断开停止正在启动机器人驱动程序:C:/RoboDK/api/robot/apiur.exe开始…robdk driver for UR v3.9.0加载设置:C:/Users/cfreitag/AppData/Roaming/RoboDK- drivers /apiur.exe.ini MoveJ with关节:Yes MoveL with关节:Yes MoveL as: movep(…)控制器版本:3通信超时时间(ms): 1000断开连接CONNECT 192.168.1.2 30000 6本地可用IP地址(IPv4): 192.168.1.1 192.168.1.103服务器建立:192.168.1.1:30000连接到192.168.1.2:30002。发送程序:/progrobodk.script…更新程序上的计算机IP: 192.168.1.1更新程序上的计算机端口:30000发送程序。等待……已连接到192.168.1.2 Ready setround1 Working…就绪SETTOOL 0.000000 75.000000 140.000000 0.000000 0.000000 0.000000工作中…准备MOVJ -114.426080 -93.903811 -116.778744 -59.317445 90.000000 245.577971 -312.291151 -205.553689 53.992976 -127.274720 127.283721 0.000000工作…Ready MOVL -114.426080 -93.903811 -116.778744 -59.317445 90.000000 245.577971 -312.291151 -205.553689 53.992976 -127.274720 127.283721 0.000000 Working… Ready MOVL -114.426080 -96.871938 -119.893013 -53.235049 90.000000 245.577971 -312.291151 -205.553689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -114.426080 -96.871938 -119.893013 -53.235049 90.000000 245.577971 -312.291151 -205.553689 33.992976 -127.274720 127.283721 0.000000 Working... Ready SPEED 50.000 -1.000 -1.000 -1.000 Working... Ready MOVL -114.643583 -95.584883 -121.379442 -53.035675 90.000000 245.360468 -310.616468 -199.303689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -114.170849 -93.999966 -123.153902 -52.846132 90.000000 245.833202 -306.041151 -194.728372 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -113.094292 -92.531393 -124.742475 -52.726133 90.000000 246.909759 -299.791151 -193.053689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -81.866846 -68.179687 -143.481505 -58.338808 90.000000 278.137205 -179.791151 -193.053689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -79.937398 -67.580591 -143.778331 -58.641077 90.000000 280.066654 -173.541151 -194.728372 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -78.747918 -68.465261 -143.337612 -58.197127 90.000000 281.256134 -168.965834 -199.303689 33.992976 -127.274720 127.283721 -0.000000 Working... Ready MOVL -78.615818 -70.490323 -142.271778 -57.237899 90.000000 281.388234 -167.291151 -205.553689 33.992976 -127.274720 127.283721 -0.000000 Working... Ready MOVL -81.711735 -91.063880 -126.276102 -52.660019 90.000000 278.292316 -167.291151 -275.553689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -82.262841 -92.720778 -124.540634 -52.738588 90.000000 277.741210 -168.965834 -281.803689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -83.348451 -94.174392 -122.961659 -52.863948 90.000000 276.655600 -173.541151 -286.379007 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -84.679597 -95.077121 -121.954681 -52.968198 90.000000 275.324455 -179.791151 -288.053689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -106.949370 -108.514555 -104.689020 -56.796425 90.000000 253.054682 -299.791151 -288.053689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -108.030927 -109.074951 -103.882475 -57.042573 90.000000 251.973125 -306.041151 -286.379007 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -108.996947 -108.937441 -104.080976 -56.981583 90.000000 251.007105 -310.616468 -281.803689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -109.609324 -108.134782 -105.231959 -56.633259 90.000000 250.394727 -312.291151 -275.553689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -114.426080 -96.871938 -119.893013 -53.235049 90.000000 245.577971 -312.291151 -205.553689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -114.426080 -96.871938 -119.893013 -53.235049 90.000000 245.577971 -312.291151 -205.553689 33.992976 -127.274720 127.283721 0.000000 Working... Ready MOVL -114.426080 -93.903811 -116.778744 -59.317445 90.000000 245.577971 -312.291151 -205.553689 53.992976 -127.274720 127.283721 0.000000 Working... Ready