658 lines
16 KiB
JSON
658 lines
16 KiB
JSON
{
|
|
"report_id": "trt-rtcp-jog-browser-v1",
|
|
"status": "verified",
|
|
"machines": [
|
|
{
|
|
"coordinates": "XYZAC",
|
|
"rows": [
|
|
{
|
|
"axis": "a",
|
|
"before": {
|
|
"joints": [
|
|
4.666649999999989,
|
|
4.466649999999994,
|
|
0,
|
|
0,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 64,
|
|
"rendered_tick": 64,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
4.666649999999989,
|
|
6.351865924731886,
|
|
-2.4504376825076157,
|
|
9.599999999999989,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 106,
|
|
"rendered_tick": 100,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 0
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
4.666649999999989,
|
|
6.749678153480922,
|
|
-2.8729923943953075,
|
|
11.39999999999995,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 117,
|
|
"rendered_tick": 117,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 3.469446951953614e-17
|
|
}
|
|
},
|
|
{
|
|
"axis": "c",
|
|
"before": {
|
|
"joints": [
|
|
4.666649999999989,
|
|
6.749678153480922,
|
|
-2.8729923943953075,
|
|
11.39999999999995,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 117,
|
|
"rendered_tick": 117,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
4.3018149555329135,
|
|
7.095098216652044,
|
|
-2.803343492369457,
|
|
11.39999999999995,
|
|
4.499999999999995
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 142,
|
|
"rendered_tick": 142,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 1.962615573354719e-17
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
4.148323132140086,
|
|
7.22522468303406,
|
|
-2.7771053942555053,
|
|
11.39999999999995,
|
|
6.30000000000001
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 148,
|
|
"rendered_tick": 148,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 2.237726045655905e-16
|
|
}
|
|
},
|
|
{
|
|
"axis": "a",
|
|
"before": {
|
|
"joints": [
|
|
4.148323132140086,
|
|
7.22522468303406,
|
|
-2.7771053942555053,
|
|
11.39999999999995,
|
|
6.30000000000001
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 148,
|
|
"rendered_tick": 148,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
4.148323132140086,
|
|
9.152980104837122,
|
|
-4.449618197337122,
|
|
19.49999999999997,
|
|
6.30000000000001
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 185,
|
|
"rendered_tick": 173,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 2.7755575615628914e-17
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
4.148323132140086,
|
|
9.612205930334579,
|
|
-4.783201311661127,
|
|
21.299999999999933,
|
|
6.30000000000001
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 196,
|
|
"rendered_tick": 196,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 2.2473876566261383e-16
|
|
}
|
|
},
|
|
{
|
|
"axis": "c",
|
|
"before": {
|
|
"joints": [
|
|
4.148323132140086,
|
|
9.612205930334579,
|
|
-4.783201311661127,
|
|
21.299999999999933,
|
|
6.30000000000001
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 196,
|
|
"rendered_tick": 196,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
3.551689196192138,
|
|
10.025858124581516,
|
|
-4.621925060367616,
|
|
21.299999999999933,
|
|
12.900000000000022
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 228,
|
|
"rendered_tick": 222,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 2.8609792490763984e-17
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
3.3804521353118124,
|
|
10.127318160847281,
|
|
-4.582367445219857,
|
|
21.299999999999933,
|
|
14.700000000000024
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": 0,
|
|
"y_offset": 20,
|
|
"z_offset": 10,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 239,
|
|
"rendered_tick": 239,
|
|
"tool_tip": [
|
|
0,
|
|
2,
|
|
0
|
|
],
|
|
"tcp_error": 3.469446951953614e-17
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"coordinates": "XYZBC",
|
|
"rows": [
|
|
{
|
|
"axis": "b",
|
|
"before": {
|
|
"joints": [
|
|
4.66664999999999,
|
|
3.266650000000003,
|
|
0,
|
|
0,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 297,
|
|
"rendered_tick": 297,
|
|
"tool_tip": [
|
|
0,
|
|
1.5,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
5.767497386045921,
|
|
3.266650000000003,
|
|
-1.981563047638323,
|
|
4.499999999999995,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 322,
|
|
"rendered_tick": 322,
|
|
"tool_tip": [
|
|
0,
|
|
1.4801843695236168,
|
|
0
|
|
],
|
|
"tcp_error": 2.2215299868541707e-16
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
6.16370166824418,
|
|
3.266650000000003,
|
|
-2.797363512846239,
|
|
6.30000000000001,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 333,
|
|
"rendered_tick": 328,
|
|
"tool_tip": [
|
|
0,
|
|
1.4720263648715377,
|
|
0
|
|
],
|
|
"tcp_error": 2.0816681711721685e-17
|
|
}
|
|
},
|
|
{
|
|
"axis": "c",
|
|
"before": {
|
|
"joints": [
|
|
6.16370166824418,
|
|
3.266650000000003,
|
|
-2.797363512846239,
|
|
6.30000000000001,
|
|
0
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 333,
|
|
"rendered_tick": 333,
|
|
"tool_tip": [
|
|
0,
|
|
1.4720263648715377,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
5.536391282129575,
|
|
4.0203403161023985,
|
|
-2.7281078014596485,
|
|
6.30000000000001,
|
|
9.899999999999983
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 376,
|
|
"rendered_tick": 369,
|
|
"tool_tip": [
|
|
0,
|
|
1.4725602353149239,
|
|
0
|
|
],
|
|
"tcp_error": 6.938893903907228e-18
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
5.408892699222715,
|
|
4.145115526193058,
|
|
-2.714031826861671,
|
|
6.30000000000001,
|
|
11.699999999999944
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 387,
|
|
"rendered_tick": 387,
|
|
"tool_tip": [
|
|
0,
|
|
1.4728596817313833,
|
|
0
|
|
],
|
|
"tcp_error": 9.813077866773595e-18
|
|
}
|
|
},
|
|
{
|
|
"axis": "b",
|
|
"before": {
|
|
"joints": [
|
|
5.408892699222715,
|
|
4.145115526193058,
|
|
-2.714031826861671,
|
|
6.30000000000001,
|
|
11.699999999999944
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 387,
|
|
"rendered_tick": 387,
|
|
"tool_tip": [
|
|
0,
|
|
1.4728596817313833,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
6.294511515825764,
|
|
4.145115526193058,
|
|
-4.745464111131721,
|
|
10.800000000000004,
|
|
11.699999999999944
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 412,
|
|
"rendered_tick": 412,
|
|
"tool_tip": [
|
|
0,
|
|
1.4525453588886827,
|
|
0
|
|
],
|
|
"tcp_error": 2.260205560892005e-16
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
6.603639517943392,
|
|
4.145115526193058,
|
|
-5.576454671870996,
|
|
12.60000000000002,
|
|
11.699999999999944
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 423,
|
|
"rendered_tick": 418,
|
|
"tool_tip": [
|
|
0,
|
|
1.44423545328129,
|
|
0
|
|
],
|
|
"tcp_error": 2.225860458774576e-16
|
|
}
|
|
},
|
|
{
|
|
"axis": "c",
|
|
"before": {
|
|
"joints": [
|
|
6.603639517943392,
|
|
4.145115526193058,
|
|
-5.576454671870996,
|
|
12.60000000000002,
|
|
11.699999999999944
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 423,
|
|
"rendered_tick": 423,
|
|
"tool_tip": [
|
|
0,
|
|
1.44423545328129,
|
|
0
|
|
]
|
|
},
|
|
"moving": {
|
|
"joints": [
|
|
5.553928059363571,
|
|
4.94271622192026,
|
|
-5.341816361477811,
|
|
12.60000000000002,
|
|
25.19999999999985
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 478,
|
|
"rendered_tick": 477,
|
|
"tool_tip": [
|
|
0,
|
|
1.4465254658419693,
|
|
0
|
|
],
|
|
"tcp_error": 1.3877787807814457e-17
|
|
},
|
|
"stopped": {
|
|
"joints": [
|
|
5.401049028353562,
|
|
5.029221227849476,
|
|
-5.30764384936742,
|
|
12.60000000000002,
|
|
26.999999999999808
|
|
],
|
|
"offsets": {
|
|
"x_rot_point": 0,
|
|
"y_rot_point": 0,
|
|
"z_rot_point": 0,
|
|
"x_offset": -20,
|
|
"y_offset": 0,
|
|
"z_offset": -15,
|
|
"tool_offset": 0
|
|
},
|
|
"tick": 489,
|
|
"rendered_tick": 489,
|
|
"tool_tip": [
|
|
0,
|
|
1.4469235615063258,
|
|
0
|
|
],
|
|
"tcp_error": 6.938893903907228e-18
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"browser_errors": []
|
|
}
|