλ +2025-02-27 10:52:04 - INFO - ʶͼɹ +2025-02-27 10:52:04 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:04 - INFO - ƶλ +2025-02-27 10:52:04 - INFO - ʶͼɹ +2025-02-27 10:52:04 - INFO - ƶλ +2025-02-27 10:52:04 - INFO - ʶͼɹ +2025-02-27 10:52:04 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:05 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:05 - INFO - ƶλ +2025-02-27 10:52:05 - INFO - ʶͼɹ +2025-02-27 10:52:05 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:05 - INFO - ƶλ +2025-02-27 10:52:05 - INFO - ʶͼɹ +2025-02-27 10:52:05 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:05 - INFO - ƶλ +2025-02-27 10:52:05 - INFO - ʶͼɹ +2025-02-27 10:52:06 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:06 - INFO - ƶλ +2025-02-27 10:52:06 - INFO - ʶͼɹ +2025-02-27 10:52:06 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:06 - INFO - ƶλ +2025-02-27 10:52:06 - INFO - ʶͼɹ +2025-02-27 10:52:06 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:06 - INFO - ƶλ +2025-02-27 10:52:06 - INFO - ʶͼɹ +2025-02-27 10:52:07 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:07 - INFO - ƶλ +2025-02-27 10:52:07 - INFO - ʶͼɹ +2025-02-27 10:52:07 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:07 - INFO - ƶλ +2025-02-27 10:52:07 - INFO - ʶͼɹ +2025-02-27 10:52:07 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:07 - INFO - ƶλ +2025-02-27 10:52:07 - INFO - ʶͼɹ +2025-02-27 10:52:08 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:08 - INFO - ƶλ +2025-02-27 10:52:08 - INFO - ʶͼɹ +2025-02-27 10:52:08 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:08 - INFO - ƶλ +2025-02-27 10:52:08 - INFO - ʶͼɹ +2025-02-27 10:52:08 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:08 - INFO - ƶλ +2025-02-27 10:52:08 - INFO - ʶͼɹ +2025-02-27 10:52:09 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:09 - INFO - ƶλ +2025-02-27 10:52:09 - INFO - ʶͼɹ +2025-02-27 10:52:09 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:09 - INFO - ƶλ +2025-02-27 10:52:09 - INFO - ʶͼɹ +2025-02-27 10:52:09 - INFO - ƶλ +2025-02-27 10:52:09 - INFO - ʶͼɹ +2025-02-27 10:52:09 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:10 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:10 - INFO - ƶλ +2025-02-27 10:52:10 - INFO - ʶͼɹ +2025-02-27 10:52:10 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:10 - INFO - ƶλ +2025-02-27 10:52:10 - INFO - ʶͼɹ +2025-02-27 10:52:10 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:10 - INFO - ƶλ +2025-02-27 10:52:10 - INFO - ʶͼɹ +2025-02-27 10:52:11 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:11 - INFO - ƶλ +2025-02-27 10:52:11 - INFO - ʶͼɹ +2025-02-27 10:52:11 - INFO - ƶλ +2025-02-27 10:52:11 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:11 - INFO - ʶͼɹ +2025-02-27 10:52:11 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:11 - INFO - ƶλ +2025-02-27 10:52:11 - INFO - ʶͼɹ +2025-02-27 10:52:12 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:12 - INFO - ƶλ +2025-02-27 10:52:12 - INFO - ʶͼɹ +2025-02-27 10:52:12 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:12 - INFO - ƶλ +2025-02-27 10:52:12 - INFO - ʶͼɹ +2025-02-27 10:52:12 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:12 - INFO - ƶλ +2025-02-27 10:52:12 - INFO - ʶͼɹ +2025-02-27 10:52:13 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:13 - INFO - ƶλ +2025-02-27 10:52:13 - INFO - ʶͼɹ +2025-02-27 10:52:13 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:13 - INFO - ƶλ +2025-02-27 10:52:13 - INFO - ʶͼɹ +2025-02-27 10:52:13 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:13 - INFO - ƶλ +2025-02-27 10:52:13 - INFO - ʶͼɹ +2025-02-27 10:52:14 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:14 - INFO - ƶλ +2025-02-27 10:52:14 - INFO - ʶͼɹ +2025-02-27 10:52:14 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:14 - INFO - ƶλ +2025-02-27 10:52:14 - INFO - ʶͼɹ +2025-02-27 10:52:14 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:14 - INFO - ƶλ +2025-02-27 10:52:14 - INFO - ʶͼɹ +2025-02-27 10:52:15 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:15 - INFO - ƶλ +2025-02-27 10:52:15 - INFO - ʶͼɹ +2025-02-27 10:52:15 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:15 - INFO - ƶλ +2025-02-27 10:52:15 - INFO - ʶͼɹ +2025-02-27 10:52:15 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:15 - INFO - ƶλ +2025-02-27 10:52:15 - INFO - ʶͼɹ +2025-02-27 10:52:16 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:16 - INFO - ƶλ +2025-02-27 10:52:16 - INFO - ʶͼɹ +2025-02-27 10:52:16 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:16 - INFO - ƶλ +2025-02-27 10:52:16 - INFO - ʶͼɹ +2025-02-27 10:52:16 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:16 - INFO - ƶλ +2025-02-27 10:52:16 - INFO - ʶͼɹ +2025-02-27 10:52:17 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:17 - INFO - ƶλ +2025-02-27 10:52:17 - INFO - ʶͼɹ +2025-02-27 10:52:17 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:17 - INFO - ƶλ +2025-02-27 10:52:17 - INFO - ʶͼɹ +2025-02-27 10:52:17 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:17 - INFO - ƶλ +2025-02-27 10:52:17 - INFO - ʶͼɹ +2025-02-27 10:52:18 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:18 - INFO - ƶλ +2025-02-27 10:52:18 - INFO - ʶͼɹ +2025-02-27 10:52:18 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:18 - INFO - ƶλ +2025-02-27 10:52:18 - INFO - ʶͼɹ +2025-02-27 10:52:18 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:18 - INFO - ƶλ +2025-02-27 10:52:18 - INFO - ʶͼɹ +2025-02-27 10:52:19 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:19 - INFO - ƶλ +2025-02-27 10:52:19 - INFO - ʶͼɹ +2025-02-27 10:52:19 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:19 - INFO - ƶλ +2025-02-27 10:52:19 - INFO - ʶͼɹ +2025-02-27 10:52:19 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:19 - INFO - ƶλ +2025-02-27 10:52:19 - INFO - ʶͼɹ +2025-02-27 10:52:20 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:20 - INFO - ƶλ +2025-02-27 10:52:20 - INFO - ʶͼɹ +2025-02-27 10:52:20 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:20 - INFO - ƶλ +2025-02-27 10:52:20 - INFO - ʶͼɹ +2025-02-27 10:52:20 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:20 - INFO - ƶλ +2025-02-27 10:52:20 - INFO - ʶͼɹ +2025-02-27 10:52:21 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:21 - INFO - ƶλ +2025-02-27 10:52:21 - INFO - ʶͼɹ +2025-02-27 10:52:21 - INFO - +2025-02-27 10:52:21 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:52:21 - INFO - Ͷֹͣ +2025-02-27 10:52:21 - INFO - +2025-02-27 10:52:21 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:52:21 - INFO - Ͷֹͣ +2025-02-27 10:52:22 - INFO - +2025-02-27 10:52:22 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:52:22 - INFO - Ͷֹͣ +2025-02-27 10:52:22 - INFO - +2025-02-27 10:52:22 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:52:22 - INFO - Ͷֹͣ +2025-02-27 10:52:22 - INFO - +2025-02-27 10:52:22 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:52:22 - INFO - Ͷֹͣ +2025-02-27 10:52:23 - INFO - +2025-02-27 10:52:23 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:52:23 - INFO - Ͷֹͣ +2025-02-27 10:52:23 - INFO - +2025-02-27 10:52:23 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:52:23 - INFO - ʼλ +2025-02-27 10:52:23 - INFO - {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]} +2025-02-27 10:52:23 - INFO - IO: 21 +2025-02-27 10:52:23 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1765.864746","m1":"345.495361","m2":"2000.0","m3":"6.676573","m4":"7.941406","m5":"-179.064972","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:52:24 - INFO - ƶλ:ֱߣX:1765.864746-Y:345.495361-Z:2000.0-U:6.676573-V:7.941406-W:-179.064972 +2025-02-27 10:52:24 - INFO - ƶλ:ֱߣX:1351.092285-Y:1188.34668-Z:2000.151001-U:6.676482-V:7.941721-W:-148.802124 +2025-02-27 10:52:24 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1351.092285","m1":"1188.34668","m2":"2000.151001","m3":"6.676482","m4":"7.941721","m5":"-148.802124","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:52:24 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"230.52298","m1":"1879.445435","m2":"2000.432495","m3":"3.915686","m4":"18.44486","m5":"-107.223564","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:52:24 - INFO - ƶλ:ֱߣX:230.52298-Y:1879.445435-Z:2000.432495-U:3.915686-V:18.44486-W:-107.223564 +2025-02-27 10:52:24 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"204.996765","m1":"1455.630493","m2":"2324.525146","m3":"6.460966","m4":"37.462826","m5":"-84.569252","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:52:24 - INFO - {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]} +2025-02-27 10:52:24 - INFO - ƶλ:ֱߣX:204.996765-Y:1455.630493-Z:2324.525146-U:6.460966-V:37.462826-W:-84.569252 +2025-02-27 10:52:24 - INFO - IO: 20 +2025-02-27 10:52:28 - INFO - һȷ +2025-02-27 10:52:28 - INFO - Ӧ1:ͶϿʼ +2025-02-27 10:52:28 - INFO - {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]} +2025-02-27 10:52:28 - INFO - IO: 21 +2025-02-27 10:52:33 - INFO - {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"0","point":"2","delay":"0"}]} +2025-02-27 10:52:33 - INFO - IO: 20 +2025-02-27 10:52:33 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"204.996765","m1":"1455.630493","m2":"2324.525146","m3":"6.460966","m4":"37.462826","m5":"-84.569252","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:52:33 - INFO - ͶϿʼ +2025-02-27 10:52:33 - INFO - ƶλ:ֱߣX:204.996765-Y:1455.630493-Z:2324.525146-U:6.460966-V:37.462826-W:-84.569252 +2025-02-27 10:52:34 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"230.52298","m1":"1879.445435","m2":"2000.432495","m3":"3.915686","m4":"18.44486","m5":"-107.223564","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:52:34 - INFO - ͶϿʼ +2025-02-27 10:52:34 - INFO - ƶλ:ֱߣX:230.52298-Y:1879.445435-Z:2000.432495-U:3.915686-V:18.44486-W:-107.223564 +2025-02-27 10:52:36 - INFO - ƶλλ +2025-02-27 10:52:36 - INFO - ƶλ:ֱߣX:1351.092285-Y:1188.34668-Z:2000.151001-U:6.676482-V:7.941721-W:-148.802124 +2025-02-27 10:52:36 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1351.092285","m1":"1188.34668","m2":"2000.151001","m3":"6.676482","m4":"7.941721","m5":"-148.802124","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:52:39 - INFO - ƶλλ +2025-02-27 10:52:39 - INFO - ƶλ:ֱߣX:1765.864746-Y:345.495361-Z:2000.0-U:6.676573-V:7.941406-W:-179.064972 +2025-02-27 10:52:39 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1765.864746","m1":"345.495361","m2":"2000.0","m3":"6.676573","m4":"7.941406","m5":"-179.064972","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:52:39 - INFO - ǷȫͶ +2025-02-27 10:52:40 - INFO - ǷȫͶ +2025-02-27 10:52:40 - INFO - ǷȫͶ +2025-02-27 10:52:40 - INFO - ǷȫͶ +2025-02-27 10:52:40 - INFO - ǷȫͶ +2025-02-27 10:52:40 - INFO - ǷȫͶ +2025-02-27 10:52:41 - INFO - ǷȫͶ +2025-02-27 10:52:41 - INFO - ǷȫͶ +2025-02-27 10:52:41 - INFO - ǷȫͶ +2025-02-27 10:52:41 - INFO - ǷȫͶ +2025-02-27 10:52:42 - INFO - ǷȫͶ +2025-02-27 10:52:42 - INFO - ǷȫͶ +2025-02-27 10:52:42 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1765.864746","m1":"345.495361","m2":"2000.0","m3":"6.676573","m4":"7.941406","m5":"-179.064972","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:52:42 - INFO - ƶλ:ֱߣX:1765.864746-Y:345.495361-Z:2000.0-U:6.676573-V:7.941406-W:-179.064972 +2025-02-27 10:52:42 - INFO - ǷȫͶ +2025-02-27 10:52:42 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1765.864746","m1":"345.495361","m2":"2000.0","m3":"6.676573","m4":"7.941406","m5":"-179.064972","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:52:42 - INFO - ƶλ:ֱߣX:1765.864746-Y:345.495361-Z:2000.0-U:6.676573-V:7.941406-W:-179.064972 +2025-02-27 10:52:42 - INFO - ƶλ +2025-02-27 10:52:43 - INFO - ƶλ +2025-02-27 10:52:43 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:43 - INFO - ƶλ +2025-02-27 10:52:43 - INFO - ʶͼɹ +2025-02-27 10:52:43 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:43 - INFO - ƶλ +2025-02-27 10:52:43 - INFO - ʶͼɹ +2025-02-27 10:52:43 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:43 - INFO - ƶλ +2025-02-27 10:52:44 - INFO - ʶͼɹ +2025-02-27 10:52:44 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:44 - INFO - ƶλ +2025-02-27 10:52:44 - INFO - ʶͼɹ +2025-02-27 10:52:44 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:44 - INFO - ƶλ +2025-02-27 10:52:44 - INFO - ʶͼɹ +2025-02-27 10:52:44 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:44 - INFO - ƶλ +2025-02-27 10:52:45 - INFO - ʶͼɹ +2025-02-27 10:52:45 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:45 - INFO - ƶλ +2025-02-27 10:52:45 - INFO - ʶͼɹ +2025-02-27 10:52:45 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:45 - INFO - ƶλ +2025-02-27 10:52:45 - INFO - ʶͼɹ +2025-02-27 10:52:45 - INFO - ƶλ +2025-02-27 10:52:45 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:46 - INFO - ʶͼɹ +2025-02-27 10:52:46 - INFO - ƶλ +2025-02-27 10:52:46 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:46 - INFO - ʶͼɹ +2025-02-27 10:52:46 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:46 - INFO - ƶλ +2025-02-27 10:52:46 - INFO - ʶͼɹ +2025-02-27 10:52:46 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:46 - INFO - ƶλ +2025-02-27 10:52:47 - INFO - ʶͼɹ +2025-02-27 10:52:47 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:47 - INFO - ƶλ +2025-02-27 10:52:47 - INFO - ʶͼɹ +2025-02-27 10:52:47 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:47 - INFO - ƶλ +2025-02-27 10:52:47 - INFO - ʶͼɹ +2025-02-27 10:52:47 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:47 - INFO - ƶλ +2025-02-27 10:52:48 - INFO - ʶͼɹ +2025-02-27 10:52:48 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:48 - INFO - ƶλ +2025-02-27 10:52:48 - INFO - ʶͼɹ +2025-02-27 10:52:48 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:48 - INFO - ƶλ +2025-02-27 10:52:48 - INFO - ʶͼɹ +2025-02-27 10:52:48 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:48 - INFO - ƶλ +2025-02-27 10:52:49 - INFO - ʶͼɹ +2025-02-27 10:52:49 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:49 - INFO - ƶλ +2025-02-27 10:52:49 - INFO - ʶͼɹ +2025-02-27 10:52:49 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:49 - INFO - ƶλ +2025-02-27 10:52:49 - INFO - ʶͼɹ +2025-02-27 10:52:49 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:49 - INFO - ƶλ +2025-02-27 10:52:50 - INFO - ʶͼɹ +2025-02-27 10:52:50 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:50 - INFO - ƶλ +2025-02-27 10:52:50 - INFO - ʶͼɹ +2025-02-27 10:52:50 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:50 - INFO - ƶλ +2025-02-27 10:52:50 - INFO - ʶͼɹ +2025-02-27 10:52:50 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:50 - INFO - ƶλ +2025-02-27 10:52:51 - INFO - ʶͼɹ +2025-02-27 10:52:51 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:51 - INFO - ƶλ +2025-02-27 10:52:51 - INFO - ʶͼɹ +2025-02-27 10:52:51 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:51 - INFO - ƶλ +2025-02-27 10:52:51 - INFO - ʶͼɹ +2025-02-27 10:52:51 - INFO - ƶλ +2025-02-27 10:52:51 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:52 - INFO - ʶͼɹ +2025-02-27 10:52:52 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:52 - INFO - ƶλ +2025-02-27 10:52:52 - INFO - ʶͼɹ +2025-02-27 10:52:52 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:52 - INFO - ƶλ +2025-02-27 10:52:52 - INFO - ʶͼɹ +2025-02-27 10:52:52 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:52 - INFO - ƶλ +2025-02-27 10:52:53 - INFO - ʶͼɹ +2025-02-27 10:52:53 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:53 - INFO - ƶλ +2025-02-27 10:52:53 - INFO - ʶͼɹ +2025-02-27 10:52:53 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:53 - INFO - ƶλ +2025-02-27 10:52:53 - INFO - ʶͼɹ +2025-02-27 10:52:53 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:53 - INFO - ƶλ +2025-02-27 10:52:54 - INFO - ʶͼɹ +2025-02-27 10:52:54 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:54 - INFO - ƶλ +2025-02-27 10:52:54 - INFO - ʶͼɹ +2025-02-27 10:52:54 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:54 - INFO - ƶλ +2025-02-27 10:52:54 - INFO - ʶͼɹ +2025-02-27 10:52:54 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:54 - INFO - ƶλ +2025-02-27 10:52:55 - INFO - ʶͼɹ +2025-02-27 10:52:55 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:55 - INFO - ƶλ +2025-02-27 10:52:55 - INFO - ʶͼɹ +2025-02-27 10:52:55 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:55 - INFO - ƶλ +2025-02-27 10:52:55 - INFO - ʶͼɹ +2025-02-27 10:52:55 - INFO - ƶλ +2025-02-27 10:52:55 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:56 - INFO - ʶͼɹ +2025-02-27 10:52:56 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:56 - INFO - ƶλ +2025-02-27 10:52:56 - INFO - ʶͼɹ +2025-02-27 10:52:56 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:56 - INFO - ƶλ +2025-02-27 10:52:56 - INFO - ʶͼɹ +2025-02-27 10:52:56 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:56 - INFO - ƶλ +2025-02-27 10:52:57 - INFO - ʶͼɹ +2025-02-27 10:52:57 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:57 - INFO - ƶλ +2025-02-27 10:52:57 - INFO - ʶͼɹ +2025-02-27 10:52:57 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:57 - INFO - ƶλ +2025-02-27 10:52:57 - INFO - ʶͼɹ +2025-02-27 10:52:57 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:57 - INFO - ƶλ +2025-02-27 10:52:58 - INFO - ʶͼɹ +2025-02-27 10:52:58 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:58 - INFO - ƶλ +2025-02-27 10:52:58 - INFO - ʶͼɹ +2025-02-27 10:52:58 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:58 - INFO - ƶλ +2025-02-27 10:52:58 - INFO - ʶͼɹ +2025-02-27 10:52:58 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:58 - INFO - ƶλ +2025-02-27 10:52:59 - INFO - ʶͼɹ +2025-02-27 10:52:59 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:59 - INFO - ƶλ +2025-02-27 10:52:59 - INFO - ʶͼɹ +2025-02-27 10:52:59 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:59 - INFO - ƶλ +2025-02-27 10:52:59 - INFO - ʶͼɹ +2025-02-27 10:52:59 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:52:59 - INFO - ƶλ +2025-02-27 10:53:00 - INFO - ʶͼɹ +2025-02-27 10:53:00 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:00 - INFO - ƶλ +2025-02-27 10:53:00 - INFO - ʶͼɹ +2025-02-27 10:53:00 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:00 - INFO - ƶλ +2025-02-27 10:53:00 - INFO - ʶͼɹ +2025-02-27 10:53:00 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:00 - INFO - ƶλ +2025-02-27 10:53:01 - INFO - ʶͼɹ +2025-02-27 10:53:01 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:01 - INFO - ƶλ +2025-02-27 10:53:01 - INFO - ʶͼɹ +2025-02-27 10:53:01 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:01 - INFO - ƶλ +2025-02-27 10:53:01 - INFO - ʶͼɹ +2025-02-27 10:53:01 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:01 - INFO - ƶλ +2025-02-27 10:53:02 - INFO - ʶͼɹ +2025-02-27 10:53:02 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:02 - INFO - ƶλ +2025-02-27 10:53:02 - INFO - ʶͼɹ +2025-02-27 10:53:02 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:02 - INFO - ƶλ +2025-02-27 10:53:02 - INFO - ʶͼɹ +2025-02-27 10:53:02 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:02 - INFO - ƶλ +2025-02-27 10:53:03 - INFO - ʶͼɹ +2025-02-27 10:53:03 - INFO - +2025-02-27 10:53:03 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:53:03 - INFO - ʼλ +2025-02-27 10:53:03 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:03 - INFO - ƶλ +2025-02-27 10:53:03 - INFO - ͶϽ +2025-02-27 10:53:03 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:03 - INFO - ƶλ +2025-02-27 10:53:04 - INFO - ͶϽ +2025-02-27 10:53:04 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:04 - INFO - ƶλ +2025-02-27 10:53:04 - INFO - ͶϽ +2025-02-27 10:53:04 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:04 - INFO - ƶλ +2025-02-27 10:53:04 - INFO - ͶϽ +2025-02-27 10:53:04 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:04 - INFO - ƶλ +2025-02-27 10:53:05 - INFO - ͶϽ +2025-02-27 10:53:05 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:05 - INFO - ƶλ +2025-02-27 10:53:05 - INFO - ͶϽ +2025-02-27 10:53:05 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:05 - INFO - ƶλ +2025-02-27 10:53:05 - INFO - ͶϽ +2025-02-27 10:53:05 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:05 - INFO - ƶλ +2025-02-27 10:53:06 - INFO - ͶϽ +2025-02-27 10:53:06 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:06 - INFO - ƶλ +2025-02-27 10:53:06 - INFO - ͶϽ +2025-02-27 10:53:06 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:06 - INFO - ƶλ +2025-02-27 10:53:06 - INFO - ͶϽ +2025-02-27 10:53:06 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:06 - INFO - ƶλ +2025-02-27 10:53:07 - INFO - ͶϽ +2025-02-27 10:53:07 - INFO - +2025-02-27 10:53:07 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:53:07 - INFO - Ͷֹͣ +2025-02-27 10:53:07 - INFO - +2025-02-27 10:53:07 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:53:07 - INFO - Ͷֹͣ +2025-02-27 10:53:07 - INFO - +2025-02-27 10:53:07 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:53:08 - INFO - Ͷֹͣ +2025-02-27 10:53:08 - INFO - +2025-02-27 10:53:08 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:53:08 - INFO - ʼλ +2025-02-27 10:53:08 - INFO - {"dsID":"HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"200","type":"0","io_status":"1","point":"2","delay":"0"}]} +2025-02-27 10:53:08 - INFO - IO: 21 +2025-02-27 10:53:08 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1765.864746","m1":"345.495361","m2":"2000.0","m3":"6.676573","m4":"7.941406","m5":"-179.064972","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:53:08 - INFO - ƶλ:ֱߣX:1765.864746-Y:345.495361-Z:2000.0-U:6.676573-V:7.941406-W:-179.064972 +2025-02-27 10:53:08 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1351.092285","m1":"1188.34668","m2":"2000.151001","m3":"6.676482","m4":"7.941721","m5":"-148.802124","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:53:09 - INFO - ƶλ:ֱߣX:1351.092285-Y:1188.34668-Z:2000.151001-U:6.676482-V:7.941721-W:-148.802124 +2025-02-27 10:53:09 - INFO - ƶλ:ֱߣX:230.52298-Y:1879.445435-Z:2000.432495-U:3.915686-V:18.44486-W:-107.223564 +2025-02-27 10:53:09 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"230.52298","m1":"1879.445435","m2":"2000.432495","m3":"3.915686","m4":"18.44486","m5":"-107.223564","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:53:10 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"204.996765","m1":"1455.630493","m2":"2324.525146","m3":"6.460966","m4":"37.462826","m5":"-84.569252","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:53:10 - 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INFO - ƶλ:ֱߣX:204.996765-Y:1455.630493-Z:2324.525146-U:6.460966-V:37.462826-W:-84.569252 +2025-02-27 10:53:21 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"230.52298","m1":"1879.445435","m2":"2000.432495","m3":"3.915686","m4":"18.44486","m5":"-107.223564","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:53:22 - INFO - ͶϿʼ +2025-02-27 10:53:22 - INFO - ƶλ:ֱߣX:230.52298-Y:1879.445435-Z:2000.432495-U:3.915686-V:18.44486-W:-107.223564 +2025-02-27 10:53:24 - INFO - ƶλλ +2025-02-27 10:53:24 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1351.092285","m1":"1188.34668","m2":"2000.151001","m3":"6.676482","m4":"7.941721","m5":"-148.802124","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:53:24 - INFO - ƶλ:ֱߣX:1351.092285-Y:1188.34668-Z:2000.151001-U:6.676482-V:7.941721-W:-148.802124 +2025-02-27 10:53:27 - INFO - ƶλλ +2025-02-27 10:53:27 - INFO - ƶλ:ֱߣX:1765.864746-Y:345.495361-Z:2000.0-U:6.676573-V:7.941406-W:-179.064972 +2025-02-27 10:53:27 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1765.864746","m1":"345.495361","m2":"2000.0","m3":"6.676573","m4":"7.941406","m5":"-179.064972","ckStatus":"0x3F","speed":"80","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:53:27 - INFO - ǷȫͶ +2025-02-27 10:53:27 - INFO - ǷȫͶ +2025-02-27 10:53:28 - INFO - ǷȫͶ +2025-02-27 10:53:28 - INFO - ǷȫͶ +2025-02-27 10:53:28 - INFO - ǷȫͶ +2025-02-27 10:53:28 - INFO - ǷȫͶ +2025-02-27 10:53:29 - INFO - ǷȫͶ +2025-02-27 10:53:29 - INFO - ǷȫͶ +2025-02-27 10:53:29 - INFO - ǷȫͶ +2025-02-27 10:53:29 - INFO - ǷȫͶ +2025-02-27 10:53:29 - INFO - ǷȫͶ +2025-02-27 10:53:30 - INFO - ǷȫͶ +2025-02-27 10:53:30 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1765.864746","m1":"345.495361","m2":"2000.0","m3":"6.676573","m4":"7.941406","m5":"-179.064972","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:53:30 - INFO - ƶλ:ֱߣX:1765.864746-Y:345.495361-Z:2000.0-U:6.676573-V:7.941406-W:-179.064972 +2025-02-27 10:53:30 - INFO - ǷȫͶ +2025-02-27 10:53:30 - INFO - ƶλ:ֱߣX:1765.864746-Y:345.495361-Z:2000.0-U:6.676573-V:7.941406-W:-179.064972 +2025-02-27 10:53:30 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"0","instructions":[{"oneshot":"1","action":"10","m0":"1765.864746","m1":"345.495361","m2":"2000.0","m3":"6.676573","m4":"7.941406","m5":"-179.064972","ckStatus":"0x3F","speed":"100","delay":"0","smooth":"9","tool":"2"}]} +2025-02-27 10:53:30 - INFO - ƶλ +2025-02-27 10:53:30 - INFO - ƶλ +2025-02-27 10:53:31 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:31 - INFO - ƶλ +2025-02-27 10:53:31 - INFO - ʶͼɹ +2025-02-27 10:53:31 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:31 - INFO - ƶλ +2025-02-27 10:53:31 - INFO - ʶͼɹ +2025-02-27 10:53:31 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:31 - INFO - ƶλ +2025-02-27 10:53:31 - INFO - ʶͼɹ +2025-02-27 10:53:32 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:32 - INFO - ƶλ +2025-02-27 10:53:32 - INFO - ʶͼɹ +2025-02-27 10:53:32 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:32 - INFO - ƶλ +2025-02-27 10:53:32 - INFO - ʶͼɹ +2025-02-27 10:53:32 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:32 - INFO - ƶλ +2025-02-27 10:53:32 - INFO - ʶͼɹ +2025-02-27 10:53:33 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:33 - INFO - ƶλ +2025-02-27 10:53:33 - INFO - ʶͼɹ +2025-02-27 10:53:33 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:33 - INFO - ƶλ +2025-02-27 10:53:33 - INFO - ʶͼɹ +2025-02-27 10:53:33 - INFO - ƶλ +2025-02-27 10:53:33 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:33 - INFO - ʶͼɹ +2025-02-27 10:53:34 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:34 - INFO - ƶλ +2025-02-27 10:53:34 - INFO - ʶͼɹ +2025-02-27 10:53:34 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:34 - INFO - ƶλ +2025-02-27 10:53:34 - INFO - ʶͼɹ +2025-02-27 10:53:34 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:34 - INFO - ƶλ +2025-02-27 10:53:34 - INFO - ʶͼɹ +2025-02-27 10:53:35 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:35 - INFO - ƶλ +2025-02-27 10:53:35 - INFO - ʶͼɹ +2025-02-27 10:53:35 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:35 - INFO - ƶλ +2025-02-27 10:53:35 - INFO - ʶͼɹ +2025-02-27 10:53:35 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:35 - INFO - ƶλ +2025-02-27 10:53:35 - INFO - ʶͼɹ +2025-02-27 10:53:36 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:36 - INFO - ƶλ +2025-02-27 10:53:36 - INFO - ʶͼɹ +2025-02-27 10:53:36 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:36 - INFO - ƶλ +2025-02-27 10:53:36 - INFO - ʶͼɹ +2025-02-27 10:53:36 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:36 - INFO - ƶλ +2025-02-27 10:53:36 - INFO - ʶͼɹ +2025-02-27 10:53:37 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:37 - INFO - ƶλ +2025-02-27 10:53:37 - INFO - ʶͼɹ +2025-02-27 10:53:37 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:37 - INFO - ƶλ +2025-02-27 10:53:37 - INFO - ʶͼɹ +2025-02-27 10:53:37 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:37 - INFO - ƶλ +2025-02-27 10:53:37 - INFO - ʶͼɹ +2025-02-27 10:53:38 - INFO - ƶλ +2025-02-27 10:53:38 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:38 - INFO - ʶͼɹ +2025-02-27 10:53:38 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:38 - INFO - ƶλ +2025-02-27 10:53:38 - INFO - ʶͼɹ +2025-02-27 10:53:38 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:38 - INFO - ƶλ +2025-02-27 10:53:38 - INFO - ʶͼɹ +2025-02-27 10:53:39 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:39 - INFO - ƶλ +2025-02-27 10:53:39 - INFO - ʶͼɹ +2025-02-27 10:53:39 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:39 - INFO - ƶλ +2025-02-27 10:53:39 - INFO - ʶͼɹ +2025-02-27 10:53:39 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:39 - INFO - ƶλ +2025-02-27 10:53:39 - INFO - ʶͼɹ +2025-02-27 10:53:40 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:40 - INFO - ƶλ +2025-02-27 10:53:40 - INFO - ʶͼɹ +2025-02-27 10:53:40 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:40 - INFO - ƶλ +2025-02-27 10:53:40 - INFO - ʶͼɹ +2025-02-27 10:53:40 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:40 - INFO - ƶλ +2025-02-27 10:53:40 - INFO - ʶͼɹ +2025-02-27 10:53:41 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:41 - INFO - ƶλ +2025-02-27 10:53:41 - INFO - ʶͼɹ +2025-02-27 10:53:41 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:41 - INFO - ƶλ +2025-02-27 10:53:41 - INFO - ʶͼɹ +2025-02-27 10:53:41 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:41 - INFO - ƶλ +2025-02-27 10:53:41 - INFO - ʶͼɹ +2025-02-27 10:53:42 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:42 - INFO - ƶλ +2025-02-27 10:53:42 - INFO - ʶͼɹ +2025-02-27 10:53:42 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:42 - INFO - ƶλ +2025-02-27 10:53:42 - INFO - ʶͼɹ +2025-02-27 10:53:42 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:42 - INFO - ƶλ +2025-02-27 10:53:42 - INFO - ʶͼɹ +2025-02-27 10:53:43 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:43 - INFO - ƶλ +2025-02-27 10:53:43 - INFO - ʶͼɹ +2025-02-27 10:53:43 - INFO - ƶλ +2025-02-27 10:53:43 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:43 - INFO - ʶͼɹ +2025-02-27 10:53:43 - ERROR - 'Real_Position' object has no attribute 'a' +2025-02-27 10:53:43 - INFO - ƶλ +2025-02-27 10:53:43 - INFO - ʶͼɹ +2025-02-27 10:53:44 - INFO - +2025-02-27 10:53:44 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:53:44 - INFO - ʼλ +2025-02-27 10:53:44 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:44 - INFO - ƶλ +2025-02-27 10:53:44 - INFO - ͶϽ +2025-02-27 10:53:44 - INFO - +2025-02-27 10:53:44 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:53:44 - INFO - ʼλ +2025-02-27 10:53:45 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:45 - INFO - ƶλ +2025-02-27 10:53:45 - INFO - ͶϽ +2025-02-27 10:53:45 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:45 - INFO - ƶλ +2025-02-27 10:53:45 - INFO - ͶϽ +2025-02-27 10:53:45 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:45 - INFO - ƶλ +2025-02-27 10:53:45 - INFO - ͶϽ +2025-02-27 10:53:46 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:46 - INFO - ƶλ +2025-02-27 10:53:46 - INFO - ͶϽ +2025-02-27 10:53:46 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:46 - INFO - ƶλ +2025-02-27 10:53:46 - INFO - ͶϽ +2025-02-27 10:53:46 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:46 - INFO - ƶλ +2025-02-27 10:53:46 - INFO - ͶϽ +2025-02-27 10:53:47 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:47 - INFO - ƶλ +2025-02-27 10:53:47 - INFO - ͶϽ +2025-02-27 10:53:47 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:47 - INFO - ƶλ +2025-02-27 10:53:47 - INFO - ͶϽ +2025-02-27 10:53:47 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:47 - INFO - ƶλ +2025-02-27 10:53:47 - INFO - ͶϽ +2025-02-27 10:53:48 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:48 - INFO - ƶλ +2025-02-27 10:53:48 - INFO - ͶϽ +2025-02-27 10:53:48 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:48 - INFO - ƶλ +2025-02-27 10:53:48 - INFO - ͶϽ +2025-02-27 10:53:48 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:48 - INFO - ƶλ +2025-02-27 10:53:48 - INFO - ͶϽ +2025-02-27 10:53:49 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:49 - INFO - ƶλ +2025-02-27 10:53:49 - INFO - ͶϽ +2025-02-27 10:53:49 - INFO - +2025-02-27 10:53:49 - INFO - {"dsID":"www.hc-system.com.HCRemoteCommand","reqType":"AddRCC","emptyList":"1","instructions":[]} +2025-02-27 10:53:49 - INFO - ʼλ +2025-02-27 10:53:49 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:49 - INFO - ƶλ +2025-02-27 10:53:49 - INFO - ͶϽ +2025-02-27 10:53:50 - ERROR - 'FeedLine' object has no attribute 'start_to_take' +2025-02-27 10:53:50 - INFO - ƶλ +2025-02-27 10:53:50 - INFO - ͶϽ +2025-02-27 10:53:50 - ERROR - 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