diff --git a/HitBotCSharpDemo/ShowForm.Designer.cs b/HitBotCSharpDemo/ShowForm.Designer.cs index 96952b3..514bd5b 100644 --- a/HitBotCSharpDemo/ShowForm.Designer.cs +++ b/HitBotCSharpDemo/ShowForm.Designer.cs @@ -165,6 +165,13 @@ this.label2 = new System.Windows.Forms.Label(); this.button3 = new System.Windows.Forms.Button(); this.tabPage1 = new System.Windows.Forms.TabPage(); + this.groupBox5 = new System.Windows.Forms.GroupBox(); + this.label31 = new System.Windows.Forms.Label(); + this.label30 = new System.Windows.Forms.Label(); + this.label29 = new System.Windows.Forms.Label(); + this.label28 = new System.Windows.Forms.Label(); + this.button8 = new System.Windows.Forms.Button(); + this.button6 = new System.Windows.Forms.Button(); this.groupBox4 = new System.Windows.Forms.GroupBox(); this.comboBox2 = new System.Windows.Forms.ComboBox(); this.label27 = new System.Windows.Forms.Label(); @@ -174,8 +181,12 @@ this.lbl_Refresh_ID = new System.Windows.Forms.Label(); this.tim_IO_Refresh = new System.Windows.Forms.Timer(this.components); this.rit_Coord = new System.Windows.Forms.RichTextBox(); - this.groupBox5 = new System.Windows.Forms.GroupBox(); - this.button6 = new System.Windows.Forms.Button(); + this.pictureBox2 = new System.Windows.Forms.PictureBox(); + this.groupBox6 = new System.Windows.Forms.GroupBox(); + this.button10 = new System.Windows.Forms.Button(); + this.button12 = new System.Windows.Forms.Button(); + this.label32 = new System.Windows.Forms.Label(); + this.label33 = new System.Windows.Forms.Label(); this.tac_MainForm.SuspendLayout(); this.tap_Axis.SuspendLayout(); this.grb_R.SuspendLayout(); @@ -198,9 +209,11 @@ this.grb_pos1.SuspendLayout(); this.grb_temport.SuspendLayout(); this.tabPage1.SuspendLayout(); + this.groupBox5.SuspendLayout(); this.groupBox4.SuspendLayout(); this.panel1.SuspendLayout(); - this.groupBox5.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).BeginInit(); + this.groupBox6.SuspendLayout(); this.SuspendLayout(); // // btn_Init @@ -1305,9 +1318,9 @@ this.label18.AutoSize = true; this.label18.Location = new System.Drawing.Point(540, 45); this.label18.Name = "label18"; - this.label18.Size = new System.Drawing.Size(17, 18); + this.label18.Size = new System.Drawing.Size(26, 18); this.label18.TabIndex = 9; - this.label18.Text = "0"; + this.label18.Text = "--"; // // button11 // @@ -1349,9 +1362,9 @@ this.label21.AutoSize = true; this.label21.Location = new System.Drawing.Point(116, 43); this.label21.Name = "label21"; - this.label21.Size = new System.Drawing.Size(17, 18); + this.label21.Size = new System.Drawing.Size(26, 18); this.label21.TabIndex = 1; - this.label21.Text = "0"; + this.label21.Text = "--"; // // label22 // @@ -1401,9 +1414,9 @@ this.label13.AutoSize = true; this.label13.Location = new System.Drawing.Point(540, 42); this.label13.Name = "label13"; - this.label13.Size = new System.Drawing.Size(17, 18); + this.label13.Size = new System.Drawing.Size(26, 18); this.label13.TabIndex = 9; - this.label13.Text = "0"; + this.label13.Text = "--"; // // button9 // @@ -1445,9 +1458,9 @@ this.label16.AutoSize = true; this.label16.Location = new System.Drawing.Point(116, 43); this.label16.Name = "label16"; - this.label16.Size = new System.Drawing.Size(17, 18); + this.label16.Size = new System.Drawing.Size(26, 18); this.label16.TabIndex = 1; - this.label16.Text = "0"; + this.label16.Text = "--"; // // label17 // @@ -1498,9 +1511,9 @@ this.label8.AutoSize = true; this.label8.Location = new System.Drawing.Point(540, 44); this.label8.Name = "label8"; - this.label8.Size = new System.Drawing.Size(17, 18); + this.label8.Size = new System.Drawing.Size(26, 18); this.label8.TabIndex = 9; - this.label8.Text = "0"; + this.label8.Text = "--"; // // button7 // @@ -1542,9 +1555,9 @@ this.label11.AutoSize = true; this.label11.Location = new System.Drawing.Point(116, 43); this.label11.Name = "label11"; - this.label11.Size = new System.Drawing.Size(17, 18); + this.label11.Size = new System.Drawing.Size(26, 18); this.label11.TabIndex = 1; - this.label11.Text = "0"; + this.label11.Text = "--"; // // label12 // @@ -1595,9 +1608,9 @@ this.label7.AutoSize = true; this.label7.Location = new System.Drawing.Point(540, 43); this.label7.Name = "label7"; - this.label7.Size = new System.Drawing.Size(17, 18); + this.label7.Size = new System.Drawing.Size(26, 18); this.label7.TabIndex = 9; - this.label7.Text = "0"; + this.label7.Text = "--"; // // button4 // @@ -1641,9 +1654,10 @@ this.label4.AutoSize = true; this.label4.Location = new System.Drawing.Point(116, 43); this.label4.Name = "label4"; - this.label4.Size = new System.Drawing.Size(17, 18); + this.label4.RightToLeft = System.Windows.Forms.RightToLeft.Yes; + this.label4.Size = new System.Drawing.Size(26, 18); this.label4.TabIndex = 1; - this.label4.Text = "0"; + this.label4.Text = "--"; this.label4.Click += new System.EventHandler(this.label4_Click); // // label3 @@ -1697,6 +1711,8 @@ // // tabPage1 // + this.tabPage1.Controls.Add(this.groupBox6); + this.tabPage1.Controls.Add(this.pictureBox2); this.tabPage1.Controls.Add(this.groupBox5); this.tabPage1.Controls.Add(this.groupBox4); this.tabPage1.Location = new System.Drawing.Point(4, 28); @@ -1704,16 +1720,85 @@ this.tabPage1.Padding = new System.Windows.Forms.Padding(3); this.tabPage1.Size = new System.Drawing.Size(1214, 760); this.tabPage1.TabIndex = 6; - this.tabPage1.Text = "电动变倍"; + this.tabPage1.Text = "变倍控制"; this.tabPage1.UseVisualStyleBackColor = true; this.tabPage1.Click += new System.EventHandler(this.tabPage1_Click_1); // + // groupBox5 + // + this.groupBox5.Controls.Add(this.label31); + this.groupBox5.Controls.Add(this.label30); + this.groupBox5.Controls.Add(this.label29); + this.groupBox5.Controls.Add(this.label28); + this.groupBox5.Controls.Add(this.button8); + this.groupBox5.Controls.Add(this.button6); + this.groupBox5.Location = new System.Drawing.Point(67, 240); + this.groupBox5.Name = "groupBox5"; + this.groupBox5.Size = new System.Drawing.Size(271, 226); + this.groupBox5.TabIndex = 5; + this.groupBox5.TabStop = false; + this.groupBox5.Text = "运动控制"; + // + // label31 + // + this.label31.AutoSize = true; + this.label31.Location = new System.Drawing.Point(121, 103); + this.label31.Name = "label31"; + this.label31.Size = new System.Drawing.Size(53, 18); + this.label31.TabIndex = 9; + this.label31.Text = "-----"; + // + // label30 + // + this.label30.AutoSize = true; + this.label30.Location = new System.Drawing.Point(121, 47); + this.label30.Name = "label30"; + this.label30.Size = new System.Drawing.Size(53, 18); + this.label30.TabIndex = 6; + this.label30.Text = "-----"; + // + // label29 + // + this.label29.AutoSize = true; + this.label29.Location = new System.Drawing.Point(17, 103); + this.label29.Name = "label29"; + this.label29.Size = new System.Drawing.Size(98, 18); + this.label29.TabIndex = 8; + this.label29.Text = "当前脉冲："; + // + // label28 + // + this.label28.AutoSize = true; + this.label28.Location = new System.Drawing.Point(17, 47); + this.label28.Name = "label28"; + this.label28.Size = new System.Drawing.Size(98, 18); + this.label28.TabIndex = 6; + this.label28.Text = "最大脉冲："; + // + // button8 + // + this.button8.Location = new System.Drawing.Point(140, 160); + this.button8.Name = "button8"; + this.button8.Size = new System.Drawing.Size(125, 40); + this.button8.TabIndex = 7; + this.button8.Text = "获取当前脉冲"; + this.button8.UseVisualStyleBackColor = true; + // + // button6 + // + this.button6.Location = new System.Drawing.Point(6, 160); + this.button6.Name = "button6"; + this.button6.Size = new System.Drawing.Size(125, 40); + this.button6.TabIndex = 6; + this.button6.Text = "获取最大脉冲"; + this.button6.UseVisualStyleBackColor = true; + // // groupBox4 // this.groupBox4.Controls.Add(this.comboBox2); this.groupBox4.Controls.Add(this.label27); this.groupBox4.Controls.Add(this.button5); - this.groupBox4.Location = new System.Drawing.Point(56, 38); + this.groupBox4.Location = new System.Drawing.Point(67, 44); this.groupBox4.Name = "groupBox4"; this.groupBox4.Size = new System.Drawing.Size(271, 169); this.groupBox4.TabIndex = 4; @@ -1794,24 +1879,62 @@ this.rit_Coord.Text = ""; this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged); // - // groupBox5 + // pictureBox2 // - this.groupBox5.Controls.Add(this.button6); - this.groupBox5.Location = new System.Drawing.Point(56, 237); - this.groupBox5.Name = "groupBox5"; - this.groupBox5.Size = new System.Drawing.Size(271, 262); - this.groupBox5.TabIndex = 5; - this.groupBox5.TabStop = false; - this.groupBox5.Text = "运动控制"; + this.pictureBox2.Location = new System.Drawing.Point(431, 55); + this.pictureBox2.Name = "pictureBox2"; + this.pictureBox2.Size = new System.Drawing.Size(669, 640); + this.pictureBox2.TabIndex = 6; + this.pictureBox2.TabStop = false; // - // button6 + // groupBox6 // - this.button6.Location = new System.Drawing.Point(43, 43); - this.button6.Name = "button6"; - this.button6.Size = new System.Drawing.Size(156, 40); - this.button6.TabIndex = 6; - this.button6.Text = "获取最大脉冲"; - this.button6.UseVisualStyleBackColor = true; + this.groupBox6.Controls.Add(this.label33); + this.groupBox6.Controls.Add(this.label32); + this.groupBox6.Controls.Add(this.button10); + this.groupBox6.Controls.Add(this.button12); + this.groupBox6.Location = new System.Drawing.Point(67, 494); + this.groupBox6.Name = "groupBox6"; + this.groupBox6.Size = new System.Drawing.Size(271, 201); + this.groupBox6.TabIndex = 7; + this.groupBox6.TabStop = false; + this.groupBox6.Text = "运动控制"; + // + // button10 + // + this.button10.Location = new System.Drawing.Point(140, 117); + this.button10.Name = "button10"; + this.button10.Size = new System.Drawing.Size(106, 40); + this.button10.TabIndex = 7; + this.button10.Text = "6X"; + this.button10.UseVisualStyleBackColor = true; + // + // button12 + // + this.button12.Location = new System.Drawing.Point(20, 117); + this.button12.Name = "button12"; + this.button12.Size = new System.Drawing.Size(106, 40); + this.button12.TabIndex = 6; + this.button12.Text = "1X"; + this.button12.UseVisualStyleBackColor = true; + // + // label32 + // + this.label32.AutoSize = true; + this.label32.Location = new System.Drawing.Point(17, 49); + this.label32.Name = "label32"; + this.label32.Size = new System.Drawing.Size(98, 18); + this.label32.TabIndex = 10; + this.label32.Text = "镜头类型："; + // + // label33 + // + this.label33.AutoSize = true; + this.label33.Location = new System.Drawing.Point(121, 49); + this.label33.Name = "label33"; + this.label33.Size = new System.Drawing.Size(53, 18); + this.label33.TabIndex = 10; + this.label33.Text = "-----"; // // ShowForm // @@ -1867,10 +1990,14 @@ this.grb_temport.ResumeLayout(false); this.grb_temport.PerformLayout(); this.tabPage1.ResumeLayout(false); + this.groupBox5.ResumeLayout(false); + this.groupBox5.PerformLayout(); this.groupBox4.ResumeLayout(false); this.groupBox4.PerformLayout(); this.panel1.ResumeLayout(false); - this.groupBox5.ResumeLayout(false); + ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).EndInit(); + this.groupBox6.ResumeLayout(false); + this.groupBox6.PerformLayout(); this.ResumeLayout(false); this.PerformLayout(); @@ -2024,6 +2151,17 @@ private System.Windows.Forms.Button button5; private System.Windows.Forms.GroupBox groupBox5; private System.Windows.Forms.Button button6; + private System.Windows.Forms.Button button8; + private System.Windows.Forms.Label label29; + private System.Windows.Forms.Label label28; + private System.Windows.Forms.Label label31; + private System.Windows.Forms.Label label30; + private System.Windows.Forms.GroupBox groupBox6; + private System.Windows.Forms.Button button10; + private System.Windows.Forms.Button button12; + private System.Windows.Forms.PictureBox pictureBox2; + private System.Windows.Forms.Label label33; + private System.Windows.Forms.Label label32; } } diff --git a/HitBotCSharpDemo/ZoomControl.cs b/HitBotCSharpDemo/ZoomControl.cs index cf081d7..711965e 100644 --- a/HitBotCSharpDemo/ZoomControl.cs +++ b/HitBotCSharpDemo/ZoomControl.cs @@ -191,7 +191,7 @@ namespace HitBotCSharpDemo { try { - string command = $"{(char)Motor.X}{(char)Command.Pos}\r"; + string command = $"{(char)Motor.X}{(char)Command.MaxLength}\r"; serialPort.Write(command); } catch (Exception ex) diff --git a/HitBotCSharpDemo/bin/x64/Debug/Cam_pos_path.txt b/HitBotCSharpDemo/bin/x64/Debug/Cam_pos_path.txt index bc7fead..2dd63e4 100644 --- a/HitBotCSharpDemo/bin/x64/Debug/Cam_pos_path.txt +++ b/HitBotCSharpDemo/bin/x64/Debug/Cam_pos_path.txt @@ -1,6 +1,6 @@ # X,Y,Z,R -274.065,-292.0611,-75.4661,-1005.721 -274.065,-137.1582,-75.4661,-1005.721 -274.065,5.9653,-75.4661,-1005.721 -274.065,149.3837,-75.4661,-1005.721 +275.7802,-295.9343,-97.6206,-1005.469 +275.7792,-133.1579,-99.6206,-1005.469 +271.7793,1.5466,-97.6206,-1005.469 +271.7793,149.3837,-97.6206,-1005.469 93.9893,-37.883,-4.4571,-1027.92 \ No newline at end of file diff --git a/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt b/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt index 2dd24fa..bd07122 100644 --- a/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt +++ b/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt @@ -1,2 +1,2 @@ -Exposure=900000 +Exposure=128515 Gain=1 diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe index 10a755b..415c058 100644 Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb index d059f67..5d41f6f 100644 Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/Photo_20250620_114332.jpg b/HitBotCSharpDemo/bin/x64/Debug/Photo_20250620_114332.jpg new file mode 100644 index 0000000..8476ec4 Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/Photo_20250620_114332.jpg differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-20.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-20.hilog new file mode 100644 index 0000000..515f386 --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-20.hilog @@ -0,0 +1,2122 @@ +2025-06-20 09:51:14.529 ROBOT_ERROR_CODE = 1004 +2025-06-20 09:51:14.529 +0 : 0 0 0 0 0 0 +1 : 0 0 0 0 0 0 +2 : 0 0 0 0 0 0 +3 : 0 0 0 0 0 0 +4 : 0 0 0 0 0 0 +5 : 0 0 0 0 0 0 +6 : 0 0 0 0 0 0 +7 : 0 0 0 0 0 0 +8 : 0 0 0 0 0 0 +9 : 0 0 0 0 0 0 +10 : 0 0 0 0 0 0 +11 : 0 0 0 0 0 0 +12 : 0 0 0 0 0 0 +13 : 0 0 0 0 0 0 +14 : 0 0 0 0 0 0 +15 : 2736 454 458 459 459 0 +2025-06-20 10:49:11.370 SDK_VERSION_V2.0.0.29_Release +2025-06-20 10:49:11.370 robot connected +2025-06-20 10:49:11.371 26 +2025-06-20 10:49:11.371 current generation=26 +2025-06-20 10:49:11.875 0x1a +2025-06-20 10:49:12.786 initial joint2 2474451 +2025-06-20 10:49:12.786 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-20 10:49:12.787 robot WritePID +2025-06-20 10:49:13.094 initial joint1 -974562 +2025-06-20 10:49:13.156 initial joint2 2474454 +2025-06-20 10:49:13.219 initial joint3 -289074 +2025-06-20 10:49:13.280 initial joint4 -24035038 +2025-06-20 10:49:13.295 initial joint1 -974562 +2025-06-20 10:49:13.357 initial joint2 2474456 +2025-06-20 10:49:13.418 initial joint3 -289075 +2025-06-20 10:49:13.465 initial joint4 -24035038 +2025-06-20 10:49:13.480 initial joint1 -974561 +2025-06-20 10:49:13.528 initial joint2 2474458 +2025-06-20 10:49:13.574 initial joint3 -289076 +2025-06-20 10:49:13.638 initial joint4 -24035039 +2025-06-20 10:49:15.801 initial_thread initialized +2025-06-20 10:49:15.801 servo enable +2025-06-20 10:49:15.801 brake open +2025-06-20 10:49:15.803 set_brake_state 0 1 +2025-06-20 10:49:16.003 robot initialized +2025-06-20 10:49:16.571 get_scara_param -66.917801 84.953903 -99.246300 -1006.158813 +2025-06-20 10:49:16.571 get_scara_real_coor -66.917702 84.953903 -99.246696 -1006.158630 +2025-06-20 10:49:16.571 λɢ +2025-06-20 10:49:16.571 position -974561.062500 2474461.750000 -289075.812500 -24035044.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-20 10:49:16.571 speed 66917.796875 84953.898438 99246.304688 990213.375000 +2025-06-20 10:49:16.571 set_first_position_after_initial +2025-06-20 10:49:16.574 movej_old start_pos: -66.917801 84.953903 -99.246307 -1006.158813 end_pos: -66.917801 84.953903 -99.246307 -1006.158813 org_sp 10.000000 end_sp 10.000000 +2025-06-20 10:49:16.876 J3 Belt Meilage=40.935623km +2025-06-20 10:49:20.867 wait_stop in +2025-06-20 10:49:20.908 wait_stop out_0 +2025-06-20 10:49:20.959 30 30 30 30 +2025-06-20 10:49:20.959 new_movej_xyz_lr 276.423615 -140.464203 -101.246300 -1006.158813 2.000000 0.000000 1 +2025-06-20 10:49:20.961 goal_angle -66.917793 84.953926 +2025-06-20 10:49:20.961 new_movej_angle -66.917793 84.953926 -101.246300 -1006.158813 0.000000 2.000000 +2025-06-20 10:49:20.961 z1 -99.246307 z2 -101.246300 +2025-06-20 10:49:20.962 angle1_1 -66.917801 angle2_1 84.953903 z1 -99.246307 r1 -1006.158813 +2025-06-20 10:49:20.962 angle1_2 -66.917793 angle2_2 84.953926 z2 -101.246300 r2 -1006.158813 +2025-06-20 10:49:20.962 speed 2.000000 +2025-06-20 10:49:20.962 tcp_distance 1.988887 +2025-06-20 10:49:20.963 new_end_speed 2.000000 j1_acc_t 0.497222 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000017 +2025-06-20 10:49:20.963 new_end_speed 2.000000 j2_acc_t 0.497222 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000050 +2025-06-20 10:49:20.963 new_end_speed 2.000000 j3_acc_t 0.497222 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399429 +2025-06-20 10:49:20.963 new_end_speed 2.000000 j4_acc_t 0.497222 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 10:49:20.963 end_speed 2.000000 +2025-06-20 10:49:20.963 trail_number0.994443 +2025-06-20 10:49:20.964 tcp_distance 1.988887 +2025-06-20 10:49:20.964 angle1_1 = -66.917801 angle2_1 = 84.953903 z1 = -99.246307 r1 = -1006.158813 angle1_2 = -66.917793 angle2_2 = 84.953926 z2 = -101.246300 r2 = -1006.158813 +2025-06-20 10:49:22.678 wait_stop in +2025-06-20 10:49:22.716 wait_stop out_0 +2025-06-20 10:49:22.771 30 30 30 30 +2025-06-20 10:49:22.771 new_movej_xyz_lr 276.423492 -140.464096 -99.246300 -1006.158813 2.000000 0.000000 1 +2025-06-20 10:49:22.771 goal_angle -66.917816 84.953979 +2025-06-20 10:49:22.771 new_movej_angle -66.917816 84.953979 -99.246300 -1006.158813 0.000000 2.000000 +2025-06-20 10:49:22.772 z1 -101.246300 z2 -99.246300 +2025-06-20 10:49:22.772 angle1_1 -66.917793 angle2_1 84.953926 z1 -101.246300 r1 -1006.158813 +2025-06-20 10:49:22.772 angle1_2 -66.917816 angle2_2 84.953979 z2 -99.246300 r2 -1006.158813 +2025-06-20 10:49:22.772 speed 2.000000 +2025-06-20 10:49:22.772 tcp_distance 1.988893 +2025-06-20 10:49:22.773 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000050 +2025-06-20 10:49:22.773 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000117 +2025-06-20 10:49:22.773 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399433 +2025-06-20 10:49:22.773 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 10:49:22.773 end_speed 2.000000 +2025-06-20 10:49:22.773 trail_number0.994446 +2025-06-20 10:49:22.773 tcp_distance 1.988893 +2025-06-20 10:49:22.774 angle1_1 = -66.917793 angle2_1 = 84.953926 z1 = -101.246300 r1 = -1006.158813 angle1_2 = -66.917816 angle2_2 = 84.953979 z2 = -99.246300 r2 = -1006.158813 +2025-06-20 10:49:26.167 wait_stop in +2025-06-20 10:49:26.195 wait_stop out_0 +2025-06-20 10:49:26.276 30 30 30 30 +2025-06-20 10:49:26.277 new_movej_xyz_lr 276.423492 -140.464096 -97.246300 -1006.158813 2.000000 0.000000 1 +2025-06-20 10:49:26.277 goal_angle -66.917816 84.953979 +2025-06-20 10:49:26.277 new_movej_angle -66.917816 84.953979 -97.246300 -1006.158813 0.000000 2.000000 +2025-06-20 10:49:26.277 z1 -99.246300 z2 -97.246300 +2025-06-20 10:49:26.277 angle1_1 -66.917816 angle2_1 84.953979 z1 -99.246300 r1 -1006.158813 +2025-06-20 10:49:26.277 angle1_2 -66.917816 angle2_2 84.953979 z2 -97.246300 r2 -1006.158813 +2025-06-20 10:49:26.278 speed 2.000000 +2025-06-20 10:49:26.278 tcp_distance 1.988892 +2025-06-20 10:49:26.278 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-20 10:49:26.278 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-20 10:49:26.278 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436 +2025-06-20 10:49:26.278 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 10:49:26.279 end_speed 2.000000 +2025-06-20 10:49:26.279 trail_number0.994446 +2025-06-20 10:49:26.279 tcp_distance 1.988892 +2025-06-20 10:49:26.279 angle1_1 = -66.917816 angle2_1 = 84.953979 z1 = -99.246300 r1 = -1006.158813 angle1_2 = -66.917816 angle2_2 = 84.953979 z2 = -97.246300 r2 = -1006.158813 +2025-06-20 10:49:30.185 _new_stop_move_thread_0 +2025-06-20 10:49:30.185 j1_slow_down_t = 0 +2025-06-20 10:49:30.186 j2_slow_down_t = 0 +2025-06-20 10:49:30.186 j3_slow_down_t = 0 +2025-06-20 10:49:30.186 j4_slow_down_t = 0 +2025-06-20 10:49:30.186 tmp_t[3] = 0 +2025-06-20 10:49:30.186 _new_stop_move_thread_1 +2025-06-20 10:49:30.315 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:30.330 _new_stop_move_thread_2 +2025-06-20 10:49:30.361 _new_stop_move_thread_3 +2025-06-20 10:49:30.361 get_scara_param -66.917702 84.954102 -97.464500 -1006.158813 +2025-06-20 10:49:30.361 get_scara_real_coor -66.917702 84.954102 -97.464500 -1006.158813 +2025-06-20 10:49:30.361 _new_stop_move_thread_4 +2025-06-20 10:49:30.531 wait_stop in +2025-06-20 10:49:30.563 wait_stop out_0 +2025-06-20 10:49:33.386 _new_stop_move_thread_0 +2025-06-20 10:49:33.386 j1_slow_down_t = 0 +2025-06-20 10:49:33.386 j2_slow_down_t = 0 +2025-06-20 10:49:33.386 j3_slow_down_t = 0 +2025-06-20 10:49:33.387 j4_slow_down_t = 0 +2025-06-20 10:49:33.387 tmp_t[3] = 0 +2025-06-20 10:49:33.387 _new_stop_move_thread_1 +2025-06-20 10:49:33.499 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:33.531 _new_stop_move_thread_2 +2025-06-20 10:49:33.562 _new_stop_move_thread_3 +2025-06-20 10:49:33.562 get_scara_param -66.917702 84.954300 -97.733002 -1006.158630 +2025-06-20 10:49:33.562 get_scara_real_coor -66.917702 84.954300 -97.733002 -1006.158691 +2025-06-20 10:49:33.562 _new_stop_move_thread_4 +2025-06-20 10:49:33.715 wait_stop in +2025-06-20 10:49:33.746 wait_stop out_0 +2025-06-20 10:49:35.616 _new_stop_move_thread_0 +2025-06-20 10:49:35.616 j1_slow_down_t = 0 +2025-06-20 10:49:35.616 j2_slow_down_t = 0 +2025-06-20 10:49:35.616 j3_slow_down_t = 0 +2025-06-20 10:49:35.616 j4_slow_down_t = 0 +2025-06-20 10:49:35.616 tmp_t[3] = 0 +2025-06-20 10:49:35.617 _new_stop_move_thread_1 +2025-06-20 10:49:35.698 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:35.774 _new_stop_move_thread_2 +2025-06-20 10:49:35.804 _new_stop_move_thread_3 +2025-06-20 10:49:35.804 get_scara_param -66.917702 84.954597 -98.054001 -1006.158630 +2025-06-20 10:49:35.804 get_scara_real_coor -66.917702 84.954597 -98.054001 -1006.158630 +2025-06-20 10:49:35.804 _new_stop_move_thread_4 +2025-06-20 10:49:35.912 wait_stop in +2025-06-20 10:49:35.943 wait_stop out_0 +2025-06-20 10:49:38.099 _new_stop_move_thread_0 +2025-06-20 10:49:38.099 j1_slow_down_t = 0 +2025-06-20 10:49:38.099 j2_slow_down_t = 0 +2025-06-20 10:49:38.101 j3_slow_down_t = 0 +2025-06-20 10:49:38.101 j4_slow_down_t = 0 +2025-06-20 10:49:38.101 tmp_t[3] = 0 +2025-06-20 10:49:38.101 _new_stop_move_thread_1 +2025-06-20 10:49:38.196 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:38.275 _new_stop_move_thread_2 +2025-06-20 10:49:38.306 _new_stop_move_thread_3 +2025-06-20 10:49:38.306 get_scara_param -66.917702 84.954697 -98.374603 -1006.158508 +2025-06-20 10:49:38.307 get_scara_real_coor -66.917702 84.954697 -98.374603 -1006.158630 +2025-06-20 10:49:38.307 _new_stop_move_thread_4 +2025-06-20 10:49:38.398 wait_stop in +2025-06-20 10:49:38.429 wait_stop out_0 +2025-06-20 10:49:39.522 _new_stop_move_thread_0 +2025-06-20 10:49:39.522 j1_slow_down_t = 0 +2025-06-20 10:49:39.522 j2_slow_down_t = 0 +2025-06-20 10:49:39.522 j3_slow_down_t = 0 +2025-06-20 10:49:39.523 j4_slow_down_t = 0 +2025-06-20 10:49:39.523 tmp_t[3] = 0 +2025-06-20 10:49:39.523 _new_stop_move_thread_1 +2025-06-20 10:49:39.630 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:39.678 _new_stop_move_thread_2 +2025-06-20 10:49:39.707 _new_stop_move_thread_3 +2025-06-20 10:49:39.709 get_scara_param -66.917702 84.954903 -98.640999 -1006.158630 +2025-06-20 10:49:39.709 get_scara_real_coor -66.917702 84.954903 -98.640999 -1006.158630 +2025-06-20 10:49:39.709 _new_stop_move_thread_4 +2025-06-20 10:49:39.831 wait_stop in +2025-06-20 10:49:39.862 wait_stop out_0 +2025-06-20 10:49:41.657 _new_stop_move_thread_0 +2025-06-20 10:49:41.657 j1_slow_down_t = 0 +2025-06-20 10:49:41.657 j2_slow_down_t = 0 +2025-06-20 10:49:41.658 j3_slow_down_t = 0 +2025-06-20 10:49:41.658 j4_slow_down_t = 0 +2025-06-20 10:49:41.658 tmp_t[3] = 0 +2025-06-20 10:49:41.658 _new_stop_move_thread_1 +2025-06-20 10:49:41.730 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:41.808 _new_stop_move_thread_2 +2025-06-20 10:49:41.839 _new_stop_move_thread_3 +2025-06-20 10:49:41.839 get_scara_param -66.917603 84.955002 -98.959000 -1006.158630 +2025-06-20 10:49:41.839 get_scara_real_coor -66.917603 84.955002 -98.959000 -1006.158691 +2025-06-20 10:49:41.840 _new_stop_move_thread_4 +2025-06-20 10:49:41.931 wait_stop in +2025-06-20 10:49:41.962 wait_stop out_0 +2025-06-20 10:49:44.187 _new_stop_move_thread_0 +2025-06-20 10:49:44.187 j1_slow_down_t = 0 +2025-06-20 10:49:44.187 j2_slow_down_t = 0 +2025-06-20 10:49:44.187 j3_slow_down_t = 0 +2025-06-20 10:49:44.188 j4_slow_down_t = 0 +2025-06-20 10:49:44.188 tmp_t[3] = 0 +2025-06-20 10:49:44.188 _new_stop_move_thread_1 +2025-06-20 10:49:44.297 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:44.327 _new_stop_move_thread_2 +2025-06-20 10:49:44.359 _new_stop_move_thread_3 +2025-06-20 10:49:44.359 get_scara_param -66.917603 84.955002 -99.225403 -1006.158630 +2025-06-20 10:49:44.359 get_scara_real_coor -66.917603 84.955002 -99.225403 -1006.158691 +2025-06-20 10:49:44.360 _new_stop_move_thread_4 +2025-06-20 10:49:44.510 wait_stop in +2025-06-20 10:49:44.540 wait_stop out_0 +2025-06-20 10:49:46.765 _new_stop_move_thread_0 +2025-06-20 10:49:46.765 j1_slow_down_t = 0 +2025-06-20 10:49:46.766 j2_slow_down_t = 0 +2025-06-20 10:49:46.766 j3_slow_down_t = 0 +2025-06-20 10:49:46.766 j4_slow_down_t = 0 +2025-06-20 10:49:46.766 tmp_t[3] = 0 +2025-06-20 10:49:46.766 _new_stop_move_thread_1 +2025-06-20 10:49:46.881 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:46.911 _new_stop_move_thread_2 +2025-06-20 10:49:46.942 _new_stop_move_thread_3 +2025-06-20 10:49:46.942 get_scara_param -66.917603 84.955101 -98.984703 -1006.158630 +2025-06-20 10:49:46.943 get_scara_real_coor -66.917603 84.955101 -98.984703 -1006.158630 +2025-06-20 10:49:46.943 _new_stop_move_thread_4 +2025-06-20 10:49:47.097 wait_stop in +2025-06-20 10:49:47.127 wait_stop out_0 +2025-06-20 10:49:51.132 _new_stop_move_thread_0 +2025-06-20 10:49:51.132 j1_slow_down_t = 0 +2025-06-20 10:49:51.132 j2_slow_down_t = 0 +2025-06-20 10:49:51.132 j3_slow_down_t = 0 +2025-06-20 10:49:51.133 j4_slow_down_t = 0 +2025-06-20 10:49:51.133 tmp_t[3] = 0 +2025-06-20 10:49:51.133 _new_stop_move_thread_1 +2025-06-20 10:49:51.220 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:51.297 _new_stop_move_thread_2 +2025-06-20 10:49:51.328 _new_stop_move_thread_3 +2025-06-20 10:49:51.329 get_scara_param -66.917503 84.955200 -98.670898 -1006.158630 +2025-06-20 10:49:51.329 get_scara_real_coor -66.917503 84.955200 -98.670898 -1006.158508 +2025-06-20 10:49:51.329 _new_stop_move_thread_4 +2025-06-20 10:49:51.422 wait_stop in +2025-06-20 10:49:51.453 wait_stop out_0 +2025-06-20 10:49:53.448 _new_stop_move_thread_0 +2025-06-20 10:49:53.449 j1_slow_down_t = 0 +2025-06-20 10:49:53.449 j2_slow_down_t = 0 +2025-06-20 10:49:53.449 j3_slow_down_t = 0 +2025-06-20 10:49:53.449 j4_slow_down_t = 0 +2025-06-20 10:49:53.450 tmp_t[3] = 0 +2025-06-20 10:49:53.450 _new_stop_move_thread_1 +2025-06-20 10:49:53.525 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:53.619 _new_stop_move_thread_2 +2025-06-20 10:49:53.649 _new_stop_move_thread_3 +2025-06-20 10:49:53.649 get_scara_param -66.917503 84.955299 -98.974403 -1006.158630 +2025-06-20 10:49:53.649 get_scara_real_coor -66.917503 84.955299 -98.974403 -1006.158630 +2025-06-20 10:49:53.649 _new_stop_move_thread_4 +2025-06-20 10:49:53.726 wait_stop in +2025-06-20 10:49:53.758 wait_stop out_0 +2025-06-20 10:49:57.057 _new_stop_move_thread_0 +2025-06-20 10:49:57.057 j1_slow_down_t = 0 +2025-06-20 10:49:57.057 j2_slow_down_t = 0 +2025-06-20 10:49:57.058 j3_slow_down_t = 0 +2025-06-20 10:49:57.058 j4_slow_down_t = 0 +2025-06-20 10:49:57.058 tmp_t[3] = 0 +2025-06-20 10:49:57.058 _new_stop_move_thread_1 +2025-06-20 10:49:57.117 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:57.209 _new_stop_move_thread_2 +2025-06-20 10:49:57.240 _new_stop_move_thread_3 +2025-06-20 10:49:57.240 get_scara_param -66.917503 84.955498 -99.332802 -1006.158630 +2025-06-20 10:49:57.240 get_scara_real_coor -66.917503 84.955498 -99.332802 -1006.158630 +2025-06-20 10:49:57.240 _new_stop_move_thread_4 +2025-06-20 10:49:57.332 wait_stop in +2025-06-20 10:49:57.362 wait_stop out_0 +2025-06-20 10:49:59.804 _new_stop_move_thread_0 +2025-06-20 10:49:59.805 j1_slow_down_t = 0 +2025-06-20 10:49:59.805 j2_slow_down_t = 0 +2025-06-20 10:49:59.805 j3_slow_down_t = 0 +2025-06-20 10:49:59.805 j4_slow_down_t = 0 +2025-06-20 10:49:59.806 tmp_t[3] = 0 +2025-06-20 10:49:59.806 _new_stop_move_thread_1 +2025-06-20 10:49:59.921 jog_move_xyzr return 99 ͣ +2025-06-20 10:49:59.951 _new_stop_move_thread_2 +2025-06-20 10:49:59.983 _new_stop_move_thread_3 +2025-06-20 10:49:59.983 get_scara_param -66.917503 84.955498 -99.092499 -1006.158813 +2025-06-20 10:49:59.983 get_scara_real_coor -66.917503 84.955498 -99.092499 -1006.158691 +2025-06-20 10:49:59.985 _new_stop_move_thread_4 +2025-06-20 10:50:00.135 wait_stop in +2025-06-20 10:50:00.165 wait_stop out_0 +2025-06-20 11:03:30.771 SDK_VERSION_V2.0.0.29_Release +2025-06-20 11:03:30.771 robot connected +2025-06-20 11:03:30.771 26 +2025-06-20 11:03:30.771 current generation=26 +2025-06-20 11:03:31.280 0x1a +2025-06-20 11:03:32.157 initial joint2 2474515 +2025-06-20 11:03:32.158 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-20 11:03:32.158 robot WritePID +2025-06-20 11:03:32.468 initial joint1 -974558 +2025-06-20 11:03:32.513 initial joint2 2474516 +2025-06-20 11:03:32.559 initial joint3 -288310 +2025-06-20 11:03:32.605 initial joint4 -24035072 +2025-06-20 11:03:32.636 initial joint1 -974559 +2025-06-20 11:03:32.681 initial joint2 2474517 +2025-06-20 11:03:32.729 initial joint3 -288311 +2025-06-20 11:03:32.775 initial joint4 -24035073 +2025-06-20 11:03:32.791 initial joint1 -974558 +2025-06-20 11:03:32.836 initial joint2 2474517 +2025-06-20 11:03:32.882 initial joint3 -288312 +2025-06-20 11:03:32.929 initial joint4 -24035073 +2025-06-20 11:03:35.052 initial_thread initialized +2025-06-20 11:03:35.053 servo enable +2025-06-20 11:03:35.053 brake open +2025-06-20 11:03:35.053 set_brake_state 0 1 +2025-06-20 11:03:35.254 robot initialized +2025-06-20 11:03:35.837 get_scara_param -66.917503 84.955803 -98.984001 -1006.158630 +2025-06-20 11:03:35.837 get_scara_real_coor -66.917503 84.955803 -98.984398 -1006.158630 +2025-06-20 11:03:35.838 set_first_position_after_initial +2025-06-20 11:03:35.839 movej_old start_pos: -66.917503 84.955811 -98.984009 -1006.158630 end_pos: -66.917503 84.955811 -98.984009 -1006.158630 org_sp 10.000000 end_sp 10.000000 +2025-06-20 11:03:36.145 J3 Belt Meilage=40.935753km +2025-06-20 11:03:44.732 _new_stop_move_thread_0 +2025-06-20 11:03:44.732 j1_slow_down_t = 0 +2025-06-20 11:03:44.732 j2_slow_down_t = 0 +2025-06-20 11:03:44.732 j3_slow_down_t = 0 +2025-06-20 11:03:44.733 j4_slow_down_t = 0 +2025-06-20 11:03:44.733 tmp_t[3] = 0 +2025-06-20 11:03:44.733 _new_stop_move_thread_1 +2025-06-20 11:03:44.804 jog_move_xyzr return 99 ͣ +2025-06-20 11:03:44.897 _new_stop_move_thread_2 +2025-06-20 11:03:44.927 _new_stop_move_thread_3 +2025-06-20 11:03:44.927 get_scara_param -66.788696 85.251404 -98.984398 -1006.176025 +2025-06-20 11:03:44.927 get_scara_real_coor -66.788696 85.251404 -98.984398 -1006.176025 +2025-06-20 11:03:44.927 _new_stop_move_thread_4 +2025-06-20 11:03:45.020 wait_stop in +2025-06-20 11:03:45.051 wait_stop out_0 +2025-06-20 11:03:51.903 _new_stop_move_thread_0 +2025-06-20 11:03:51.903 j1_slow_down_t = 1 +2025-06-20 11:03:51.903 j2_slow_down_t = 0 +2025-06-20 11:03:51.904 j3_slow_down_t = 0 +2025-06-20 11:03:51.904 j4_slow_down_t = 1 +2025-06-20 11:03:51.904 tmp_t[3] = 1 +2025-06-20 11:03:51.904 _new_stop_move_thread_1 +2025-06-20 11:03:51.995 jog_move_xyzr return 99 ͣ +2025-06-20 11:03:52.057 _new_stop_move_thread_2 +2025-06-20 11:03:52.087 _new_stop_move_thread_3 +2025-06-20 11:03:52.087 get_scara_param -61.558498 92.458603 -98.984703 -1006.237915 +2025-06-20 11:03:52.087 get_scara_real_coor -61.558498 92.458603 -98.984703 -1006.237915 +2025-06-20 11:03:52.089 _new_stop_move_thread_4 +2025-06-20 11:03:52.209 wait_stop in +2025-06-20 11:03:52.240 wait_stop out_0 +2025-06-20 11:03:56.680 30 30 30 30 +2025-06-20 11:03:56.680 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-20 11:03:56.681 goal_angle -44.911705 98.661697 +2025-06-20 11:03:56.681 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-20 11:03:56.681 z1 -98.984756 z2 -75.466103 +2025-06-20 11:03:56.681 angle1_1 -61.558525 angle2_1 92.458672 z1 -98.984756 r1 -1006.237854 +2025-06-20 11:03:56.682 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008 +2025-06-20 11:03:56.682 speed 100.000000 +2025-06-20 11:03:56.682 tcp_distance 99.512474 +2025-06-20 11:03:56.682 new_end_speed 100.000000 j1_acc_t 0.497562 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 36.593304 +2025-06-20 11:03:56.682 new_end_speed 100.000000 j2_acc_t 0.497562 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 13.635591 +2025-06-20 11:03:56.683 new_end_speed 100.000000 j3_acc_t 0.497562 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 51.699081 +2025-06-20 11:03:56.683 new_end_speed 100.000000 j4_acc_t 0.497562 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 1.136139 +2025-06-20 11:03:56.683 end_speed 100.000000 +2025-06-20 11:03:56.683 trail_number0.995125 +2025-06-20 11:03:56.683 tcp_distance 99.512474 +2025-06-20 11:03:56.684 angle1_1 = -61.558525 angle2_1 = 92.458672 z1 = -98.984756 r1 = -1006.237854 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008 +2025-06-20 11:04:37.717 _new_stop_move_thread_0 +2025-06-20 11:04:37.717 j1_slow_down_t = 0 +2025-06-20 11:04:37.717 j2_slow_down_t = 0 +2025-06-20 11:04:37.717 j3_slow_down_t = 0 +2025-06-20 11:04:37.718 j4_slow_down_t = 0 +2025-06-20 11:04:37.718 tmp_t[3] = 0 +2025-06-20 11:04:37.718 _new_stop_move_thread_1 +2025-06-20 11:04:37.834 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:37.866 _new_stop_move_thread_2 +2025-06-20 11:04:37.897 _new_stop_move_thread_3 +2025-06-20 11:04:37.897 get_scara_param -44.970001 98.664001 -75.467400 -1005.712830 +2025-06-20 11:04:37.899 get_scara_real_coor -44.970001 98.664001 -75.467400 -1005.712830 +2025-06-20 11:04:37.899 _new_stop_move_thread_4 +2025-06-20 11:04:38.035 wait_stop in +2025-06-20 11:04:38.067 wait_stop out_0 +2025-06-20 11:04:38.770 _new_stop_move_thread_0 +2025-06-20 11:04:38.770 j1_slow_down_t = 0 +2025-06-20 11:04:38.772 j2_slow_down_t = 0 +2025-06-20 11:04:38.772 j3_slow_down_t = 0 +2025-06-20 11:04:38.772 j4_slow_down_t = 0 +2025-06-20 11:04:38.772 tmp_t[3] = 0 +2025-06-20 11:04:38.772 _new_stop_move_thread_1 +2025-06-20 11:04:38.898 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:38.928 _new_stop_move_thread_2 +2025-06-20 11:04:38.959 _new_stop_move_thread_3 +2025-06-20 11:04:38.959 get_scara_param -45.028599 98.666199 -75.467400 -1005.704712 +2025-06-20 11:04:38.959 get_scara_real_coor -45.028599 98.666199 -75.467400 -1005.704712 +2025-06-20 11:04:38.959 _new_stop_move_thread_4 +2025-06-20 11:04:39.099 wait_stop in +2025-06-20 11:04:39.130 wait_stop out_0 +2025-06-20 11:04:39.547 _new_stop_move_thread_0 +2025-06-20 11:04:39.547 j1_slow_down_t = 0 +2025-06-20 11:04:39.547 j2_slow_down_t = 0 +2025-06-20 11:04:39.547 j3_slow_down_t = 0 +2025-06-20 11:04:39.547 j4_slow_down_t = 0 +2025-06-20 11:04:39.547 tmp_t[3] = 0 +2025-06-20 11:04:39.548 _new_stop_move_thread_1 +2025-06-20 11:04:39.652 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:39.728 _new_stop_move_thread_2 +2025-06-20 11:04:39.759 _new_stop_move_thread_3 +2025-06-20 11:04:39.759 get_scara_param -45.111301 98.669098 -75.467400 -1005.697327 +2025-06-20 11:04:39.759 get_scara_real_coor -45.111301 98.669098 -75.467400 -1005.697327 +2025-06-20 11:04:39.759 _new_stop_move_thread_4 +2025-06-20 11:04:39.866 wait_stop in +2025-06-20 11:04:39.897 wait_stop out_0 +2025-06-20 11:04:40.284 _new_stop_move_thread_0 +2025-06-20 11:04:40.284 j1_slow_down_t = 0 +2025-06-20 11:04:40.285 j2_slow_down_t = 0 +2025-06-20 11:04:40.285 j3_slow_down_t = 0 +2025-06-20 11:04:40.285 j4_slow_down_t = 0 +2025-06-20 11:04:40.285 tmp_t[3] = 0 +2025-06-20 11:04:40.285 _new_stop_move_thread_1 +2025-06-20 11:04:40.402 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:40.448 _new_stop_move_thread_2 +2025-06-20 11:04:40.479 _new_stop_move_thread_3 +2025-06-20 11:04:40.480 get_scara_param -45.178600 98.671402 -75.468498 -1005.685791 +2025-06-20 11:04:40.480 get_scara_real_coor -45.178600 98.671402 -75.468498 -1005.685791 +2025-06-20 11:04:40.480 _new_stop_move_thread_4 +2025-06-20 11:04:40.617 wait_stop in +2025-06-20 11:04:40.647 wait_stop out_0 +2025-06-20 11:04:40.888 _new_stop_move_thread_0 +2025-06-20 11:04:40.888 j1_slow_down_t = 0 +2025-06-20 11:04:40.889 j2_slow_down_t = 0 +2025-06-20 11:04:40.889 j3_slow_down_t = 0 +2025-06-20 11:04:40.889 j4_slow_down_t = 0 +2025-06-20 11:04:40.889 tmp_t[3] = 0 +2025-06-20 11:04:40.889 _new_stop_move_thread_1 +2025-06-20 11:04:41.000 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:41.046 _new_stop_move_thread_2 +2025-06-20 11:04:41.077 _new_stop_move_thread_3 +2025-06-20 11:04:41.078 get_scara_param -45.249100 98.673698 -75.469200 -1005.681885 +2025-06-20 11:04:41.078 get_scara_real_coor -45.249100 98.673698 -75.469200 -1005.681885 +2025-06-20 11:04:41.078 _new_stop_move_thread_4 +2025-06-20 11:04:41.087 _new_stop_move_thread_0 +2025-06-20 11:04:41.089 j1_slow_down_t = 4 +2025-06-20 11:04:41.089 j2_slow_down_t = 0 +2025-06-20 11:04:41.089 j3_slow_down_t = 0 +2025-06-20 11:04:41.089 j4_slow_down_t = 0 +2025-06-20 11:04:41.089 tmp_t[3] = 4 +2025-06-20 11:04:41.089 _new_stop_move_thread_1 +2025-06-20 11:04:41.123 _new_stop_move_thread_2 +2025-06-20 11:04:41.154 _new_stop_move_thread_3 +2025-06-20 11:04:41.154 get_scara_param -45.246601 98.674103 -75.470200 -1005.677673 +2025-06-20 11:04:41.154 get_scara_real_coor -45.246601 98.674103 -75.470200 -1005.677673 +2025-06-20 11:04:41.154 _new_stop_move_thread_4 +2025-06-20 11:04:41.193 _new_stop_move_thread_0 +2025-06-20 11:04:41.195 j1_slow_down_t = 0 +2025-06-20 11:04:41.195 j2_slow_down_t = 0 +2025-06-20 11:04:41.195 j3_slow_down_t = 0 +2025-06-20 11:04:41.195 j4_slow_down_t = 0 +2025-06-20 11:04:41.195 tmp_t[3] = 0 +2025-06-20 11:04:41.195 _new_stop_move_thread_1 +2025-06-20 11:04:41.216 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:41.292 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:41.337 _new_stop_move_thread_2 +2025-06-20 11:04:41.368 _new_stop_move_thread_3 +2025-06-20 11:04:41.368 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:41.368 get_scara_param -45.292702 98.675499 -75.470497 -1005.672485 +2025-06-20 11:04:41.369 get_scara_real_coor -45.292702 98.675499 -75.470497 -1005.672485 +2025-06-20 11:04:41.369 _new_stop_move_thread_4 +2025-06-20 11:04:41.429 wait_stop in +2025-06-20 11:04:41.459 wait_stop out_0 +2025-06-20 11:04:41.504 wait_stop in +2025-06-20 11:04:41.535 wait_stop out_0 +2025-06-20 11:04:41.582 wait_stop in +2025-06-20 11:04:41.612 wait_stop out_0 +2025-06-20 11:04:41.851 _new_stop_move_thread_0 +2025-06-20 11:04:41.852 j1_slow_down_t = 0 +2025-06-20 11:04:41.852 j2_slow_down_t = 0 +2025-06-20 11:04:41.852 j3_slow_down_t = 0 +2025-06-20 11:04:41.852 j4_slow_down_t = 0 +2025-06-20 11:04:41.852 tmp_t[3] = 0 +2025-06-20 11:04:41.853 _new_stop_move_thread_1 +2025-06-20 11:04:41.921 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:41.997 _new_stop_move_thread_2 +2025-06-20 11:04:42.028 _new_stop_move_thread_3 +2025-06-20 11:04:42.028 get_scara_param -45.372898 98.677803 -75.471901 -1005.663086 +2025-06-20 11:04:42.028 get_scara_real_coor -45.372898 98.677803 -75.471901 -1005.663086 +2025-06-20 11:04:42.029 _new_stop_move_thread_4 +2025-06-20 11:04:42.135 wait_stop in +2025-06-20 11:04:42.166 wait_stop out_0 +2025-06-20 11:04:50.960 _new_stop_move_thread_0 +2025-06-20 11:04:50.960 j1_slow_down_t = 0 +2025-06-20 11:04:50.961 j2_slow_down_t = 0 +2025-06-20 11:04:50.961 j3_slow_down_t = 0 +2025-06-20 11:04:50.961 j4_slow_down_t = 0 +2025-06-20 11:04:50.961 tmp_t[3] = 0 +2025-06-20 11:04:50.961 _new_stop_move_thread_1 +2025-06-20 11:04:51.076 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:51.106 _new_stop_move_thread_2 +2025-06-20 11:04:51.137 _new_stop_move_thread_3 +2025-06-20 11:04:51.138 get_scara_param -45.431400 98.679298 -75.472603 -1005.658813 +2025-06-20 11:04:51.138 get_scara_real_coor -45.431400 98.679298 -75.472603 -1005.658813 +2025-06-20 11:04:51.138 _new_stop_move_thread_4 +2025-06-20 11:04:51.289 wait_stop in +2025-06-20 11:04:51.321 wait_stop out_0 +2025-06-20 11:04:51.677 _new_stop_move_thread_0 +2025-06-20 11:04:51.678 j1_slow_down_t = 0 +2025-06-20 11:04:51.678 j2_slow_down_t = 0 +2025-06-20 11:04:51.678 j3_slow_down_t = 0 +2025-06-20 11:04:51.678 j4_slow_down_t = 0 +2025-06-20 11:04:51.678 tmp_t[3] = 0 +2025-06-20 11:04:51.679 _new_stop_move_thread_1 +2025-06-20 11:04:51.794 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:51.825 _new_stop_move_thread_2 +2025-06-20 11:04:51.856 _new_stop_move_thread_3 +2025-06-20 11:04:51.856 get_scara_param -45.489700 98.680702 -75.472298 -1005.651184 +2025-06-20 11:04:51.857 get_scara_real_coor -45.489700 98.680702 -75.472298 -1005.651184 +2025-06-20 11:04:51.857 _new_stop_move_thread_4 +2025-06-20 11:04:51.860 _new_stop_move_thread_0 +2025-06-20 11:04:51.860 j1_slow_down_t = 5 +2025-06-20 11:04:51.861 j2_slow_down_t = 0 +2025-06-20 11:04:51.861 j3_slow_down_t = 0 +2025-06-20 11:04:51.861 j4_slow_down_t = 1 +2025-06-20 11:04:51.861 tmp_t[3] = 5 +2025-06-20 11:04:51.861 _new_stop_move_thread_1 +2025-06-20 11:04:51.886 _new_stop_move_thread_2 +2025-06-20 11:04:51.918 _new_stop_move_thread_3 +2025-06-20 11:04:51.918 get_scara_param -45.486099 98.681000 -75.472900 -1005.637390 +2025-06-20 11:04:51.918 get_scara_real_coor -45.486099 98.681000 -75.472900 -1005.637512 +2025-06-20 11:04:51.918 _new_stop_move_thread_4 +2025-06-20 11:04:52.011 _new_stop_move_thread_0 +2025-06-20 11:04:52.011 j1_slow_down_t = 0 +2025-06-20 11:04:52.011 j2_slow_down_t = 0 +2025-06-20 11:04:52.011 j3_slow_down_t = 0 +2025-06-20 11:04:52.012 j4_slow_down_t = 0 +2025-06-20 11:04:52.012 tmp_t[3] = 0 +2025-06-20 11:04:52.012 _new_stop_move_thread_1 +2025-06-20 11:04:52.071 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:52.179 _new_stop_move_thread_2 +2025-06-20 11:04:52.180 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:52.210 _new_stop_move_thread_3 +2025-06-20 11:04:52.210 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:52.211 get_scara_param -45.543999 98.682297 -75.473999 -1005.627686 +2025-06-20 11:04:52.211 get_scara_real_coor -45.543999 98.682297 -75.473999 -1005.627686 +2025-06-20 11:04:52.211 _new_stop_move_thread_4 +2025-06-20 11:04:52.291 _new_stop_move_thread_0 +2025-06-20 11:04:52.291 j1_slow_down_t = 0 +2025-06-20 11:04:52.292 j2_slow_down_t = 0 +2025-06-20 11:04:52.292 j3_slow_down_t = 0 +2025-06-20 11:04:52.292 j4_slow_down_t = 0 +2025-06-20 11:04:52.292 tmp_t[3] = 0 +2025-06-20 11:04:52.292 _new_stop_move_thread_1 +2025-06-20 11:04:52.394 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:52.425 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:52.425 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:52.441 _new_stop_move_thread_2 +2025-06-20 11:04:52.471 _new_stop_move_thread_3 +2025-06-20 11:04:52.471 get_scara_param -45.602100 98.683502 -75.475304 -1005.617126 +2025-06-20 11:04:52.473 get_scara_real_coor -45.602100 98.683502 -75.475304 -1005.617188 +2025-06-20 11:04:52.473 _new_stop_move_thread_4 +2025-06-20 11:04:52.505 wait_stop in +2025-06-20 11:04:52.508 _new_stop_move_thread_0 +2025-06-20 11:04:52.508 j1_slow_down_t = 5 +2025-06-20 11:04:52.509 j2_slow_down_t = 0 +2025-06-20 11:04:52.509 j3_slow_down_t = 0 +2025-06-20 11:04:52.509 j4_slow_down_t = 3 +2025-06-20 11:04:52.509 tmp_t[3] = 5 +2025-06-20 11:04:52.509 _new_stop_move_thread_1 +2025-06-20 11:04:52.532 _new_stop_move_thread_2 +2025-06-20 11:04:52.579 _new_stop_move_thread_3 +2025-06-20 11:04:52.580 wait_stop out_0 +2025-06-20 11:04:52.581 get_scara_param -45.598801 98.683998 -75.477097 -1005.597778 +2025-06-20 11:04:52.581 get_scara_real_coor -45.598801 98.683998 -75.477097 -1005.597778 +2025-06-20 11:04:52.581 _new_stop_move_thread_4 +2025-06-20 11:04:52.586 _new_stop_move_thread_0 +2025-06-20 11:04:52.586 j1_slow_down_t = 9 +2025-06-20 11:04:52.586 j2_slow_down_t = 0 +2025-06-20 11:04:52.586 j3_slow_down_t = 1 +2025-06-20 11:04:52.586 j4_slow_down_t = 0 +2025-06-20 11:04:52.586 tmp_t[3] = 9 +2025-06-20 11:04:52.587 _new_stop_move_thread_1 +2025-06-20 11:04:52.610 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:52.610 _new_stop_move_thread_2 +2025-06-20 11:04:52.641 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:52.641 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:52.656 _new_stop_move_thread_3 +2025-06-20 11:04:52.656 get_scara_param -45.613499 98.683899 -75.474998 -1005.606384 +2025-06-20 11:04:52.657 get_scara_real_coor -45.613499 98.683899 -75.474998 -1005.606384 +2025-06-20 11:04:52.657 _new_stop_move_thread_4 +2025-06-20 11:04:52.720 wait_stop in +2025-06-20 11:04:52.745 wait_stop out_0 +2025-06-20 11:04:52.853 _new_stop_move_thread_0 +2025-06-20 11:04:52.854 j1_slow_down_t = 1 +2025-06-20 11:04:52.854 j2_slow_down_t = 0 +2025-06-20 11:04:52.854 j3_slow_down_t = 0 +2025-06-20 11:04:52.854 j4_slow_down_t = 0 +2025-06-20 11:04:52.854 tmp_t[3] = 1 +2025-06-20 11:04:52.855 _new_stop_move_thread_1 +2025-06-20 11:04:52.952 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:52.998 _new_stop_move_thread_2 +2025-06-20 11:04:52.999 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.013 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.028 _new_stop_move_thread_3 +2025-06-20 11:04:53.028 get_scara_param -45.692402 98.685402 -75.474701 -1005.591919 +2025-06-20 11:04:53.028 get_scara_real_coor -45.692402 98.685402 -75.474701 -1005.591675 +2025-06-20 11:04:53.028 _new_stop_move_thread_4 +2025-06-20 11:04:53.034 _new_stop_move_thread_0 +2025-06-20 11:04:53.034 j1_slow_down_t = 10 +2025-06-20 11:04:53.034 j2_slow_down_t = 0 +2025-06-20 11:04:53.034 j3_slow_down_t = 0 +2025-06-20 11:04:53.034 j4_slow_down_t = 2 +2025-06-20 11:04:53.035 tmp_t[3] = 10 +2025-06-20 11:04:53.035 _new_stop_move_thread_1 +2025-06-20 11:04:53.058 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.058 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.059 _new_stop_move_thread_2 +2025-06-20 11:04:53.103 _new_stop_move_thread_3 +2025-06-20 11:04:53.103 get_scara_param -45.666401 98.687302 -75.474297 -1005.532288 +2025-06-20 11:04:53.103 get_scara_real_coor -45.666401 98.687302 -75.474297 -1005.532288 +2025-06-20 11:04:53.105 _new_stop_move_thread_4 +2025-06-20 11:04:53.183 _new_stop_move_thread_0 +2025-06-20 11:04:53.184 j1_slow_down_t = 0 +2025-06-20 11:04:53.184 j2_slow_down_t = 0 +2025-06-20 11:04:53.184 j3_slow_down_t = 0 +2025-06-20 11:04:53.184 j4_slow_down_t = 0 +2025-06-20 11:04:53.184 tmp_t[3] = 0 +2025-06-20 11:04:53.185 _new_stop_move_thread_1 +2025-06-20 11:04:53.210 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.225 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.240 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.271 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.271 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.317 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.348 _new_stop_move_thread_2 +2025-06-20 11:04:53.378 _new_stop_move_thread_3 +2025-06-20 11:04:53.378 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:53.379 get_scara_param -45.723999 98.688202 -75.473999 -1005.520081 +2025-06-20 11:04:53.379 get_scara_real_coor -45.723999 98.688202 -75.473999 -1005.520081 +2025-06-20 11:04:53.379 _new_stop_move_thread_4 +2025-06-20 11:04:53.423 wait_stop in +2025-06-20 11:04:53.438 wait_stop in +2025-06-20 11:04:53.454 wait_stop in +2025-06-20 11:04:53.454 wait_stop out_0 +2025-06-20 11:04:53.470 wait_stop out_0 +2025-06-20 11:04:53.485 wait_stop in +2025-06-20 11:04:53.485 wait_stop in +2025-06-20 11:04:53.486 wait_stop out_0 +2025-06-20 11:04:53.515 wait_stop out_0 +2025-06-20 11:04:53.515 wait_stop out_0 +2025-06-20 11:04:53.530 wait_stop in +2025-06-20 11:04:53.562 wait_stop out_0 +2025-06-20 11:04:53.592 wait_stop in +2025-06-20 11:04:53.622 wait_stop out_0 +2025-06-20 11:04:53.878 _new_stop_move_thread_0 +2025-06-20 11:04:53.879 j1_slow_down_t = 0 +2025-06-20 11:04:53.879 j2_slow_down_t = 0 +2025-06-20 11:04:53.879 j3_slow_down_t = 0 +2025-06-20 11:04:53.879 j4_slow_down_t = 0 +2025-06-20 11:04:53.879 tmp_t[3] = 0 +2025-06-20 11:04:53.880 _new_stop_move_thread_1 +2025-06-20 11:04:54.007 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:54.022 _new_stop_move_thread_2 +2025-06-20 11:04:54.052 _new_stop_move_thread_3 +2025-06-20 11:04:54.054 get_scara_param -45.768299 98.794403 -75.473999 -1005.518127 +2025-06-20 11:04:54.054 get_scara_real_coor -45.768299 98.794403 -75.473999 -1005.518188 +2025-06-20 11:04:54.054 _new_stop_move_thread_4 +2025-06-20 11:04:54.222 wait_stop in +2025-06-20 11:04:54.254 wait_stop out_0 +2025-06-20 11:04:54.434 _new_stop_move_thread_0 +2025-06-20 11:04:54.434 j1_slow_down_t = 0 +2025-06-20 11:04:54.434 j2_slow_down_t = 0 +2025-06-20 11:04:54.434 j3_slow_down_t = 0 +2025-06-20 11:04:54.436 j4_slow_down_t = 0 +2025-06-20 11:04:54.436 tmp_t[3] = 0 +2025-06-20 11:04:54.436 _new_stop_move_thread_1 +2025-06-20 11:04:54.546 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:54.576 _new_stop_move_thread_2 +2025-06-20 11:04:54.608 _new_stop_move_thread_3 +2025-06-20 11:04:54.608 get_scara_param -45.818600 98.919098 -75.475700 -1005.513977 +2025-06-20 11:04:54.608 get_scara_real_coor -45.818600 98.919098 -75.475700 -1005.513977 +2025-06-20 11:04:54.609 _new_stop_move_thread_4 +2025-06-20 11:04:54.613 _new_stop_move_thread_0 +2025-06-20 11:04:54.613 j1_slow_down_t = 6 +2025-06-20 11:04:54.613 j2_slow_down_t = 0 +2025-06-20 11:04:54.613 j3_slow_down_t = 0 +2025-06-20 11:04:54.613 j4_slow_down_t = 0 +2025-06-20 11:04:54.613 tmp_t[3] = 6 +2025-06-20 11:04:54.613 _new_stop_move_thread_1 +2025-06-20 11:04:54.638 _new_stop_move_thread_2 +2025-06-20 11:04:54.685 _new_stop_move_thread_3 +2025-06-20 11:04:54.685 get_scara_param -45.810902 98.915298 -75.479500 -1005.510315 +2025-06-20 11:04:54.686 get_scara_real_coor -45.810902 98.915298 -75.479500 -1005.510315 +2025-06-20 11:04:54.686 _new_stop_move_thread_4 +2025-06-20 11:04:54.749 _new_stop_move_thread_0 +2025-06-20 11:04:54.749 j1_slow_down_t = 0 +2025-06-20 11:04:54.749 j2_slow_down_t = 0 +2025-06-20 11:04:54.749 j3_slow_down_t = 0 +2025-06-20 11:04:54.750 j4_slow_down_t = 0 +2025-06-20 11:04:54.750 tmp_t[3] = 0 +2025-06-20 11:04:54.750 _new_stop_move_thread_1 +2025-06-20 11:04:54.760 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:54.821 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:54.898 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:54.913 _new_stop_move_thread_2 +2025-06-20 11:04:54.945 _new_stop_move_thread_3 +2025-06-20 11:04:54.946 get_scara_param -45.854401 99.021103 -75.480499 -1005.507690 +2025-06-20 11:04:54.946 get_scara_real_coor -45.854401 99.021103 -75.480499 -1005.507690 +2025-06-20 11:04:54.946 _new_stop_move_thread_4 +2025-06-20 11:04:54.950 _new_stop_move_thread_0 +2025-06-20 11:04:54.950 j1_slow_down_t = 4 +2025-06-20 11:04:54.951 j2_slow_down_t = 0 +2025-06-20 11:04:54.951 j3_slow_down_t = 0 +2025-06-20 11:04:54.951 j4_slow_down_t = 0 +2025-06-20 11:04:54.951 tmp_t[3] = 4 +2025-06-20 11:04:54.951 _new_stop_move_thread_1 +2025-06-20 11:04:54.976 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:54.977 _new_stop_move_thread_2 +2025-06-20 11:04:55.022 _new_stop_move_thread_3 +2025-06-20 11:04:55.022 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:55.023 get_scara_param -45.849998 99.020798 -75.483200 -1005.504578 +2025-06-20 11:04:55.023 get_scara_real_coor -45.849998 99.020798 -75.483200 -1005.504578 +2025-06-20 11:04:55.023 _new_stop_move_thread_4 +2025-06-20 11:04:55.113 wait_stop in +2025-06-20 11:04:55.219 _new_stop_move_thread_0 +2025-06-20 11:04:55.219 j1_slow_down_t = 0 +2025-06-20 11:04:55.219 j2_slow_down_t = 0 +2025-06-20 11:04:55.219 j3_slow_down_t = 0 +2025-06-20 11:04:55.221 j4_slow_down_t = 0 +2025-06-20 11:04:55.221 tmp_t[3] = 0 +2025-06-20 11:04:55.221 _new_stop_move_thread_1 +2025-06-20 11:04:55.238 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:55.330 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:55.361 _new_stop_move_thread_2 +2025-06-20 11:04:55.376 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:55.376 wait_stop out_0 +2025-06-20 11:04:55.392 _new_stop_move_thread_3 +2025-06-20 11:04:55.392 get_scara_param -45.909302 99.166100 -75.485603 -1005.500977 +2025-06-20 11:04:55.393 get_scara_real_coor -45.909302 99.166100 -75.485603 -1005.500916 +2025-06-20 11:04:55.393 _new_stop_move_thread_4 +2025-06-20 11:04:55.407 wait_stop in +2025-06-20 11:04:55.438 wait_stop out_0 +2025-06-20 11:04:55.453 wait_stop in +2025-06-20 11:04:55.483 wait_stop out_0 +2025-06-20 11:04:55.544 wait_stop in +2025-06-20 11:04:55.662 _new_stop_move_thread_0 +2025-06-20 11:04:55.662 j1_slow_down_t = 0 +2025-06-20 11:04:55.662 j2_slow_down_t = 0 +2025-06-20 11:04:55.662 j3_slow_down_t = 0 +2025-06-20 11:04:55.662 j4_slow_down_t = 0 +2025-06-20 11:04:55.663 tmp_t[3] = 0 +2025-06-20 11:04:55.663 _new_stop_move_thread_1 +2025-06-20 11:04:55.760 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:55.806 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:55.806 _new_stop_move_thread_2 +2025-06-20 11:04:55.807 wait_stop out_0 +2025-06-20 11:04:55.836 _new_stop_move_thread_3 +2025-06-20 11:04:55.836 get_scara_param -45.968498 99.311203 -75.486702 -1005.497375 +2025-06-20 11:04:55.836 get_scara_real_coor -45.968498 99.311203 -75.486702 -1005.497498 +2025-06-20 11:04:55.836 _new_stop_move_thread_4 +2025-06-20 11:04:55.973 wait_stop in +2025-06-20 11:04:56.001 wait_stop out_0 +2025-06-20 11:04:56.068 _new_stop_move_thread_0 +2025-06-20 11:04:56.068 j1_slow_down_t = 0 +2025-06-20 11:04:56.068 j2_slow_down_t = 0 +2025-06-20 11:04:56.069 j3_slow_down_t = 0 +2025-06-20 11:04:56.069 j4_slow_down_t = 0 +2025-06-20 11:04:56.069 tmp_t[3] = 0 +2025-06-20 11:04:56.069 _new_stop_move_thread_1 +2025-06-20 11:04:56.205 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:56.221 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:56.236 _new_stop_move_thread_2 +2025-06-20 11:04:56.266 _new_stop_move_thread_3 +2025-06-20 11:04:56.266 get_scara_param -46.046700 99.501701 -75.487000 -1005.492920 +2025-06-20 11:04:56.266 get_scara_real_coor -46.046700 99.501701 -75.487000 -1005.492920 +2025-06-20 11:04:56.266 _new_stop_move_thread_4 +2025-06-20 11:04:56.418 wait_stop in +2025-06-20 11:04:56.433 wait_stop in +2025-06-20 11:04:56.449 wait_stop out_0 +2025-06-20 11:04:56.464 wait_stop out_0 +2025-06-20 11:04:56.806 _new_stop_move_thread_0 +2025-06-20 11:04:56.807 j1_slow_down_t = 0 +2025-06-20 11:04:56.807 j2_slow_down_t = 0 +2025-06-20 11:04:56.807 j3_slow_down_t = 0 +2025-06-20 11:04:56.807 j4_slow_down_t = 0 +2025-06-20 11:04:56.807 tmp_t[3] = 0 +2025-06-20 11:04:56.807 _new_stop_move_thread_1 +2025-06-20 11:04:56.910 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:56.956 _new_stop_move_thread_2 +2025-06-20 11:04:56.988 _new_stop_move_thread_3 +2025-06-20 11:04:56.989 get_scara_param -46.115398 99.502701 -75.486702 -1005.483582 +2025-06-20 11:04:56.989 get_scara_real_coor -46.115398 99.502701 -75.486702 -1005.483582 +2025-06-20 11:04:56.990 _new_stop_move_thread_4 +2025-06-20 11:04:57.124 wait_stop in +2025-06-20 11:04:57.156 wait_stop out_0 +2025-06-20 11:04:57.319 _new_stop_move_thread_0 +2025-06-20 11:04:57.319 j1_slow_down_t = 0 +2025-06-20 11:04:57.319 j2_slow_down_t = 0 +2025-06-20 11:04:57.319 j3_slow_down_t = 0 +2025-06-20 11:04:57.321 j4_slow_down_t = 0 +2025-06-20 11:04:57.321 tmp_t[3] = 0 +2025-06-20 11:04:57.321 _new_stop_move_thread_1 +2025-06-20 11:04:57.418 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:57.462 _new_stop_move_thread_2 +2025-06-20 11:04:57.493 _new_stop_move_thread_3 +2025-06-20 11:04:57.493 get_scara_param -46.184101 99.503601 -75.487000 -1005.473022 +2025-06-20 11:04:57.493 get_scara_real_coor -46.184101 99.503601 -75.487000 -1005.473022 +2025-06-20 11:04:57.493 _new_stop_move_thread_4 +2025-06-20 11:04:57.516 _new_stop_move_thread_0 +2025-06-20 11:04:57.516 j1_slow_down_t = 0 +2025-06-20 11:04:57.516 j2_slow_down_t = 0 +2025-06-20 11:04:57.517 j3_slow_down_t = 0 +2025-06-20 11:04:57.517 j4_slow_down_t = 0 +2025-06-20 11:04:57.517 tmp_t[3] = 0 +2025-06-20 11:04:57.517 _new_stop_move_thread_1 +2025-06-20 11:04:57.615 _new_stop_move_thread_2 +2025-06-20 11:04:57.631 jog_move_xyzr return 99 ͣ +2025-06-20 11:04:57.647 _new_stop_move_thread_3 +2025-06-20 11:04:57.648 get_scara_param -46.206699 99.503899 -75.487396 -1005.468872 +2025-06-20 11:04:57.648 get_scara_real_coor -46.206699 99.503899 -75.487396 -1005.468872 +2025-06-20 11:04:57.648 _new_stop_move_thread_4 +2025-06-20 11:04:57.708 wait_stop in +2025-06-20 11:04:57.739 wait_stop out_0 +2025-06-20 11:04:57.832 wait_stop in +2025-06-20 11:04:57.864 wait_stop out_0 +2025-06-20 11:05:30.130 _new_stop_move_thread_0 +2025-06-20 11:05:30.130 j1_slow_down_t = 0 +2025-06-20 11:05:30.130 j2_slow_down_t = 0 +2025-06-20 11:05:30.130 j3_slow_down_t = 0 +2025-06-20 11:05:30.130 j4_slow_down_t = 0 +2025-06-20 11:05:30.130 tmp_t[3] = 0 +2025-06-20 11:05:30.131 _new_stop_move_thread_1 +2025-06-20 11:05:30.261 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:30.277 _new_stop_move_thread_2 +2025-06-20 11:05:30.306 _new_stop_move_thread_3 +2025-06-20 11:05:30.306 get_scara_param -46.207298 99.503998 -75.705399 -1005.469482 +2025-06-20 11:05:30.308 get_scara_real_coor -46.207298 99.503998 -75.705399 -1005.469482 +2025-06-20 11:05:30.308 _new_stop_move_thread_4 +2025-06-20 11:05:30.475 wait_stop in +2025-06-20 11:05:30.506 wait_stop out_0 +2025-06-20 11:05:30.894 _new_stop_move_thread_0 +2025-06-20 11:05:30.895 j1_slow_down_t = 0 +2025-06-20 11:05:30.895 j2_slow_down_t = 0 +2025-06-20 11:05:30.895 j3_slow_down_t = 0 +2025-06-20 11:05:30.895 j4_slow_down_t = 0 +2025-06-20 11:05:30.895 tmp_t[3] = 0 +2025-06-20 11:05:30.896 _new_stop_move_thread_1 +2025-06-20 11:05:30.969 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:31.060 _new_stop_move_thread_2 +2025-06-20 11:05:31.091 _new_stop_move_thread_3 +2025-06-20 11:05:31.092 get_scara_param -46.207298 99.504097 -76.024696 -1005.469482 +2025-06-20 11:05:31.092 get_scara_real_coor -46.207298 99.504097 -76.024696 -1005.469482 +2025-06-20 11:05:31.092 _new_stop_move_thread_4 +2025-06-20 11:05:31.170 wait_stop in +2025-06-20 11:05:31.201 wait_stop out_0 +2025-06-20 11:05:31.430 _new_stop_move_thread_0 +2025-06-20 11:05:31.430 j1_slow_down_t = 0 +2025-06-20 11:05:31.430 j2_slow_down_t = 0 +2025-06-20 11:05:31.430 j3_slow_down_t = 0 +2025-06-20 11:05:31.430 j4_slow_down_t = 0 +2025-06-20 11:05:31.430 tmp_t[3] = 0 +2025-06-20 11:05:31.430 _new_stop_move_thread_1 +2025-06-20 11:05:31.526 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:31.604 _new_stop_move_thread_2 +2025-06-20 11:05:31.633 _new_stop_move_thread_3 +2025-06-20 11:05:31.633 get_scara_param -46.207298 99.504097 -76.341499 -1005.469482 +2025-06-20 11:05:31.633 get_scara_real_coor -46.207298 99.504097 -76.341499 -1005.469482 +2025-06-20 11:05:31.633 _new_stop_move_thread_4 +2025-06-20 11:05:31.732 wait_stop in +2025-06-20 11:05:31.813 _new_stop_move_thread_0 +2025-06-20 11:05:31.813 j1_slow_down_t = 0 +2025-06-20 11:05:31.815 j2_slow_down_t = 0 +2025-06-20 11:05:31.815 j3_slow_down_t = 0 +2025-06-20 11:05:31.815 j4_slow_down_t = 0 +2025-06-20 11:05:31.816 tmp_t[3] = 0 +2025-06-20 11:05:31.816 _new_stop_move_thread_1 +2025-06-20 11:05:31.940 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:31.956 _new_stop_move_thread_2 +2025-06-20 11:05:31.956 wait_stop out_0 +2025-06-20 11:05:31.986 _new_stop_move_thread_3 +2025-06-20 11:05:31.986 get_scara_param -46.207298 99.504204 -76.566101 -1005.469482 +2025-06-20 11:05:31.987 get_scara_real_coor -46.207298 99.504204 -76.566101 -1005.469421 +2025-06-20 11:05:31.987 _new_stop_move_thread_4 +2025-06-20 11:05:32.153 wait_stop in +2025-06-20 11:05:32.184 wait_stop out_0 +2025-06-20 11:05:34.624 _new_stop_move_thread_0 +2025-06-20 11:05:34.624 j1_slow_down_t = 0 +2025-06-20 11:05:34.625 j2_slow_down_t = 0 +2025-06-20 11:05:34.625 j3_slow_down_t = 0 +2025-06-20 11:05:34.625 j4_slow_down_t = 0 +2025-06-20 11:05:34.625 tmp_t[3] = 0 +2025-06-20 11:05:34.626 _new_stop_move_thread_1 +2025-06-20 11:05:34.716 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:34.808 _new_stop_move_thread_2 +2025-06-20 11:05:34.839 _new_stop_move_thread_3 +2025-06-20 11:05:34.839 get_scara_param -46.207298 99.504204 -76.885002 -1005.469482 +2025-06-20 11:05:34.840 get_scara_real_coor -46.207298 99.504204 -76.885002 -1005.469482 +2025-06-20 11:05:34.840 _new_stop_move_thread_4 +2025-06-20 11:05:34.930 wait_stop in +2025-06-20 11:05:34.962 wait_stop out_0 +2025-06-20 11:05:35.591 _new_stop_move_thread_0 +2025-06-20 11:05:35.593 j1_slow_down_t = 0 +2025-06-20 11:05:35.593 j2_slow_down_t = 0 +2025-06-20 11:05:35.593 j3_slow_down_t = 0 +2025-06-20 11:05:35.593 j4_slow_down_t = 0 +2025-06-20 11:05:35.593 tmp_t[3] = 0 +2025-06-20 11:05:35.594 _new_stop_move_thread_1 +2025-06-20 11:05:35.748 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:35.763 _new_stop_move_thread_2 +2025-06-20 11:05:35.795 _new_stop_move_thread_3 +2025-06-20 11:05:35.795 get_scara_param -46.207401 99.504204 -77.115402 -1005.469482 +2025-06-20 11:05:35.796 get_scara_real_coor -46.207401 99.504204 -77.115402 -1005.469482 +2025-06-20 11:05:35.796 _new_stop_move_thread_4 +2025-06-20 11:05:35.963 wait_stop in +2025-06-20 11:05:35.993 wait_stop out_0 +2025-06-20 11:05:36.194 _new_stop_move_thread_0 +2025-06-20 11:05:36.194 j1_slow_down_t = 0 +2025-06-20 11:05:36.195 j2_slow_down_t = 0 +2025-06-20 11:05:36.195 j3_slow_down_t = 0 +2025-06-20 11:05:36.195 j4_slow_down_t = 0 +2025-06-20 11:05:36.195 tmp_t[3] = 0 +2025-06-20 11:05:36.196 _new_stop_move_thread_1 +2025-06-20 11:05:36.287 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:36.348 _new_stop_move_thread_2 +2025-06-20 11:05:36.379 _new_stop_move_thread_3 +2025-06-20 11:05:36.379 get_scara_param -46.207401 99.504204 -77.383904 -1005.469482 +2025-06-20 11:05:36.380 get_scara_real_coor -46.207401 99.504204 -77.383904 -1005.469604 +2025-06-20 11:05:36.380 _new_stop_move_thread_4 +2025-06-20 11:05:36.423 _new_stop_move_thread_0 +2025-06-20 11:05:36.423 j1_slow_down_t = 0 +2025-06-20 11:05:36.423 j2_slow_down_t = 0 +2025-06-20 11:05:36.423 j3_slow_down_t = 0 +2025-06-20 11:05:36.423 j4_slow_down_t = 0 +2025-06-20 11:05:36.424 tmp_t[3] = 0 +2025-06-20 11:05:36.424 _new_stop_move_thread_1 +2025-06-20 11:05:36.502 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:36.549 _new_stop_move_thread_2 +2025-06-20 11:05:36.579 _new_stop_move_thread_3 +2025-06-20 11:05:36.579 get_scara_param -46.207500 99.504204 -77.505402 -1005.469482 +2025-06-20 11:05:36.579 get_scara_real_coor -46.207500 99.504204 -77.505402 -1005.469604 +2025-06-20 11:05:36.580 _new_stop_move_thread_4 +2025-06-20 11:05:36.599 _new_stop_move_thread_0 +2025-06-20 11:05:36.599 j1_slow_down_t = 0 +2025-06-20 11:05:36.599 j2_slow_down_t = 0 +2025-06-20 11:05:36.599 j3_slow_down_t = 0 +2025-06-20 11:05:36.599 j4_slow_down_t = 0 +2025-06-20 11:05:36.600 tmp_t[3] = 0 +2025-06-20 11:05:36.600 _new_stop_move_thread_1 +2025-06-20 11:05:36.701 _new_stop_move_thread_2 +2025-06-20 11:05:36.717 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:36.733 _new_stop_move_thread_3 +2025-06-20 11:05:36.733 get_scara_param -46.207500 99.504402 -77.587097 -1005.469482 +2025-06-20 11:05:36.734 get_scara_real_coor -46.207500 99.504402 -77.587097 -1005.469482 +2025-06-20 11:05:36.734 _new_stop_move_thread_4 +2025-06-20 11:05:36.796 wait_stop in +2025-06-20 11:05:36.796 wait_stop in +2025-06-20 11:05:36.826 wait_stop out_0 +2025-06-20 11:05:36.827 wait_stop out_0 +2025-06-20 11:05:36.934 wait_stop in +2025-06-20 11:05:36.964 wait_stop out_0 +2025-06-20 11:05:38.228 _new_stop_move_thread_0 +2025-06-20 11:05:38.228 j1_slow_down_t = 0 +2025-06-20 11:05:38.229 j2_slow_down_t = 0 +2025-06-20 11:05:38.229 j3_slow_down_t = 1 +2025-06-20 11:05:38.229 j4_slow_down_t = 0 +2025-06-20 11:05:38.229 tmp_t[3] = 1 +2025-06-20 11:05:38.229 _new_stop_move_thread_1 +2025-06-20 11:05:38.320 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:38.396 _new_stop_move_thread_2 +2025-06-20 11:05:38.427 _new_stop_move_thread_3 +2025-06-20 11:05:38.427 get_scara_param -46.207500 99.504501 -79.041100 -1005.469482 +2025-06-20 11:05:38.427 get_scara_real_coor -46.207500 99.504501 -79.041100 -1005.469482 +2025-06-20 11:05:38.427 _new_stop_move_thread_4 +2025-06-20 11:05:38.535 wait_stop in +2025-06-20 11:05:38.566 wait_stop out_0 +2025-06-20 11:05:39.613 _new_stop_move_thread_0 +2025-06-20 11:05:39.613 j1_slow_down_t = 0 +2025-06-20 11:05:39.614 j2_slow_down_t = 0 +2025-06-20 11:05:39.614 j3_slow_down_t = 1 +2025-06-20 11:05:39.614 j4_slow_down_t = 0 +2025-06-20 11:05:39.614 tmp_t[3] = 1 +2025-06-20 11:05:39.614 _new_stop_move_thread_1 +2025-06-20 11:05:39.672 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:39.763 _new_stop_move_thread_2 +2025-06-20 11:05:39.794 _new_stop_move_thread_3 +2025-06-20 11:05:39.794 get_scara_param -46.207500 99.504501 -80.601799 -1005.469421 +2025-06-20 11:05:39.794 get_scara_real_coor -46.207500 99.504501 -80.601799 -1005.469482 +2025-06-20 11:05:39.794 _new_stop_move_thread_4 +2025-06-20 11:05:39.888 wait_stop in +2025-06-20 11:05:39.919 wait_stop out_0 +2025-06-20 11:05:41.265 _new_stop_move_thread_0 +2025-06-20 11:05:41.265 j1_slow_down_t = 0 +2025-06-20 11:05:41.265 j2_slow_down_t = 0 +2025-06-20 11:05:41.265 j3_slow_down_t = 1 +2025-06-20 11:05:41.265 j4_slow_down_t = 0 +2025-06-20 11:05:41.267 tmp_t[3] = 1 +2025-06-20 11:05:41.267 _new_stop_move_thread_1 +2025-06-20 11:05:41.438 _new_stop_move_thread_2 +2025-06-20 11:05:41.438 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:41.469 _new_stop_move_thread_3 +2025-06-20 11:05:41.469 get_scara_param -46.207500 99.504501 -83.569504 -1005.469421 +2025-06-20 11:05:41.469 get_scara_real_coor -46.207500 99.504501 -83.569504 -1005.469421 +2025-06-20 11:05:41.470 _new_stop_move_thread_4 +2025-06-20 11:05:41.640 wait_stop in +2025-06-20 11:05:41.670 wait_stop out_0 +2025-06-20 11:05:42.782 _new_stop_move_thread_0 +2025-06-20 11:05:42.782 j1_slow_down_t = 0 +2025-06-20 11:05:42.782 j2_slow_down_t = 0 +2025-06-20 11:05:42.782 j3_slow_down_t = 1 +2025-06-20 11:05:42.782 j4_slow_down_t = 0 +2025-06-20 11:05:42.782 tmp_t[3] = 1 +2025-06-20 11:05:42.783 _new_stop_move_thread_1 +2025-06-20 11:05:42.922 _new_stop_move_thread_2 +2025-06-20 11:05:42.923 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:42.952 _new_stop_move_thread_3 +2025-06-20 11:05:42.952 get_scara_param -46.207600 99.504700 -84.682198 -1005.469421 +2025-06-20 11:05:42.953 get_scara_real_coor -46.207600 99.504700 -84.682198 -1005.469421 +2025-06-20 11:05:42.953 _new_stop_move_thread_4 +2025-06-20 11:05:43.138 wait_stop in +2025-06-20 11:05:43.170 wait_stop out_0 +2025-06-20 11:05:43.570 _new_stop_move_thread_0 +2025-06-20 11:05:43.570 j1_slow_down_t = 0 +2025-06-20 11:05:43.570 j2_slow_down_t = 0 +2025-06-20 11:05:43.570 j3_slow_down_t = 0 +2025-06-20 11:05:43.570 j4_slow_down_t = 0 +2025-06-20 11:05:43.572 tmp_t[3] = 0 +2025-06-20 11:05:43.572 _new_stop_move_thread_1 +2025-06-20 11:05:43.691 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:43.722 _new_stop_move_thread_2 +2025-06-20 11:05:43.752 _new_stop_move_thread_3 +2025-06-20 11:05:43.752 get_scara_param -46.207600 99.504700 -84.924599 -1005.469482 +2025-06-20 11:05:43.752 get_scara_real_coor -46.207600 99.504700 -84.924599 -1005.469421 +2025-06-20 11:05:43.754 _new_stop_move_thread_4 +2025-06-20 11:05:43.907 wait_stop in +2025-06-20 11:05:43.938 wait_stop out_0 +2025-06-20 11:05:44.146 _new_stop_move_thread_0 +2025-06-20 11:05:44.146 j1_slow_down_t = 0 +2025-06-20 11:05:44.146 j2_slow_down_t = 0 +2025-06-20 11:05:44.146 j3_slow_down_t = 0 +2025-06-20 11:05:44.146 j4_slow_down_t = 0 +2025-06-20 11:05:44.147 tmp_t[3] = 0 +2025-06-20 11:05:44.147 _new_stop_move_thread_1 +2025-06-20 11:05:44.246 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:44.307 _new_stop_move_thread_2 +2025-06-20 11:05:44.337 _new_stop_move_thread_3 +2025-06-20 11:05:44.337 get_scara_param -46.207600 99.504799 -85.186897 -1005.469482 +2025-06-20 11:05:44.337 get_scara_real_coor -46.207600 99.504799 -85.186897 -1005.469482 +2025-06-20 11:05:44.338 _new_stop_move_thread_4 +2025-06-20 11:05:44.347 _new_stop_move_thread_0 +2025-06-20 11:05:44.347 j1_slow_down_t = 0 +2025-06-20 11:05:44.348 j2_slow_down_t = 0 +2025-06-20 11:05:44.348 j3_slow_down_t = 0 +2025-06-20 11:05:44.348 j4_slow_down_t = 0 +2025-06-20 11:05:44.348 tmp_t[3] = 0 +2025-06-20 11:05:44.348 _new_stop_move_thread_1 +2025-06-20 11:05:44.460 _new_stop_move_thread_2 +2025-06-20 11:05:44.460 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:44.491 _new_stop_move_thread_3 +2025-06-20 11:05:44.491 get_scara_param -46.207600 99.504799 -85.267601 -1005.469421 +2025-06-20 11:05:44.491 get_scara_real_coor -46.207600 99.504799 -85.267601 -1005.469482 +2025-06-20 11:05:44.492 _new_stop_move_thread_4 +2025-06-20 11:05:44.553 wait_stop in +2025-06-20 11:05:44.583 wait_stop out_0 +2025-06-20 11:05:44.675 wait_stop in +2025-06-20 11:05:44.705 wait_stop out_0 +2025-06-20 11:05:45.107 _new_stop_move_thread_0 +2025-06-20 11:05:45.107 j1_slow_down_t = 0 +2025-06-20 11:05:45.107 j2_slow_down_t = 0 +2025-06-20 11:05:45.107 j3_slow_down_t = 0 +2025-06-20 11:05:45.108 j4_slow_down_t = 0 +2025-06-20 11:05:45.108 tmp_t[3] = 0 +2025-06-20 11:05:45.108 _new_stop_move_thread_1 +2025-06-20 11:05:45.182 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:45.260 _new_stop_move_thread_2 +2025-06-20 11:05:45.291 _new_stop_move_thread_3 +2025-06-20 11:05:45.292 get_scara_param -46.207600 99.504898 -85.583801 -1005.469421 +2025-06-20 11:05:45.292 get_scara_real_coor -46.207600 99.504898 -85.583801 -1005.469421 +2025-06-20 11:05:45.292 _new_stop_move_thread_4 +2025-06-20 11:05:45.398 wait_stop in +2025-06-20 11:05:45.429 wait_stop out_0 +2025-06-20 11:05:46.729 _new_stop_move_thread_0 +2025-06-20 11:05:46.729 j1_slow_down_t = 0 +2025-06-20 11:05:46.729 j2_slow_down_t = 0 +2025-06-20 11:05:46.729 j3_slow_down_t = 1 +2025-06-20 11:05:46.729 j4_slow_down_t = 0 +2025-06-20 11:05:46.730 tmp_t[3] = 1 +2025-06-20 11:05:46.730 _new_stop_move_thread_1 +2025-06-20 11:05:46.755 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:46.878 _new_stop_move_thread_2 +2025-06-20 11:05:46.909 _new_stop_move_thread_3 +2025-06-20 11:05:46.910 get_scara_param -46.207600 99.504997 -87.245499 -1005.469299 +2025-06-20 11:05:46.910 get_scara_real_coor -46.207600 99.504997 -87.245499 -1005.469421 +2025-06-20 11:05:46.910 _new_stop_move_thread_4 +2025-06-20 11:05:46.972 wait_stop in +2025-06-20 11:05:47.003 wait_stop out_0 +2025-06-20 11:05:48.367 _new_stop_move_thread_0 +2025-06-20 11:05:48.368 j1_slow_down_t = 0 +2025-06-20 11:05:48.368 j2_slow_down_t = 0 +2025-06-20 11:05:48.368 j3_slow_down_t = 1 +2025-06-20 11:05:48.368 j4_slow_down_t = 0 +2025-06-20 11:05:48.368 tmp_t[3] = 1 +2025-06-20 11:05:48.369 _new_stop_move_thread_1 +2025-06-20 11:05:48.433 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:48.526 _new_stop_move_thread_2 +2025-06-20 11:05:48.557 _new_stop_move_thread_3 +2025-06-20 11:05:48.558 get_scara_param -46.207600 99.505096 -88.764999 -1005.469116 +2025-06-20 11:05:48.558 get_scara_real_coor -46.207600 99.505096 -88.764999 -1005.469177 +2025-06-20 11:05:48.558 _new_stop_move_thread_4 +2025-06-20 11:05:48.648 wait_stop in +2025-06-20 11:05:48.679 wait_stop out_0 +2025-06-20 11:05:50.015 _new_stop_move_thread_0 +2025-06-20 11:05:50.016 j1_slow_down_t = 0 +2025-06-20 11:05:50.016 j2_slow_down_t = 0 +2025-06-20 11:05:50.016 j3_slow_down_t = 0 +2025-06-20 11:05:50.016 j4_slow_down_t = 0 +2025-06-20 11:05:50.016 tmp_t[3] = 0 +2025-06-20 11:05:50.017 _new_stop_move_thread_1 +2025-06-20 11:05:50.175 _new_stop_move_thread_2 +2025-06-20 11:05:50.205 _new_stop_move_thread_3 +2025-06-20 11:05:50.205 get_scara_param -46.207500 99.505203 -89.787102 -1005.469177 +2025-06-20 11:05:50.206 get_scara_real_coor -46.207500 99.505203 -89.787102 -1005.469177 +2025-06-20 11:05:50.206 _new_stop_move_thread_4 +2025-06-20 11:05:50.221 wait_stop in +2025-06-20 11:05:50.252 wait_stop out_0 +2025-06-20 11:05:51.778 _new_stop_move_thread_0 +2025-06-20 11:05:51.779 j1_slow_down_t = 0 +2025-06-20 11:05:51.779 j2_slow_down_t = 0 +2025-06-20 11:05:51.779 j3_slow_down_t = 1 +2025-06-20 11:05:51.779 j4_slow_down_t = 0 +2025-06-20 11:05:51.779 tmp_t[3] = 1 +2025-06-20 11:05:51.780 _new_stop_move_thread_1 +2025-06-20 11:05:51.792 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:51.946 _new_stop_move_thread_2 +2025-06-20 11:05:51.977 _new_stop_move_thread_3 +2025-06-20 11:05:51.977 get_scara_param -46.207500 99.505302 -91.452904 -1005.469116 +2025-06-20 11:05:51.977 get_scara_real_coor -46.207500 99.505302 -91.452904 -1005.469177 +2025-06-20 11:05:51.978 _new_stop_move_thread_4 +2025-06-20 11:05:52.007 wait_stop in +2025-06-20 11:05:52.037 wait_stop out_0 +2025-06-20 11:05:54.570 _new_stop_move_thread_0 +2025-06-20 11:05:54.570 j1_slow_down_t = 0 +2025-06-20 11:05:54.571 j2_slow_down_t = 0 +2025-06-20 11:05:54.571 j3_slow_down_t = 1 +2025-06-20 11:05:54.571 j4_slow_down_t = 0 +2025-06-20 11:05:54.571 tmp_t[3] = 1 +2025-06-20 11:05:54.572 _new_stop_move_thread_1 +2025-06-20 11:05:54.697 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:54.728 _new_stop_move_thread_2 +2025-06-20 11:05:54.759 _new_stop_move_thread_3 +2025-06-20 11:05:54.759 get_scara_param -46.207401 99.505402 -93.582199 -1005.468872 +2025-06-20 11:05:54.759 get_scara_real_coor -46.207401 99.505402 -93.582199 -1005.468872 +2025-06-20 11:05:54.759 _new_stop_move_thread_4 +2025-06-20 11:05:54.912 wait_stop in +2025-06-20 11:05:54.943 wait_stop out_0 +2025-06-20 11:05:56.628 _new_stop_move_thread_0 +2025-06-20 11:05:56.630 j1_slow_down_t = 0 +2025-06-20 11:05:56.630 j2_slow_down_t = 0 +2025-06-20 11:05:56.630 j3_slow_down_t = 1 +2025-06-20 11:05:56.630 j4_slow_down_t = 0 +2025-06-20 11:05:56.630 tmp_t[3] = 1 +2025-06-20 11:05:56.631 _new_stop_move_thread_1 +2025-06-20 11:05:56.777 _new_stop_move_thread_2 +2025-06-20 11:05:56.807 _new_stop_move_thread_3 +2025-06-20 11:05:56.807 get_scara_param -46.207298 99.505501 -95.344101 -1005.468872 +2025-06-20 11:05:56.807 get_scara_real_coor -46.207298 99.505501 -95.344101 -1005.468872 +2025-06-20 11:05:56.807 _new_stop_move_thread_4 +2025-06-20 11:05:56.822 wait_stop in +2025-06-20 11:05:56.852 wait_stop out_0 +2025-06-20 11:05:59.007 _new_stop_move_thread_0 +2025-06-20 11:05:59.007 j1_slow_down_t = 0 +2025-06-20 11:05:59.008 j2_slow_down_t = 0 +2025-06-20 11:05:59.008 j3_slow_down_t = 0 +2025-06-20 11:05:59.008 j4_slow_down_t = 0 +2025-06-20 11:05:59.008 tmp_t[3] = 0 +2025-06-20 11:05:59.008 _new_stop_move_thread_1 +2025-06-20 11:05:59.109 jog_move_xyzr return 99 ͣ +2025-06-20 11:05:59.185 _new_stop_move_thread_2 +2025-06-20 11:05:59.216 _new_stop_move_thread_3 +2025-06-20 11:05:59.217 get_scara_param -46.207401 99.505600 -95.677803 -1005.469116 +2025-06-20 11:05:59.217 get_scara_real_coor -46.207401 99.505600 -95.677803 -1005.468994 +2025-06-20 11:05:59.217 _new_stop_move_thread_4 +2025-06-20 11:05:59.324 wait_stop in +2025-06-20 11:05:59.355 wait_stop out_0 +2025-06-20 11:06:00.462 _new_stop_move_thread_0 +2025-06-20 11:06:00.462 j1_slow_down_t = 0 +2025-06-20 11:06:00.464 j2_slow_down_t = 0 +2025-06-20 11:06:00.464 j3_slow_down_t = 0 +2025-06-20 11:06:00.464 j4_slow_down_t = 0 +2025-06-20 11:06:00.464 tmp_t[3] = 0 +2025-06-20 11:06:00.464 _new_stop_move_thread_1 +2025-06-20 11:06:00.571 jog_move_xyzr return 99 ͣ +2025-06-20 11:06:00.603 _new_stop_move_thread_2 +2025-06-20 11:06:00.634 _new_stop_move_thread_3 +2025-06-20 11:06:00.634 get_scara_param -46.207401 99.505600 -95.905098 -1005.469177 +2025-06-20 11:06:00.634 get_scara_real_coor -46.207401 99.505600 -95.905098 -1005.469177 +2025-06-20 11:06:00.635 _new_stop_move_thread_4 +2025-06-20 11:06:00.772 wait_stop in +2025-06-20 11:06:00.803 wait_stop out_0 +2025-06-20 11:06:01.422 _new_stop_move_thread_0 +2025-06-20 11:06:01.422 j1_slow_down_t = 0 +2025-06-20 11:06:01.422 j2_slow_down_t = 0 +2025-06-20 11:06:01.422 j3_slow_down_t = 0 +2025-06-20 11:06:01.422 j4_slow_down_t = 0 +2025-06-20 11:06:01.423 tmp_t[3] = 0 +2025-06-20 11:06:01.423 _new_stop_move_thread_1 +2025-06-20 11:06:01.516 jog_move_xyzr return 99 ͣ +2025-06-20 11:06:01.578 _new_stop_move_thread_2 +2025-06-20 11:06:01.608 _new_stop_move_thread_3 +2025-06-20 11:06:01.608 get_scara_param -46.207298 99.505699 -96.223396 -1005.469116 +2025-06-20 11:06:01.608 get_scara_real_coor -46.207298 99.505699 -96.223396 -1005.469177 +2025-06-20 11:06:01.609 _new_stop_move_thread_4 +2025-06-20 11:06:01.730 wait_stop in +2025-06-20 11:06:01.762 wait_stop out_0 +2025-06-20 11:06:02.709 _new_stop_move_thread_0 +2025-06-20 11:06:02.709 j1_slow_down_t = 0 +2025-06-20 11:06:02.709 j2_slow_down_t = 0 +2025-06-20 11:06:02.709 j3_slow_down_t = 0 +2025-06-20 11:06:02.709 j4_slow_down_t = 0 +2025-06-20 11:06:02.709 tmp_t[3] = 0 +2025-06-20 11:06:02.711 _new_stop_move_thread_1 +2025-06-20 11:06:02.795 jog_move_xyzr return 99 ͣ +2025-06-20 11:06:02.888 _new_stop_move_thread_2 +2025-06-20 11:06:02.919 _new_stop_move_thread_3 +2025-06-20 11:06:02.919 get_scara_param -46.207298 99.505699 -96.542702 -1005.469116 +2025-06-20 11:06:02.919 get_scara_real_coor -46.207298 99.505699 -96.542702 -1005.469177 +2025-06-20 11:06:02.920 _new_stop_move_thread_4 +2025-06-20 11:06:03.010 wait_stop in +2025-06-20 11:06:03.041 wait_stop out_0 +2025-06-20 11:06:14.102 _new_stop_move_thread_0 +2025-06-20 11:06:14.102 j1_slow_down_t = 0 +2025-06-20 11:06:14.102 j2_slow_down_t = 0 +2025-06-20 11:06:14.102 j3_slow_down_t = 0 +2025-06-20 11:06:14.102 j4_slow_down_t = 0 +2025-06-20 11:06:14.103 tmp_t[3] = 0 +2025-06-20 11:06:14.103 _new_stop_move_thread_1 +2025-06-20 11:06:14.221 jog_move_xyzr return 99 ͣ +2025-06-20 11:06:14.237 _new_stop_move_thread_2 +2025-06-20 11:06:14.267 _new_stop_move_thread_3 +2025-06-20 11:06:14.267 get_scara_param -46.207298 99.505699 -96.770599 -1005.469116 +2025-06-20 11:06:14.268 get_scara_real_coor -46.207298 99.505699 -96.770599 -1005.469177 +2025-06-20 11:06:14.268 _new_stop_move_thread_4 +2025-06-20 11:06:14.423 wait_stop in +2025-06-20 11:06:14.454 wait_stop out_0 +2025-06-20 11:06:17.222 _new_stop_move_thread_0 +2025-06-20 11:06:17.222 j1_slow_down_t = 0 +2025-06-20 11:06:17.223 j2_slow_down_t = 0 +2025-06-20 11:06:17.223 j3_slow_down_t = 0 +2025-06-20 11:06:17.223 j4_slow_down_t = 0 +2025-06-20 11:06:17.223 tmp_t[3] = 0 +2025-06-20 11:06:17.223 _new_stop_move_thread_1 +2025-06-20 11:06:17.344 jog_move_xyzr return 99 ͣ +2025-06-20 11:06:17.360 _new_stop_move_thread_2 +2025-06-20 11:06:17.391 _new_stop_move_thread_3 +2025-06-20 11:06:17.392 get_scara_param -46.207298 99.505798 -96.997597 -1005.469116 +2025-06-20 11:06:17.392 get_scara_real_coor -46.207298 99.505798 -96.997597 -1005.469116 +2025-06-20 11:06:17.392 _new_stop_move_thread_4 +2025-06-20 11:06:17.546 wait_stop in +2025-06-20 11:06:17.577 wait_stop out_0 +2025-06-20 11:06:18.932 _new_stop_move_thread_0 +2025-06-20 11:06:18.932 j1_slow_down_t = 0 +2025-06-20 11:06:18.933 j2_slow_down_t = 0 +2025-06-20 11:06:18.933 j3_slow_down_t = 0 +2025-06-20 11:06:18.933 j4_slow_down_t = 0 +2025-06-20 11:06:18.933 tmp_t[3] = 0 +2025-06-20 11:06:18.933 _new_stop_move_thread_1 +2025-06-20 11:06:19.042 jog_move_xyzr return 99 ͣ +2025-06-20 11:06:19.089 _new_stop_move_thread_2 +2025-06-20 11:06:19.120 _new_stop_move_thread_3 +2025-06-20 11:06:19.120 get_scara_param -46.207298 99.505798 -97.264000 -1005.469177 +2025-06-20 11:06:19.120 get_scara_real_coor -46.207298 99.505798 -97.264000 -1005.469177 +2025-06-20 11:06:19.120 _new_stop_move_thread_4 +2025-06-20 11:06:19.244 wait_stop in +2025-06-20 11:06:19.276 wait_stop out_0 +2025-06-20 11:06:20.420 _new_stop_move_thread_0 +2025-06-20 11:06:20.420 j1_slow_down_t = 0 +2025-06-20 11:06:20.420 j2_slow_down_t = 0 +2025-06-20 11:06:20.421 j3_slow_down_t = 0 +2025-06-20 11:06:20.421 j4_slow_down_t = 0 +2025-06-20 11:06:20.421 tmp_t[3] = 0 +2025-06-20 11:06:20.421 _new_stop_move_thread_1 +2025-06-20 11:06:20.526 jog_move_xyzr return 99 ͣ +2025-06-20 11:06:20.558 _new_stop_move_thread_2 +2025-06-20 11:06:20.589 _new_stop_move_thread_3 +2025-06-20 11:06:20.590 get_scara_param -46.207298 99.505997 -97.533096 -1005.469177 +2025-06-20 11:06:20.590 get_scara_real_coor -46.207298 99.505997 -97.533096 -1005.469177 +2025-06-20 11:06:20.590 _new_stop_move_thread_4 +2025-06-20 11:06:20.727 wait_stop in +2025-06-20 11:06:20.757 wait_stop out_0 +2025-06-20 11:26:09.770 SDK_VERSION_V2.0.0.29_Release +2025-06-20 11:26:09.770 robot connected +2025-06-20 11:26:09.770 26 +2025-06-20 11:26:09.770 current generation=26 +2025-06-20 11:26:10.285 0x1a +2025-06-20 11:26:11.220 initial joint2 2898325 +2025-06-20 11:26:11.221 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-20 11:26:11.221 robot WritePID +2025-06-20 11:26:11.528 initial joint1 -672943 +2025-06-20 11:26:11.573 initial joint2 2898324 +2025-06-20 11:26:11.619 initial joint3 -284335 +2025-06-20 11:26:11.681 initial joint4 -24732931 +2025-06-20 11:26:11.711 initial joint1 -672942 +2025-06-20 11:26:11.757 initial joint2 2898326 +2025-06-20 11:26:11.818 initial joint3 -284337 +2025-06-20 11:26:11.879 initial joint4 -24732933 +2025-06-20 11:26:11.909 initial joint1 -672942 +2025-06-20 11:26:11.956 initial joint2 2898327 +2025-06-20 11:26:12.002 initial joint3 -284337 +2025-06-20 11:26:12.048 initial joint4 -24732934 +2025-06-20 11:26:14.236 initial_thread initialized +2025-06-20 11:26:14.237 servo enable +2025-06-20 11:26:14.237 brake open +2025-06-20 11:26:14.237 set_brake_state 0 1 +2025-06-20 11:26:14.451 robot initialized +2025-06-20 11:26:15.020 get_scara_param -46.207298 99.506203 -97.620697 -1005.469177 +2025-06-20 11:26:15.020 get_scara_real_coor -46.207100 99.506203 -97.620003 -1005.468994 +2025-06-20 11:26:15.020 λɢ +2025-06-20 11:26:15.022 position -672942.562500 2898328.250000 -284340.875000 -24732936.000000 -672945.187500 2898308.000000 -276661.312500 -24732914.000000 +2025-06-20 11:26:15.022 speed 0.180244 0.695229 2636.568604 0.906372 +2025-06-20 11:26:15.022 set_first_position_after_initial +2025-06-20 11:26:15.022 movej_old start_pos: -46.207298 99.506203 -97.620689 -1005.469116 end_pos: -46.207199 99.506203 -97.620598 -1005.469116 org_sp 10.000000 end_sp 0.718284 +2025-06-20 11:26:15.315 J3 Belt Meilage=40.936096km +2025-06-20 11:33:03.013 SDK_VERSION_V2.0.0.29_Release +2025-06-20 11:33:03.014 robot connected +2025-06-20 11:33:03.014 26 +2025-06-20 11:33:03.014 current generation=26 +2025-06-20 11:33:03.528 0x1a +2025-06-20 11:33:04.455 initial joint2 2898334 +2025-06-20 11:33:04.455 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-20 11:33:04.456 robot WritePID +2025-06-20 11:33:04.763 initial joint1 -672941 +2025-06-20 11:33:04.824 initial joint2 2898334 +2025-06-20 11:33:04.886 initial joint3 -284345 +2025-06-20 11:33:04.931 initial joint4 -24732938 +2025-06-20 11:33:04.946 initial joint1 -672941 +2025-06-20 11:33:04.992 initial joint2 2898336 +2025-06-20 11:33:05.038 initial joint3 -284346 +2025-06-20 11:33:05.084 initial joint4 -24732940 +2025-06-20 11:33:05.115 initial joint1 -672941 +2025-06-20 11:33:05.161 initial joint2 2898337 +2025-06-20 11:33:05.208 initial joint3 -284347 +2025-06-20 11:33:05.253 initial joint4 -24732940 +2025-06-20 11:33:07.396 initial_thread initialized +2025-06-20 11:33:07.397 servo enable +2025-06-20 11:33:07.397 brake open +2025-06-20 11:33:07.397 set_brake_state 0 1 +2025-06-20 11:33:07.613 robot initialized +2025-06-20 11:33:08.170 get_scara_param -46.207100 99.506500 -97.623398 -1005.468994 +2025-06-20 11:33:08.170 get_scara_real_coor -46.207100 99.506500 -97.623100 -1005.469116 +2025-06-20 11:33:08.171 λɢ +2025-06-20 11:33:08.171 position -672939.625000 2898337.000000 -284348.750000 -24732942.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-20 11:33:08.171 speed 46207.097656 99506.500000 97623.398438 1018965.875000 +2025-06-20 11:33:08.171 set_first_position_after_initial +2025-06-20 11:33:08.171 movej_old start_pos: -46.207096 99.506500 -97.623398 -1005.469055 end_pos: -46.207001 99.506500 -97.623398 -1005.469116 org_sp 10.000000 end_sp 0.803090 +2025-06-20 11:33:08.463 J3 Belt Meilage=40.936192km +2025-06-20 11:33:12.030 30 30 30 30 +2025-06-20 11:33:12.030 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-20 11:33:12.031 goal_angle -67.226128 86.401024 +2025-06-20 11:33:12.031 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-20 11:33:12.031 z1 -97.623398 z2 -75.466103 +2025-06-20 11:33:12.031 angle1_1 -46.207001 angle2_1 99.506500 z1 -97.623398 r1 -1005.469116 +2025-06-20 11:33:12.031 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008 +2025-06-20 11:33:12.031 speed 100.000000 +2025-06-20 11:33:12.031 tcp_distance 141.242966 +2025-06-20 11:33:12.031 new_end_speed 100.000000 j1_acc_t 0.706215 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.553360 +2025-06-20 11:33:12.032 new_end_speed 100.000000 j2_acc_t 0.706215 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 20.297098 +2025-06-20 11:33:12.032 new_end_speed 100.000000 j3_acc_t 0.706215 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 34.316097 +2025-06-20 11:33:12.032 new_end_speed 100.000000 j4_acc_t 0.706215 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.390118 +2025-06-20 11:33:12.032 end_speed 100.000000 +2025-06-20 11:33:12.032 trail_number1.412430 +2025-06-20 11:33:12.033 tcp_distance 141.242966 +2025-06-20 11:33:12.033 angle1_1 = -46.207001 angle2_1 = 99.506500 z1 = -97.623398 r1 = -1005.469116 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008 +2025-06-20 11:34:45.487 SDK_VERSION_V2.0.0.29_Release +2025-06-20 11:34:45.487 robot connected +2025-06-20 11:34:45.488 26 +2025-06-20 11:34:45.488 current generation=26 +2025-06-20 11:34:45.989 0x1a +2025-06-20 11:34:46.871 initial joint2 2516613 +2025-06-20 11:34:46.872 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-20 11:34:46.872 robot WritePID +2025-06-20 11:34:47.179 initial joint1 -979051 +2025-06-20 11:34:47.226 initial joint2 2516614 +2025-06-20 11:34:47.273 initial joint3 -219815 +2025-06-20 11:34:47.319 initial joint4 -24038011 +2025-06-20 11:34:47.336 initial joint1 -979049 +2025-06-20 11:34:47.381 initial joint2 2516615 +2025-06-20 11:34:47.427 initial joint3 -219815 +2025-06-20 11:34:47.473 initial joint4 -24038011 +2025-06-20 11:34:47.489 initial joint1 -979051 +2025-06-20 11:34:47.534 initial joint2 2516616 +2025-06-20 11:34:47.579 initial joint3 -219816 +2025-06-20 11:34:47.625 initial joint4 -24038011 +2025-06-20 11:34:49.811 initial_thread initialized +2025-06-20 11:34:49.811 servo enable +2025-06-20 11:34:49.812 brake open +2025-06-20 11:34:49.812 set_brake_state 0 1 +2025-06-20 11:34:50.015 robot initialized +2025-06-20 11:34:50.572 get_scara_param -67.225998 86.401100 -75.467796 -1005.720886 +2025-06-20 11:34:50.572 get_scara_real_coor -67.225899 86.401199 -75.469200 -1005.720825 +2025-06-20 11:34:50.572 λɢ +2025-06-20 11:34:50.573 position -979049.625000 2516614.500000 -219815.890625 -24038010.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-20 11:34:50.573 speed 67226.000000 86401.101563 75467.796875 990335.500000 +2025-06-20 11:34:50.573 set_first_position_after_initial +2025-06-20 11:34:50.573 movej_old start_pos: -67.226006 86.401100 -75.467796 -1005.720886 end_pos: -67.226006 86.401100 -75.467697 -1005.720886 org_sp 10.000000 end_sp 0.416586 +2025-06-20 11:34:50.866 J3 Belt Meilage=40.936234km +2025-06-20 11:34:54.639 30 30 30 30 +2025-06-20 11:34:54.640 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:34:54.640 goal_angle -46.207226 99.506226 +2025-06-20 11:34:54.640 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:34:54.640 z1 -75.467697 z2 -97.620598 +2025-06-20 11:34:54.641 angle1_1 -67.226006 angle2_1 86.401100 z1 -75.467697 r1 -1005.720886 +2025-06-20 11:34:54.641 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:34:54.641 speed 100.000000 +2025-06-20 11:34:54.641 tcp_distance 141.325027 +2025-06-20 11:34:54.641 new_end_speed 100.000000 j1_acc_t 0.706625 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.533924 +2025-06-20 11:34:54.641 new_end_speed 100.000000 j2_acc_t 0.706625 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 20.284771 +2025-06-20 11:34:54.642 new_end_speed 100.000000 j3_acc_t 0.706625 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 34.289371 +2025-06-20 11:34:54.642 new_end_speed 100.000000 j4_acc_t 0.706625 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.389891 +2025-06-20 11:34:54.642 end_speed 100.000000 +2025-06-20 11:34:54.642 trail_number1.413250 +2025-06-20 11:34:54.642 tcp_distance 141.325027 +2025-06-20 11:34:54.643 angle1_1 = -67.226006 angle2_1 = 86.401100 z1 = -75.467697 r1 = -1005.720886 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:35:52.149 30 30 30 30 +2025-06-20 11:35:52.149 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-20 11:35:52.149 goal_angle -67.226128 86.401024 +2025-06-20 11:35:52.149 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-20 11:35:52.150 z1 -97.620598 z2 -75.466103 +2025-06-20 11:35:52.150 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:35:52.150 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008 +2025-06-20 11:35:52.150 speed 100.000000 +2025-06-20 11:35:52.150 tcp_distance 141.240768 +2025-06-20 11:35:52.150 new_end_speed 100.000000 j1_acc_t 0.706204 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.553532 +2025-06-20 11:35:52.151 new_end_speed 100.000000 j2_acc_t 0.706204 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 20.296999 +2025-06-20 11:35:52.151 new_end_speed 100.000000 j3_acc_t 0.706204 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 34.312309 +2025-06-20 11:35:52.151 new_end_speed 100.000000 j4_acc_t 0.706204 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.390313 +2025-06-20 11:35:52.151 end_speed 100.000000 +2025-06-20 11:35:52.151 trail_number1.412408 +2025-06-20 11:35:52.151 tcp_distance 141.240768 +2025-06-20 11:35:52.152 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008 +2025-06-20 11:35:54.288 30 30 30 30 +2025-06-20 11:35:54.289 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:35:54.289 goal_angle -46.207226 99.506226 +2025-06-20 11:35:54.289 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:35:54.289 z1 -75.466103 z2 -97.620598 +2025-06-20 11:35:54.290 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008 +2025-06-20 11:35:54.290 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:35:54.290 speed 100.000000 +2025-06-20 11:35:54.290 tcp_distance 141.326019 +2025-06-20 11:35:54.290 new_end_speed 100.000000 j1_acc_t 0.706630 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.533882 +2025-06-20 11:35:54.291 new_end_speed 100.000000 j2_acc_t 0.706630 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 20.284746 +2025-06-20 11:35:54.291 new_end_speed 100.000000 j3_acc_t 0.706630 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 34.291599 +2025-06-20 11:35:54.291 new_end_speed 100.000000 j4_acc_t 0.706630 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.390077 +2025-06-20 11:35:54.291 end_speed 100.000000 +2025-06-20 11:35:54.291 trail_number1.413260 +2025-06-20 11:35:54.291 tcp_distance 141.326019 +2025-06-20 11:35:54.292 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:36:01.148 30 30 30 30 +2025-06-20 11:36:01.148 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1 +2025-06-20 11:36:01.148 goal_angle -67.226128 86.401024 +2025-06-20 11:36:01.149 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000 +2025-06-20 11:36:01.149 z1 -97.620598 z2 -75.466103 +2025-06-20 11:36:01.149 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:36:01.149 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008 +2025-06-20 11:36:01.149 speed 100.000000 +2025-06-20 11:36:01.149 tcp_distance 141.240768 +2025-06-20 11:36:01.150 new_end_speed 100.000000 j1_acc_t 0.706204 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.553532 +2025-06-20 11:36:01.150 new_end_speed 100.000000 j2_acc_t 0.706204 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 20.296999 +2025-06-20 11:36:01.150 new_end_speed 100.000000 j3_acc_t 0.706204 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 34.312309 +2025-06-20 11:36:01.150 new_end_speed 100.000000 j4_acc_t 0.706204 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.390313 +2025-06-20 11:36:01.150 end_speed 100.000000 +2025-06-20 11:36:01.150 trail_number1.412408 +2025-06-20 11:36:01.150 tcp_distance 141.240768 +2025-06-20 11:36:01.152 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008 +2025-06-20 11:36:03.389 30 30 30 30 +2025-06-20 11:36:03.390 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:36:03.390 goal_angle -46.207226 99.506226 +2025-06-20 11:36:03.390 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:36:03.390 z1 -75.466103 z2 -97.620598 +2025-06-20 11:36:03.390 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008 +2025-06-20 11:36:03.390 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:36:03.392 speed 100.000000 +2025-06-20 11:36:03.392 tcp_distance 141.326019 +2025-06-20 11:36:03.392 new_end_speed 100.000000 j1_acc_t 0.706630 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.533882 +2025-06-20 11:36:03.392 new_end_speed 100.000000 j2_acc_t 0.706630 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 20.284746 +2025-06-20 11:36:03.392 new_end_speed 100.000000 j3_acc_t 0.706630 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 34.291599 +2025-06-20 11:36:03.392 new_end_speed 100.000000 j4_acc_t 0.706630 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.390077 +2025-06-20 11:36:03.392 end_speed 100.000000 +2025-06-20 11:36:03.392 trail_number1.413260 +2025-06-20 11:36:03.393 tcp_distance 141.326019 +2025-06-20 11:36:03.393 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:37:11.786 SDK_VERSION_V2.0.0.29_Release +2025-06-20 11:37:11.787 robot connected +2025-06-20 11:37:11.787 26 +2025-06-20 11:37:11.787 current generation=26 +2025-06-20 11:37:12.297 0x1a +2025-06-20 11:37:13.217 initial joint2 2898336 +2025-06-20 11:37:13.217 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-20 11:37:13.217 robot WritePID +2025-06-20 11:37:13.526 initial joint1 -672940 +2025-06-20 11:37:13.586 initial joint2 2898336 +2025-06-20 11:37:13.648 initial joint3 -284349 +2025-06-20 11:37:13.709 initial joint4 -24732934 +2025-06-20 11:37:13.724 initial joint1 -672940 +2025-06-20 11:37:13.769 initial joint2 2898336 +2025-06-20 11:37:13.815 initial joint3 -284350 +2025-06-20 11:37:13.862 initial joint4 -24732935 +2025-06-20 11:37:13.878 initial joint1 -672940 +2025-06-20 11:37:13.922 initial joint2 2898337 +2025-06-20 11:37:13.969 initial joint3 -284350 +2025-06-20 11:37:14.014 initial joint4 -24732936 +2025-06-20 11:37:16.378 initial_thread initialized +2025-06-20 11:37:16.378 servo enable +2025-06-20 11:37:16.378 brake open +2025-06-20 11:37:16.378 set_brake_state 0 1 +2025-06-20 11:37:16.594 robot initialized +2025-06-20 11:37:17.131 get_scara_param -46.207001 99.506500 -97.625198 -1005.468811 +2025-06-20 11:37:17.132 get_scara_real_coor -46.207100 99.506500 -97.624100 -1005.468811 +2025-06-20 11:37:17.132 set_first_position_after_initial +2025-06-20 11:37:17.133 movej_old start_pos: -46.207001 99.506500 -97.625198 -1005.468811 end_pos: -46.207001 99.506500 -97.625198 -1005.468811 org_sp 10.000000 end_sp 10.000000 +2025-06-20 11:37:17.425 J3 Belt Meilage=40.936371km +2025-06-20 11:37:21.998 30 30 30 30 +2025-06-20 11:37:21.999 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:37:21.999 goal_angle -46.207226 99.506226 +2025-06-20 11:37:22.000 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:37:22.000 z1 -97.625198 z2 -97.620598 +2025-06-20 11:37:22.000 angle1_1 -46.207001 angle2_1 99.506500 z1 -97.625198 r1 -1005.468811 +2025-06-20 11:37:22.000 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:37:22.000 speed 100.000000 +2025-06-20 11:37:22.001 tcp_distance 0.006955 +2025-06-20 11:37:22.001 new_end_speed 100.000000 j1_acc_t 0.005000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.049233 +2025-06-20 11:37:22.001 new_end_speed 100.000000 j2_acc_t 0.005000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.060081 +2025-06-20 11:37:22.001 new_end_speed 100.000000 j3_acc_t 0.005000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 1.006364 +2025-06-20 11:37:22.001 new_end_speed 100.000000 j4_acc_t 0.005000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.040054 +2025-06-20 11:37:22.001 end_speed 100.000000 +2025-06-20 11:37:22.002 trail_number0.010000 +2025-06-20 11:37:22.002 tcp_distance 0.006955 +2025-06-20 11:37:22.002 angle1_1 = -46.207001 angle2_1 = 99.506500 z1 = -97.625198 r1 = -1005.468811 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:37:25.430 30 30 30 30 +2025-06-20 11:37:25.431 new_movej_xyz_lr 271.779297 -137.158203 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:37:25.431 goal_angle -67.788826 87.214615 +2025-06-20 11:37:25.431 new_movej_angle -67.788826 87.214615 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:37:25.431 z1 -97.620644 z2 -97.620598 +2025-06-20 11:37:25.431 angle1_1 -46.207222 angle2_1 99.506226 z1 -97.620644 r1 -1005.468994 +2025-06-20 11:37:25.431 angle1_2 -67.788826 angle2_2 87.214615 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:37:25.431 speed 100.000000 +2025-06-20 11:37:25.431 tcp_distance 139.474442 +2025-06-20 11:37:25.432 new_end_speed 100.000000 j1_acc_t 0.697372 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.848328 +2025-06-20 11:37:25.432 new_end_speed 100.000000 j2_acc_t 0.697372 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 19.278015 +2025-06-20 11:37:25.432 new_end_speed 100.000000 j3_acc_t 0.697372 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000072 +2025-06-20 11:37:25.432 new_end_speed 100.000000 j4_acc_t 0.697372 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:37:25.432 end_speed 100.000000 +2025-06-20 11:37:25.432 trail_number1.394744 +2025-06-20 11:37:25.433 tcp_distance 139.474442 +2025-06-20 11:37:25.433 angle1_1 = -46.207222 angle2_1 = 99.506226 z1 = -97.620644 r1 = -1005.468994 angle1_2 = -67.788826 angle2_2 = 87.214615 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:38:31.800 wait_stop in +2025-06-20 11:38:31.837 wait_stop out_0 +2025-06-20 11:38:31.879 30 30 30 30 +2025-06-20 11:38:31.879 new_movej_xyz_lr 273.779297 -137.158096 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:38:31.879 goal_angle -67.296524 86.503151 +2025-06-20 11:38:31.879 new_movej_angle -67.296524 86.503151 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:38:31.881 z1 -97.620598 z2 -97.620598 +2025-06-20 11:38:31.881 angle1_1 -67.788826 angle2_1 87.214615 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:38:31.881 angle1_2 -67.296524 angle2_2 86.503151 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:38:31.881 speed 2.000000 +2025-06-20 11:38:31.881 tcp_distance 1.988915 +2025-06-20 11:38:31.881 new_end_speed 2.000000 j1_acc_t 0.497229 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.082913 +2025-06-20 11:38:31.881 new_end_speed 2.000000 j2_acc_t 0.497229 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.565002 +2025-06-20 11:38:31.881 new_end_speed 2.000000 j3_acc_t 0.497229 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:38:31.882 new_end_speed 2.000000 j4_acc_t 0.497229 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:38:31.882 end_speed 2.000000 +2025-06-20 11:38:31.882 trail_number0.994457 +2025-06-20 11:38:31.882 tcp_distance 1.988915 +2025-06-20 11:38:31.883 angle1_1 = -67.788826 angle2_1 = 87.214615 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -67.296524 angle2_2 = 86.503151 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:38:32.194 wait_stop in +2025-06-20 11:38:32.299 30 30 30 30 +2025-06-20 11:38:32.299 new_movej_xyz_lr 275.779297 -137.158005 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:38:32.300 goal_angle -66.803192 85.785912 +2025-06-20 11:38:32.300 new_movej_angle -66.803192 85.785912 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:38:32.300 z1 -97.620598 z2 -97.620598 +2025-06-20 11:38:32.300 angle1_1 -67.296524 angle2_1 86.503151 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:38:32.300 angle1_2 -66.803192 angle2_2 85.785912 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:38:32.301 speed 2.000000 +2025-06-20 11:38:32.301 tcp_distance 1.988910 +2025-06-20 11:38:32.301 new_end_speed 2.000000 j1_acc_t 0.497228 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.085181 +2025-06-20 11:38:32.301 new_end_speed 2.000000 j2_acc_t 0.497228 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.577709 +2025-06-20 11:38:32.301 new_end_speed 2.000000 j3_acc_t 0.497228 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:38:32.301 new_end_speed 2.000000 j4_acc_t 0.497228 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:38:32.301 end_speed 2.000000 +2025-06-20 11:38:32.302 trail_number0.994455 +2025-06-20 11:38:32.302 tcp_distance 1.988910 +2025-06-20 11:38:32.730 wait_stop in +2025-06-20 11:38:32.829 30 30 30 30 +2025-06-20 11:38:32.830 new_movej_xyz_lr 275.779297 -137.158005 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:38:32.830 goal_angle -66.803192 85.785912 +2025-06-20 11:38:32.830 new_movej_angle -66.803192 85.785912 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:38:32.907 angle1_1 = -67.296524 angle2_1 = 86.503151 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.803192 angle2_2 = 85.785912 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:38:33.170 wait_stop in +2025-06-20 11:38:33.273 30 30 30 30 +2025-06-20 11:38:33.274 new_movej_xyz_lr 277.779297 -137.158005 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:38:33.274 goal_angle -66.308731 85.062767 +2025-06-20 11:38:33.274 new_movej_angle -66.308731 85.062767 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:38:33.274 z1 -97.620598 z2 -97.620598 +2025-06-20 11:38:33.274 angle1_1 -66.803192 angle2_1 85.785912 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:38:33.275 angle1_2 -66.308731 angle2_2 85.062767 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:38:33.275 speed 2.000000 +2025-06-20 11:38:33.275 tcp_distance 1.988911 +2025-06-20 11:38:33.275 new_end_speed 2.000000 j1_acc_t 0.497228 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.087664 +2025-06-20 11:38:33.275 new_end_speed 2.000000 j2_acc_t 0.497228 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.590698 +2025-06-20 11:38:33.275 new_end_speed 2.000000 j3_acc_t 0.497228 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:38:33.276 new_end_speed 2.000000 j4_acc_t 0.497228 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:38:33.276 end_speed 2.000000 +2025-06-20 11:38:33.276 trail_number0.994455 +2025-06-20 11:38:33.276 tcp_distance 1.988911 +2025-06-20 11:38:33.939 angle1_1 = -66.803192 angle2_1 = 85.785912 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.308731 angle2_2 = 85.062767 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:38:35.001 wait_stop out_0 +2025-06-20 11:38:35.003 wait_stop out_0 +2025-06-20 11:38:35.003 wait_stop out_0 +2025-06-20 11:38:36.991 wait_stop in +2025-06-20 11:38:37.021 wait_stop out_0 +2025-06-20 11:38:37.094 30 30 30 30 +2025-06-20 11:38:37.094 new_movej_xyz_lr 277.779297 -135.158005 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:38:37.094 goal_angle -66.138420 85.418602 +2025-06-20 11:38:37.095 new_movej_angle -66.138420 85.418602 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:38:37.095 z1 -97.620598 z2 -97.620598 +2025-06-20 11:38:37.095 angle1_1 -66.308731 angle2_1 85.062767 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:38:37.095 angle1_2 -66.138420 angle2_2 85.418602 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:38:37.096 speed 2.000000 +2025-06-20 11:38:37.096 tcp_distance 1.988928 +2025-06-20 11:38:37.096 new_end_speed 2.000000 j1_acc_t 0.497232 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.374629 +2025-06-20 11:38:37.096 new_end_speed 2.000000 j2_acc_t 0.497232 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.782722 +2025-06-20 11:38:37.096 new_end_speed 2.000000 j3_acc_t 0.497232 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:38:37.096 new_end_speed 2.000000 j4_acc_t 0.497232 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:38:37.097 end_speed 2.000000 +2025-06-20 11:38:37.097 trail_number0.994464 +2025-06-20 11:38:37.097 tcp_distance 1.988928 +2025-06-20 11:38:37.098 angle1_1 = -66.308731 angle2_1 = 85.062767 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.138420 angle2_2 = 85.418602 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:38:37.560 wait_stop in +2025-06-20 11:38:37.654 30 30 30 30 +2025-06-20 11:38:37.655 new_movej_xyz_lr 277.779297 -133.158005 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:38:37.655 goal_angle -65.963669 85.769028 +2025-06-20 11:38:37.655 new_movej_angle -65.963669 85.769028 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:38:37.655 z1 -97.620598 z2 -97.620598 +2025-06-20 11:38:37.655 angle1_1 -66.138420 angle2_1 85.418602 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:38:37.657 angle1_2 -65.963669 angle2_2 85.769028 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:38:37.657 speed 2.000000 +2025-06-20 11:38:37.657 tcp_distance 1.988928 +2025-06-20 11:38:37.657 new_end_speed 2.000000 j1_acc_t 0.497232 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.384396 +2025-06-20 11:38:37.657 new_end_speed 2.000000 j2_acc_t 0.497232 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.770823 +2025-06-20 11:38:37.657 new_end_speed 2.000000 j3_acc_t 0.497232 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:38:37.657 new_end_speed 2.000000 j4_acc_t 0.497232 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:38:37.658 end_speed 2.000000 +2025-06-20 11:38:37.658 trail_number0.994464 +2025-06-20 11:38:37.658 tcp_distance 1.988928 +2025-06-20 11:38:38.128 angle1_1 = -66.138420 angle2_1 = 85.418602 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -65.963669 angle2_2 = 85.769028 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:38:39.177 wait_stop out_0 +2025-06-20 11:38:40.787 wait_stop in +2025-06-20 11:38:40.820 wait_stop out_0 +2025-06-20 11:38:40.859 30 30 30 30 +2025-06-20 11:38:40.859 new_movej_xyz_lr 275.779297 -133.158005 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:38:40.859 goal_angle -66.454491 86.491524 +2025-06-20 11:38:40.859 new_movej_angle -66.454491 86.491524 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:38:40.860 z1 -97.620598 z2 -97.620598 +2025-06-20 11:38:40.860 angle1_1 -65.963669 angle2_1 85.769028 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:38:40.860 angle1_2 -66.454491 angle2_2 86.491524 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:38:40.860 speed 2.000000 +2025-06-20 11:38:40.860 tcp_distance 1.988912 +2025-06-20 11:38:40.861 new_end_speed 2.000000 j1_acc_t 0.497228 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.079659 +2025-06-20 11:38:40.861 new_end_speed 2.000000 j2_acc_t 0.497228 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.589271 +2025-06-20 11:38:40.861 new_end_speed 2.000000 j3_acc_t 0.497228 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:38:40.861 new_end_speed 2.000000 j4_acc_t 0.497228 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:38:40.861 end_speed 2.000000 +2025-06-20 11:38:40.861 trail_number0.994456 +2025-06-20 11:38:40.862 tcp_distance 1.988912 +2025-06-20 11:38:40.862 angle1_1 = -65.963669 angle2_1 = 85.769028 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454491 angle2_2 = 86.491524 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:39:23.067 wait_stop in +2025-06-20 11:39:23.099 wait_stop out_0 +2025-06-20 11:39:23.143 30 30 30 30 +2025-06-20 11:39:23.143 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:39:23.143 goal_angle -66.454506 86.491570 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+2025-06-20 11:39:23.145 trail_number0.994446 +2025-06-20 11:39:23.146 tcp_distance 1.988892 +2025-06-20 11:39:23.146 angle1_1 = -66.454491 angle2_1 = 86.491524 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-20 11:40:10.699 wait_stop in +2025-06-20 11:40:10.737 wait_stop out_0 +2025-06-20 11:40:10.789 30 30 30 30 +2025-06-20 11:40:10.790 new_movej_xyz_lr 275.779205 -133.157898 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:40:10.790 goal_angle -66.454506 86.491570 +2025-06-20 11:40:10.790 new_movej_angle -66.454506 86.491570 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:40:10.790 z1 -99.620598 z2 -97.620598 +2025-06-20 11:40:10.790 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-20 11:40:10.791 angle1_2 -66.454506 angle2_2 86.491570 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:40:10.791 speed 2.000000 +2025-06-20 11:40:10.791 tcp_distance 1.988892 +2025-06-20 11:40:10.791 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-20 11:40:10.791 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-20 11:40:10.792 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436 +2025-06-20 11:40:10.792 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:40:10.792 end_speed 2.000000 +2025-06-20 11:40:10.792 trail_number0.994446 +2025-06-20 11:40:10.792 tcp_distance 1.988892 +2025-06-20 11:40:10.793 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:40:15.288 wait_stop in +2025-06-20 11:40:15.326 wait_stop out_0 +2025-06-20 11:40:15.365 30 30 30 30 +2025-06-20 11:40:15.365 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:40:15.365 goal_angle -66.454506 86.491570 +2025-06-20 11:40:15.366 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:40:15.366 z1 -97.620598 z2 -99.620598 +2025-06-20 11:40:15.366 angle1_1 -66.454506 angle2_1 86.491570 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:40:15.366 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-20 11:40:15.366 speed 2.000000 +2025-06-20 11:40:15.366 tcp_distance 1.988892 +2025-06-20 11:40:15.367 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-20 11:40:15.367 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-20 11:40:15.367 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436 +2025-06-20 11:40:15.368 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:40:15.368 end_speed 2.000000 +2025-06-20 11:40:15.368 trail_number0.994446 +2025-06-20 11:40:15.368 tcp_distance 1.988892 +2025-06-20 11:40:15.369 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-20 11:41:09.468 30 30 30 30 +2025-06-20 11:41:09.468 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:41:09.469 goal_angle -46.207226 99.506226 +2025-06-20 11:41:09.469 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:41:09.469 z1 -99.620598 z2 -97.620598 +2025-06-20 11:41:09.469 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-20 11:41:09.470 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:41:09.470 speed 100.000000 +2025-06-20 11:41:09.470 tcp_distance 135.547607 +2025-06-20 11:41:09.470 new_end_speed 100.000000 j1_acc_t 0.677738 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.675541 +2025-06-20 11:41:09.470 new_end_speed 100.000000 j2_acc_t 0.677738 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.003363 +2025-06-20 11:41:09.470 new_end_speed 100.000000 j3_acc_t 0.677738 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 3.227648 +2025-06-20 11:41:09.470 new_end_speed 100.000000 j4_acc_t 0.677738 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:41:09.471 end_speed 100.000000 +2025-06-20 11:41:09.471 trail_number1.355476 +2025-06-20 11:41:09.471 tcp_distance 135.547607 +2025-06-20 11:41:09.471 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:41:17.121 wait_stop in +2025-06-20 11:41:17.153 wait_stop out_0 +2025-06-20 11:41:17.196 30 30 30 30 +2025-06-20 11:41:17.196 new_movej_xyz_lr 271.779297 1.546500 -99.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:41:17.196 goal_angle -46.207245 99.506226 +2025-06-20 11:41:17.196 new_movej_angle -46.207245 99.506226 -99.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:41:17.197 z1 -97.620598 z2 -99.620598 +2025-06-20 11:41:17.197 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:41:17.197 angle1_2 -46.207245 angle2_2 99.506226 z2 -99.620598 r2 -1005.468994 +2025-06-20 11:41:17.198 speed 2.000000 +2025-06-20 11:41:17.198 tcp_distance 1.988892 +2025-06-20 11:41:17.198 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000042 +2025-06-20 11:41:17.198 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-20 11:41:17.199 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399435 +2025-06-20 11:41:17.199 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:41:17.199 end_speed 2.000000 +2025-06-20 11:41:17.199 trail_number0.994446 +2025-06-20 11:41:17.199 tcp_distance 1.988892 +2025-06-20 11:41:17.201 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -46.207245 angle2_2 = 99.506226 z2 = -99.620598 r2 = -1005.468994 +2025-06-20 11:41:22.286 wait_stop in +2025-06-20 11:41:22.316 wait_stop out_0 +2025-06-20 11:41:22.350 30 30 30 30 +2025-06-20 11:41:22.350 new_movej_xyz_lr 271.779297 1.546300 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:41:22.350 goal_angle -46.207287 99.506226 +2025-06-20 11:41:22.350 new_movej_angle -46.207287 99.506226 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:41:22.351 z1 -99.620598 z2 -97.620598 +2025-06-20 11:41:22.351 angle1_1 -46.207245 angle2_1 99.506226 z1 -99.620598 r1 -1005.468994 +2025-06-20 11:41:22.351 angle1_2 -46.207287 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:41:22.351 speed 2.000000 +2025-06-20 11:41:22.351 tcp_distance 1.988893 +2025-06-20 11:41:22.351 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000092 +2025-06-20 11:41:22.351 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-20 11:41:22.351 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399430 +2025-06-20 11:41:22.352 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:41:22.352 end_speed 2.000000 +2025-06-20 11:41:22.352 trail_number0.994447 +2025-06-20 11:41:22.352 tcp_distance 1.988893 +2025-06-20 11:41:22.352 angle1_1 = -46.207245 angle2_1 = 99.506226 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -46.207287 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:41:26.716 30 30 30 30 +2025-06-20 11:41:26.716 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:41:26.716 goal_angle -46.207226 99.506226 +2025-06-20 11:41:26.717 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:41:27.133 30 30 30 30 +2025-06-20 11:41:27.134 new_movej_xyz_lr 271.779297 -137.158203 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:41:27.134 goal_angle -67.788826 87.214615 +2025-06-20 11:41:27.134 new_movej_angle -67.788826 87.214615 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:41:27.134 z1 -97.620598 z2 -97.620598 +2025-06-20 11:41:27.135 angle1_1 -46.207287 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:41:27.135 angle1_2 -67.788826 angle2_2 87.214615 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:41:27.135 speed 100.000000 +2025-06-20 11:41:27.135 tcp_distance 139.474014 +2025-06-20 11:41:27.135 new_end_speed 100.000000 j1_acc_t 0.697370 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.848335 +2025-06-20 11:41:27.135 new_end_speed 100.000000 j2_acc_t 0.697370 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 19.278078 +2025-06-20 11:41:27.135 new_end_speed 100.000000 j3_acc_t 0.697370 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:41:27.135 new_end_speed 100.000000 j4_acc_t 0.697370 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:41:27.135 end_speed 100.000000 +2025-06-20 11:41:27.137 trail_number1.394740 +2025-06-20 11:41:27.137 tcp_distance 139.474014 +2025-06-20 11:41:27.137 angle1_1 = -46.207287 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -67.788826 angle2_2 = 87.214615 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:41:44.835 SDK_VERSION_V2.0.0.29_Release +2025-06-20 11:41:44.835 robot connected +2025-06-20 11:41:44.835 26 +2025-06-20 11:41:44.836 current generation=26 +2025-06-20 11:41:45.349 0x1a +2025-06-20 11:41:46.227 initial joint2 2540312 +2025-06-20 11:41:46.227 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-20 11:41:46.228 robot WritePID +2025-06-20 11:41:46.534 initial joint1 -987246 +2025-06-20 11:41:46.579 initial joint2 2540312 +2025-06-20 11:41:46.625 initial joint3 -284350 +2025-06-20 11:41:46.673 initial joint4 -24030084 +2025-06-20 11:41:46.688 initial joint1 -987245 +2025-06-20 11:41:46.750 initial joint2 2540313 +2025-06-20 11:41:46.812 initial joint3 -284352 +2025-06-20 11:41:46.857 initial joint4 -24030085 +2025-06-20 11:41:46.873 initial joint1 -987245 +2025-06-20 11:41:46.918 initial joint2 2540314 +2025-06-20 11:41:46.965 initial joint3 -284354 +2025-06-20 11:41:47.011 initial joint4 -24030087 +2025-06-20 11:41:49.165 initial_thread initialized +2025-06-20 11:41:49.165 servo enable +2025-06-20 11:41:49.165 brake open +2025-06-20 11:41:49.165 set_brake_state 0 1 +2025-06-20 11:41:49.379 robot initialized +2025-06-20 11:41:49.964 get_scara_param -67.788597 87.214798 -97.625504 -1005.468872 +2025-06-20 11:41:49.965 get_scara_real_coor -67.788803 87.214798 -97.625198 -1005.469116 +2025-06-20 11:41:49.965 λɢ +2025-06-20 11:41:49.965 position -987243.000000 2540315.000000 -284354.875000 -24030088.000000 -672941.625000 2898329.000000 -288151.968750 -24732934.000000 +2025-06-20 11:41:49.965 speed 21581.361328 12291.434570 1303.628662 28956.363281 +2025-06-20 11:41:49.965 set_first_position_after_initial +2025-06-20 11:41:49.966 movej_old start_pos: -67.788597 87.214798 -97.625496 -1005.468872 end_pos: -67.788597 87.214798 -97.625389 -1005.468872 org_sp 10.000000 end_sp 0.432312 +2025-06-20 11:41:50.256 J3 Belt Meilage=40.936440km +2025-06-20 11:41:53.663 30 30 30 30 +2025-06-20 11:41:53.663 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:41:53.663 goal_angle -66.454506 86.491570 +2025-06-20 11:41:53.664 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:41:53.664 z1 -97.625389 z2 -99.620598 +2025-06-20 11:41:53.664 angle1_1 -67.788597 angle2_1 87.214798 z1 -97.625389 r1 -1005.468872 +2025-06-20 11:41:53.664 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-20 11:41:53.664 speed 100.000000 +2025-06-20 11:41:53.665 tcp_distance 5.963953 +2025-06-20 11:41:53.665 new_end_speed 27.738953 j1_acc_t 0.107501 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 13.573429 +2025-06-20 11:41:53.665 new_end_speed 27.738953 j2_acc_t 0.107501 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 7.358335 +2025-06-20 11:41:53.665 new_end_speed 27.738953 j3_acc_t 0.107501 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 20.299829 +2025-06-20 11:41:53.665 new_end_speed 27.738953 j4_acc_t 0.107501 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.001242 +2025-06-20 11:41:53.666 end_speed 27.738953 +2025-06-20 11:41:53.666 trail_number0.215003 +2025-06-20 11:41:53.666 tcp_distance 5.963953 +2025-06-20 11:41:53.666 angle1_1 = -67.788597 angle2_1 = 87.214798 z1 = -97.625389 r1 = -1005.468872 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-20 11:41:56.843 30 30 30 30 +2025-06-20 11:41:56.844 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:41:56.844 goal_angle -46.207226 99.506226 +2025-06-20 11:41:56.844 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:41:56.844 z1 -99.620598 z2 -97.620598 +2025-06-20 11:41:56.844 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-20 11:41:56.845 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:41:56.845 speed 100.000000 +2025-06-20 11:41:56.845 tcp_distance 135.547607 +2025-06-20 11:41:56.845 new_end_speed 100.000000 j1_acc_t 0.677738 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.675541 +2025-06-20 11:41:56.846 new_end_speed 100.000000 j2_acc_t 0.677738 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.003363 +2025-06-20 11:41:56.846 new_end_speed 100.000000 j3_acc_t 0.677738 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 3.227648 +2025-06-20 11:41:56.846 new_end_speed 100.000000 j4_acc_t 0.677738 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:41:56.846 end_speed 100.000000 +2025-06-20 11:41:56.846 trail_number1.355476 +2025-06-20 11:41:56.847 tcp_distance 135.547607 +2025-06-20 11:41:56.847 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:42:00.403 30 30 30 30 +2025-06-20 11:42:00.403 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:42:00.404 goal_angle -66.454506 86.491570 +2025-06-20 11:42:00.404 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:42:00.404 z1 -97.620598 z2 -99.620598 +2025-06-20 11:42:00.404 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:42:00.404 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-20 11:42:00.405 speed 100.000000 +2025-06-20 11:42:00.405 tcp_distance 135.464661 +2025-06-20 11:42:00.405 new_end_speed 100.000000 j1_acc_t 0.677323 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.695572 +2025-06-20 11:42:00.405 new_end_speed 100.000000 j2_acc_t 0.677323 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.016237 +2025-06-20 11:42:00.405 new_end_speed 100.000000 j3_acc_t 0.677323 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 3.229626 +2025-06-20 11:42:00.405 new_end_speed 100.000000 j4_acc_t 0.677323 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:42:00.406 end_speed 100.000000 +2025-06-20 11:42:00.406 trail_number1.354647 +2025-06-20 11:42:00.406 tcp_distance 135.464661 +2025-06-20 11:42:00.407 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-20 11:42:17.592 30 30 30 30 +2025-06-20 11:42:17.592 new_movej_xyz_lr 271.779297 -292.061096 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:42:17.593 goal_angle -64.397896 36.473431 +2025-06-20 11:42:17.593 new_movej_angle -64.397896 36.473431 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:42:17.593 z1 -99.620598 z2 -97.620598 +2025-06-20 11:42:17.593 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-20 11:42:17.593 angle1_2 -64.397896 angle2_2 36.473431 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:42:17.593 speed 100.000000 +2025-06-20 11:42:17.594 tcp_distance 163.022659 +2025-06-20 11:42:17.594 new_end_speed 100.000000 j1_acc_t 0.815113 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 2.759637 +2025-06-20 11:42:17.594 new_end_speed 100.000000 j2_acc_t 0.815113 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 67.116219 +2025-06-20 11:42:17.594 new_end_speed 100.000000 j3_acc_t 0.815113 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 2.683675 +2025-06-20 11:42:17.594 new_end_speed 100.000000 j4_acc_t 0.815113 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:42:17.594 end_speed 100.000000 +2025-06-20 11:42:17.595 trail_number1.630227 +2025-06-20 11:42:17.595 tcp_distance 163.022659 +2025-06-20 11:42:17.595 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -64.397896 angle2_2 = 36.473431 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:42:37.142 wait_stop in +2025-06-20 11:42:37.180 wait_stop out_0 +2025-06-20 11:42:37.249 30 30 30 30 +2025-06-20 11:42:37.249 new_movej_xyz_lr 269.779205 -292.061096 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:42:37.250 goal_angle -65.163048 37.643715 +2025-06-20 11:42:37.250 new_movej_angle -65.163048 37.643715 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:42:37.250 z1 -97.620598 z2 -97.620598 +2025-06-20 11:42:37.250 angle1_1 -64.397896 angle2_1 36.473431 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:42:37.250 angle1_2 -65.163048 angle2_2 37.643715 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:42:37.251 speed 2.000000 +2025-06-20 11:42:37.251 tcp_distance 1.988853 +2025-06-20 11:42:37.251 new_end_speed 2.000000 j1_acc_t 0.497213 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.683150 +2025-06-20 11:42:37.251 new_end_speed 2.000000 j2_acc_t 0.497213 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 2.574344 +2025-06-20 11:42:37.251 new_end_speed 2.000000 j3_acc_t 0.497213 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:42:37.251 new_end_speed 2.000000 j4_acc_t 0.497213 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:42:37.251 end_speed 2.000000 +2025-06-20 11:42:37.252 trail_number0.994427 +2025-06-20 11:42:37.252 tcp_distance 1.988853 +2025-06-20 11:42:37.252 angle1_1 = -64.397896 angle2_1 = 36.473431 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -65.163048 angle2_2 = 37.643715 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:42:37.854 wait_stop in +2025-06-20 11:42:37.958 30 30 30 30 +2025-06-20 11:42:37.958 new_movej_xyz_lr 267.779205 -292.061005 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:42:37.960 goal_angle -65.911194 38.775478 +2025-06-20 11:42:37.960 new_movej_angle -65.911194 38.775478 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:42:37.960 z1 -97.620598 z2 -97.620598 +2025-06-20 11:42:37.960 angle1_1 -65.163048 angle2_1 37.643715 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:42:37.960 angle1_2 -65.911194 angle2_2 38.775478 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:42:37.960 speed 2.000000 +2025-06-20 11:42:37.961 tcp_distance 1.988942 +2025-06-20 11:42:37.961 new_end_speed 2.000000 j1_acc_t 0.497235 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.645669 +2025-06-20 11:42:37.961 new_end_speed 2.000000 j2_acc_t 0.497235 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 2.489498 +2025-06-20 11:42:37.961 new_end_speed 2.000000 j3_acc_t 0.497235 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:42:37.961 new_end_speed 2.000000 j4_acc_t 0.497235 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:42:37.961 end_speed 2.000000 +2025-06-20 11:42:37.961 trail_number0.994471 +2025-06-20 11:42:37.962 tcp_distance 1.988942 +2025-06-20 11:42:38.284 angle1_1 = -65.163048 angle2_1 = 37.643715 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -65.911194 angle2_2 = 38.775478 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:42:38.914 wait_stop in +2025-06-20 11:42:39.008 30 30 30 30 +2025-06-20 11:42:39.008 new_movej_xyz_lr 267.779114 -294.061005 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:42:39.008 goal_angle -65.521179 37.540161 +2025-06-20 11:42:39.008 new_movej_angle -65.521179 37.540161 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:42:39.009 z1 -97.620598 z2 -97.620598 +2025-06-20 11:42:39.009 angle1_1 -65.911194 angle2_1 38.775478 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:42:39.009 angle1_2 -65.521179 angle2_2 37.540161 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:42:39.009 speed 2.000000 +2025-06-20 11:42:39.009 tcp_distance 1.988948 +2025-06-20 11:42:39.010 new_end_speed 2.000000 j1_acc_t 0.497237 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.857898 +2025-06-20 11:42:39.010 new_end_speed 2.000000 j2_acc_t 0.497237 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 2.717272 +2025-06-20 11:42:39.010 new_end_speed 2.000000 j3_acc_t 0.497237 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:42:39.010 new_end_speed 2.000000 j4_acc_t 0.497237 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:42:39.010 end_speed 2.000000 +2025-06-20 11:42:39.011 trail_number0.994474 +2025-06-20 11:42:39.011 tcp_distance 1.988948 +2025-06-20 11:42:39.306 angle1_1 = -65.911194 angle2_1 = 38.775478 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -65.521179 angle2_2 = 37.540161 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:42:39.398 wait_stop in +2025-06-20 11:42:39.503 30 30 30 30 +2025-06-20 11:42:39.503 new_movej_xyz_lr 267.780396 -295.934296 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:42:39.503 goal_angle -65.134750 36.342037 +2025-06-20 11:42:39.503 new_movej_angle -65.134750 36.342037 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:42:39.503 z1 -97.620598 z2 -97.620598 +2025-06-20 11:42:39.504 angle1_1 -65.521179 angle2_1 37.540161 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:42:39.504 angle1_2 -65.134750 angle2_2 36.342037 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:42:39.504 speed 2.000000 +2025-06-20 11:42:39.504 tcp_distance 1.863028 +2025-06-20 11:42:39.504 new_end_speed 2.000000 j1_acc_t 0.465757 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.907461 +2025-06-20 11:42:39.504 new_end_speed 2.000000 j2_acc_t 0.465757 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 2.813587 +2025-06-20 11:42:39.504 new_end_speed 2.000000 j3_acc_t 0.465757 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:42:39.504 new_end_speed 2.000000 j4_acc_t 0.465757 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:42:39.504 end_speed 2.000000 +2025-06-20 11:42:39.506 trail_number0.931514 +2025-06-20 11:42:39.506 tcp_distance 1.863028 +2025-06-20 11:42:40.322 angle1_1 = -65.521179 angle2_1 = 37.540161 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -65.134750 angle2_2 = 36.342037 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:42:41.309 wait_stop out_0 +2025-06-20 11:42:41.310 wait_stop out_0 +2025-06-20 11:42:41.310 wait_stop out_0 +2025-06-20 11:42:43.835 wait_stop in +2025-06-20 11:42:43.876 wait_stop out_0 +2025-06-20 11:42:43.935 30 30 30 30 +2025-06-20 11:42:43.935 new_movej_xyz_lr 269.780396 -295.934296 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:42:43.935 goal_angle -64.354889 35.143688 +2025-06-20 11:42:43.936 new_movej_angle -64.354889 35.143688 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:42:43.936 z1 -97.620598 z2 -97.620598 +2025-06-20 11:42:43.936 angle1_1 -65.134750 angle2_1 36.342037 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:42:43.936 angle1_2 -64.354889 angle2_2 35.143688 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:42:43.936 speed 2.000000 +2025-06-20 11:42:43.936 tcp_distance 1.988949 +2025-06-20 11:42:43.937 new_end_speed 2.000000 j1_acc_t 0.497237 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.715425 +2025-06-20 11:42:43.937 new_end_speed 2.000000 j2_acc_t 0.497237 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 2.635953 +2025-06-20 11:42:43.937 new_end_speed 2.000000 j3_acc_t 0.497237 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:42:43.937 new_end_speed 2.000000 j4_acc_t 0.497237 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:42:43.937 end_speed 2.000000 +2025-06-20 11:42:43.937 trail_number0.994475 +2025-06-20 11:42:43.938 tcp_distance 1.988949 +2025-06-20 11:42:43.938 angle1_1 = -65.134750 angle2_1 = 36.342037 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -64.354889 angle2_2 = 35.143688 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:42:44.302 wait_stop in +2025-06-20 11:42:44.393 30 30 30 30 +2025-06-20 11:42:44.393 new_movej_xyz_lr 271.780304 -295.934296 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:42:44.393 goal_angle -63.554447 33.899345 +2025-06-20 11:42:44.394 new_movej_angle -63.554447 33.899345 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:42:44.394 z1 -97.620598 z2 -97.620598 +2025-06-20 11:42:44.394 angle1_1 -64.354889 angle2_1 35.143688 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:42:44.394 angle1_2 -63.554447 angle2_2 33.899345 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:42:44.394 speed 2.000000 +2025-06-20 11:42:44.394 tcp_distance 1.988950 +2025-06-20 11:42:44.394 new_end_speed 2.000000 j1_acc_t 0.497238 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.760695 +2025-06-20 11:42:44.395 new_end_speed 2.000000 j2_acc_t 0.497238 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 2.737124 +2025-06-20 11:42:44.395 new_end_speed 2.000000 j3_acc_t 0.497238 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:42:44.395 new_end_speed 2.000000 j4_acc_t 0.497238 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:42:44.395 end_speed 2.000000 +2025-06-20 11:42:44.395 trail_number0.994475 +2025-06-20 11:42:44.395 tcp_distance 1.988950 +2025-06-20 11:42:44.971 angle1_1 = -64.354889 angle2_1 = 35.143688 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -63.554447 angle2_2 = 33.899345 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:42:46.024 wait_stop out_0 +2025-06-20 11:42:47.770 wait_stop in +2025-06-20 11:42:47.806 wait_stop out_0 +2025-06-20 11:42:47.863 30 30 30 30 +2025-06-20 11:42:47.863 new_movej_xyz_lr 273.780212 -295.934296 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:42:47.863 goal_angle -62.730896 32.603745 +2025-06-20 11:42:47.864 new_movej_angle -62.730896 32.603745 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:42:47.864 z1 -97.620598 z2 -97.620598 +2025-06-20 11:42:47.864 angle1_1 -63.554447 angle2_1 33.899345 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:42:47.864 angle1_2 -62.730896 angle2_2 32.603745 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:42:47.864 speed 2.000000 +2025-06-20 11:42:47.864 tcp_distance 1.988955 +2025-06-20 11:42:47.865 new_end_speed 2.000000 j1_acc_t 0.497239 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.811522 +2025-06-20 11:42:47.865 new_end_speed 2.000000 j2_acc_t 0.497239 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 2.849865 +2025-06-20 11:42:47.865 new_end_speed 2.000000 j3_acc_t 0.497239 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:42:47.865 new_end_speed 2.000000 j4_acc_t 0.497239 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:42:47.865 end_speed 2.000000 +2025-06-20 11:42:47.865 trail_number0.994478 +2025-06-20 11:42:47.865 tcp_distance 1.988955 +2025-06-20 11:42:47.866 angle1_1 = -63.554447 angle2_1 = 33.899345 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -62.730896 angle2_2 = 32.603745 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:42:48.187 wait_stop in +2025-06-20 11:42:48.278 30 30 30 30 +2025-06-20 11:42:48.278 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-20 11:42:48.278 goal_angle -61.881187 31.250517 +2025-06-20 11:42:48.278 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-20 11:42:48.279 z1 -97.620598 z2 -97.620598 +2025-06-20 11:42:48.279 angle1_1 -62.730896 angle2_1 32.603745 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:42:48.279 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:42:48.279 speed 2.000000 +2025-06-20 11:42:48.279 tcp_distance 1.989054 +2025-06-20 11:42:48.280 new_end_speed 2.000000 j1_acc_t 0.497264 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.868967 +2025-06-20 11:42:48.280 new_end_speed 2.000000 j2_acc_t 0.497264 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 2.976476 +2025-06-20 11:42:48.280 new_end_speed 2.000000 j3_acc_t 0.497264 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:42:48.280 new_end_speed 2.000000 j4_acc_t 0.497264 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:42:48.280 end_speed 2.000000 +2025-06-20 11:42:48.280 trail_number0.994527 +2025-06-20 11:42:48.281 tcp_distance 1.989054 +2025-06-20 11:42:48.885 angle1_1 = -62.730896 angle2_1 = 32.603745 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:42:49.935 wait_stop out_0 +2025-06-20 11:44:07.590 30 30 30 30 +2025-06-20 11:44:07.591 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:44:07.591 goal_angle -66.454506 86.491570 +2025-06-20 11:44:07.591 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:44:07.591 z1 -97.620598 z2 -99.620598 +2025-06-20 11:44:07.591 angle1_1 -61.881187 angle2_1 31.250517 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:44:07.592 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-20 11:44:07.592 speed 100.000000 +2025-06-20 11:44:07.592 tcp_distance 167.798187 +2025-06-20 11:44:07.592 new_end_speed 100.000000 j1_acc_t 0.838991 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.962006 +2025-06-20 11:44:07.592 new_end_speed 100.000000 j2_acc_t 0.838991 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 72.014984 +2025-06-20 11:44:07.592 new_end_speed 100.000000 j3_acc_t 0.838991 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 2.607300 +2025-06-20 11:44:07.593 new_end_speed 100.000000 j4_acc_t 0.838991 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:44:07.593 end_speed 100.000000 +2025-06-20 11:44:07.593 trail_number1.677982 +2025-06-20 11:44:07.593 tcp_distance 167.798187 +2025-06-20 11:44:07.594 angle1_1 = -61.881187 angle2_1 = 31.250517 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-20 11:44:12.097 30 30 30 30 +2025-06-20 11:44:12.097 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:44:12.097 goal_angle -46.207226 99.506226 +2025-06-20 11:44:12.098 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:44:12.098 z1 -99.620598 z2 -97.620598 +2025-06-20 11:44:12.098 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-20 11:44:12.098 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:44:12.098 speed 100.000000 +2025-06-20 11:44:12.098 tcp_distance 135.547607 +2025-06-20 11:44:12.099 new_end_speed 100.000000 j1_acc_t 0.677738 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.675541 +2025-06-20 11:44:12.099 new_end_speed 100.000000 j2_acc_t 0.677738 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.003363 +2025-06-20 11:44:12.099 new_end_speed 100.000000 j3_acc_t 0.677738 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 3.227648 +2025-06-20 11:44:12.099 new_end_speed 100.000000 j4_acc_t 0.677738 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:44:12.099 end_speed 100.000000 +2025-06-20 11:44:12.099 trail_number1.355476 +2025-06-20 11:44:12.100 tcp_distance 135.547607 +2025-06-20 11:44:12.100 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:44:17.219 30 30 30 30 +2025-06-20 11:44:17.219 new_movej_xyz_lr 271.779297 149.383698 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-20 11:44:17.219 goal_angle -11.173326 84.928253 +2025-06-20 11:44:17.219 new_movej_angle -11.173326 84.928253 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-20 11:44:17.220 z1 -97.620598 z2 -97.620598 +2025-06-20 11:44:17.220 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:44:17.220 angle1_2 -11.173326 angle2_2 84.928253 z2 -97.620598 r2 -1005.468994 +2025-06-20 11:44:17.220 speed 100.000000 +2025-06-20 11:44:17.220 tcp_distance 148.893738 +2025-06-20 11:44:17.220 new_end_speed 100.000000 j1_acc_t 0.744469 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.470680 +2025-06-20 11:44:17.221 new_end_speed 100.000000 j2_acc_t 0.744469 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.417490 +2025-06-20 11:44:17.221 new_end_speed 100.000000 j3_acc_t 0.744469 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-20 11:44:17.221 new_end_speed 100.000000 j4_acc_t 0.744469 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-20 11:44:17.221 end_speed 100.000000 +2025-06-20 11:44:17.221 trail_number1.488937 +2025-06-20 11:44:17.222 tcp_distance 148.893738 +2025-06-20 11:44:17.222 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -11.173326 angle2_2 = 84.928253 z2 = -97.620598 r2 = -1005.468994 +2025-06-20 11:44:22.280 30 30 30 30 +2025-06-20 11:44:22.280 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1 +2025-06-20 11:44:22.280 goal_angle -87.199585 152.604431 +2025-06-20 11:44:22.280 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000 +2025-06-20 11:44:22.280 z1 -97.620598 z2 -4.457100 +2025-06-20 11:44:22.281 angle1_1 -11.173326 angle2_1 84.928253 z1 -97.620598 r1 -1005.468994 +2025-06-20 11:44:22.281 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044 +2025-06-20 11:44:22.281 speed 100.000000 +2025-06-20 11:44:22.281 tcp_distance 293.312775 +2025-06-20 11:44:22.281 new_end_speed 100.000000 j1_acc_t 1.466564 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 56.699665 +2025-06-20 11:44:22.281 new_end_speed 100.000000 j2_acc_t 1.466564 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 50.472252 +2025-06-20 11:44:22.282 new_end_speed 100.000000 j3_acc_t 1.466564 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 69.480453 +2025-06-20 11:44:22.282 new_end_speed 100.000000 j4_acc_t 1.466564 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.743789 +2025-06-20 11:44:22.282 end_speed 100.000000 +2025-06-20 11:44:22.282 trail_number2.933128 +2025-06-20 11:44:22.282 tcp_distance 293.312775 +2025-06-20 11:44:22.283 angle1_1 = -11.173326 angle2_1 = 84.928253 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044 diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache index 8721999..c6b03f9 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache and b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe index 10a755b..415c058 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb index d059f67..5d41f6f 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb differ