增加相机画面和拍摄按钮
This commit is contained in:
@@ -93,6 +93,7 @@
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<Reference Include="System.Xml" />
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</ItemGroup>
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<ItemGroup>
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<Compile Include="CameraManager.cs" />
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<Compile Include="ShowForm.cs">
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<SubType>Form</SubType>
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</Compile>
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@@ -1,14 +1,16 @@
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using System;
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using MvCamCtrl.NET;
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using MvCameraControl;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using MvCamCtrl.NET;
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namespace HitBotCSharpDemo
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{
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public class CameraManager
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{
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}
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}
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69
HitBotCSharpDemo/ShowForm.Designer.cs
generated
69
HitBotCSharpDemo/ShowForm.Designer.cs
generated
@@ -103,6 +103,8 @@
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this.btn_Pause = new System.Windows.Forms.Button();
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this.btn_Start = new System.Windows.Forms.Button();
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this.tap_Cam = new System.Windows.Forms.TabPage();
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this.cam_feed = new System.Windows.Forms.PictureBox();
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this.cam_shooting = new System.Windows.Forms.Button();
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this.init_pos_btn = new System.Windows.Forms.Button();
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this.cam_btn_4 = new System.Windows.Forms.Button();
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this.cam_btn_3 = new System.Windows.Forms.Button();
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@@ -113,9 +115,6 @@
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this.lbl_Refresh_ID = new System.Windows.Forms.Label();
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this.tim_IO_Refresh = new System.Windows.Forms.Timer(this.components);
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this.rit_Coord = new System.Windows.Forms.RichTextBox();
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this.cam_connected = new System.Windows.Forms.Button();
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this.cam_shooting = new System.Windows.Forms.Button();
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this.cam_feed = new System.Windows.Forms.PictureBox();
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this.tac_MainForm.SuspendLayout();
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this.tap_Axis.SuspendLayout();
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this.grb_R.SuspendLayout();
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@@ -129,8 +128,8 @@
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this.grb_joint_origin.SuspendLayout();
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this.tap_Move.SuspendLayout();
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this.tap_Cam.SuspendLayout();
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this.panel1.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)(this.cam_feed)).BeginInit();
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this.panel1.SuspendLayout();
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this.SuspendLayout();
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//
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// btn_Init
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@@ -994,7 +993,6 @@
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//
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this.tap_Cam.Controls.Add(this.cam_feed);
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this.tap_Cam.Controls.Add(this.cam_shooting);
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this.tap_Cam.Controls.Add(this.cam_connected);
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this.tap_Cam.Controls.Add(this.init_pos_btn);
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this.tap_Cam.Controls.Add(this.cam_btn_4);
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this.tap_Cam.Controls.Add(this.cam_btn_3);
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@@ -1008,9 +1006,28 @@
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this.tap_Cam.Text = "相机点位";
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this.tap_Cam.UseVisualStyleBackColor = true;
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//
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// cam_feed
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//
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this.cam_feed.Location = new System.Drawing.Point(426, 52);
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this.cam_feed.Name = "cam_feed";
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this.cam_feed.Size = new System.Drawing.Size(675, 552);
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this.cam_feed.TabIndex = 8;
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this.cam_feed.TabStop = false;
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this.cam_feed.Click += new System.EventHandler(this.cam_feed_Click);
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//
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// cam_shooting
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//
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this.cam_shooting.Location = new System.Drawing.Point(743, 639);
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this.cam_shooting.Name = "cam_shooting";
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this.cam_shooting.Size = new System.Drawing.Size(128, 43);
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this.cam_shooting.TabIndex = 7;
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this.cam_shooting.Text = "拍摄";
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this.cam_shooting.UseVisualStyleBackColor = true;
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this.cam_shooting.Click += new System.EventHandler(this.button1_Click_1);
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//
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// init_pos_btn
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//
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this.init_pos_btn.Location = new System.Drawing.Point(222, 470);
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this.init_pos_btn.Location = new System.Drawing.Point(122, 492);
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this.init_pos_btn.Name = "init_pos_btn";
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this.init_pos_btn.Size = new System.Drawing.Size(128, 43);
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this.init_pos_btn.TabIndex = 4;
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@@ -1020,7 +1037,7 @@
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//
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// cam_btn_4
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//
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this.cam_btn_4.Location = new System.Drawing.Point(222, 383);
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this.cam_btn_4.Location = new System.Drawing.Point(122, 373);
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this.cam_btn_4.Name = "cam_btn_4";
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this.cam_btn_4.Size = new System.Drawing.Size(128, 43);
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this.cam_btn_4.TabIndex = 3;
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@@ -1030,7 +1047,7 @@
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//
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// cam_btn_3
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//
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this.cam_btn_3.Location = new System.Drawing.Point(222, 289);
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this.cam_btn_3.Location = new System.Drawing.Point(122, 274);
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this.cam_btn_3.Name = "cam_btn_3";
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this.cam_btn_3.Size = new System.Drawing.Size(128, 43);
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this.cam_btn_3.TabIndex = 2;
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@@ -1040,7 +1057,7 @@
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//
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// cam_btn_2
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//
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this.cam_btn_2.Location = new System.Drawing.Point(222, 201);
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this.cam_btn_2.Location = new System.Drawing.Point(122, 175);
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this.cam_btn_2.Name = "cam_btn_2";
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this.cam_btn_2.Size = new System.Drawing.Size(128, 43);
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this.cam_btn_2.TabIndex = 1;
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@@ -1050,7 +1067,7 @@
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//
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// cam_btn_1
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//
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this.cam_btn_1.Location = new System.Drawing.Point(222, 117);
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this.cam_btn_1.Location = new System.Drawing.Point(122, 79);
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this.cam_btn_1.Name = "cam_btn_1";
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this.cam_btn_1.Size = new System.Drawing.Size(128, 43);
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this.cam_btn_1.TabIndex = 0;
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@@ -1104,35 +1121,6 @@
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this.rit_Coord.Text = "";
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this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged);
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//
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// cam_connected
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//
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this.cam_connected.Location = new System.Drawing.Point(796, 470);
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this.cam_connected.Name = "cam_connected";
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this.cam_connected.Size = new System.Drawing.Size(130, 43);
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this.cam_connected.TabIndex = 6;
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this.cam_connected.Text = "摄像头链接";
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this.cam_connected.UseVisualStyleBackColor = true;
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this.cam_connected.Click += new System.EventHandler(this.button2_Click_1);
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//
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// cam_shooting
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//
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this.cam_shooting.Location = new System.Drawing.Point(626, 470);
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this.cam_shooting.Name = "cam_shooting";
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this.cam_shooting.Size = new System.Drawing.Size(128, 43);
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this.cam_shooting.TabIndex = 7;
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this.cam_shooting.Text = "拍摄";
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this.cam_shooting.UseVisualStyleBackColor = true;
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this.cam_shooting.Click += new System.EventHandler(this.button1_Click_1);
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//
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// cam_feed
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//
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this.cam_feed.Location = new System.Drawing.Point(598, 117);
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this.cam_feed.Name = "cam_feed";
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this.cam_feed.Size = new System.Drawing.Size(357, 318);
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this.cam_feed.TabIndex = 8;
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this.cam_feed.TabStop = false;
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this.cam_feed.Click += new System.EventHandler(this.cam_feed_Click);
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//
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// ShowForm
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//
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this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F);
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@@ -1172,8 +1160,8 @@
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this.tap_Move.ResumeLayout(false);
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this.tap_Move.PerformLayout();
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this.tap_Cam.ResumeLayout(false);
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this.panel1.ResumeLayout(false);
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((System.ComponentModel.ISupportInitialize)(this.cam_feed)).EndInit();
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this.panel1.ResumeLayout(false);
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this.ResumeLayout(false);
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this.PerformLayout();
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@@ -1264,7 +1252,6 @@
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private System.Windows.Forms.Button cam_btn_2;
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private System.Windows.Forms.Button cam_btn_1;
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private System.Windows.Forms.Button init_pos_btn;
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private System.Windows.Forms.Button cam_connected;
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private System.Windows.Forms.Button cam_shooting;
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private System.Windows.Forms.PictureBox cam_feed;
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}
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@@ -1,11 +1,13 @@
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using System;
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using ControlBeanExDll;
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using MvCamCtrl.NET;
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using MvCameraControl;
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.IO;
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using System.Threading;
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using System.Windows.Forms;
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using ControlBeanExDll;
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using TcpserverExDll;
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using MvCamCtrl.NET;
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namespace HitBotCSharpDemo
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{
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public partial class ShowForm : Form
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@@ -15,7 +17,7 @@ namespace HitBotCSharpDemo
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bool isInit = false;
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Button btn;//声明按钮对象。
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Label lbl;
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int offset = 1;//寸动距离
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int offset = 2;//寸动距离
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int offset_jog = 2;//连续移动单次距离
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static int io_Count = 6;//IO数量
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int[] io_In = new int[io_Count];
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@@ -37,7 +39,19 @@ namespace HitBotCSharpDemo
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Thread thread_PosMove;
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private float[][] cameraPositions;
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private string filePath = "Cam_pos_path.txt";
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private string configFilePath = "Camera_config.txt";
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readonly DeviceTLayerType enumTLayerType = DeviceTLayerType.MvGigEDevice | DeviceTLayerType.MvUsbDevice
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| DeviceTLayerType.MvGenTLGigEDevice | DeviceTLayerType.MvGenTLCXPDevice | DeviceTLayerType.MvGenTLCameraLinkDevice | DeviceTLayerType.MvGenTLXoFDevice;
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List<IDeviceInfo> deviceInfoList = new List<IDeviceInfo>();
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IDevice device = null;
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bool isGrabbing = false;
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Thread receiveThread = null;
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private IFrameOut frameForSave;
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private readonly object saveImageLock = new object();
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// 添加曝光参数控制变量
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private float currentExposure = 10000f; // 默认曝光时间
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private float currentGain = 0f; // 默认增益
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private ControlBeanEx robot;
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public ShowForm()
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@@ -45,6 +59,311 @@ namespace HitBotCSharpDemo
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InitializeComponent();
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TcpserverEx.net_port_initial();
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robot = TcpserverEx.get_robot(74);//替换为自己的机器的id号
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// 初始化SDK
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SDKSystem.Initialize();
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// 初始化相机
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//InitializeCamera();
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Control.CheckForIllegalCrossThreadCalls = false;
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}
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private void InitializeCamera()
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{
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// 枚举设备
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int nRet = DeviceEnumerator.EnumDevices(enumTLayerType, out deviceInfoList);
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if (nRet != MvError.MV_OK)
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{
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MessageBox.Show($"枚举设备失败!,{ nRet}");
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return;
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}
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// 如果有设备，自动连接第一个
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if (deviceInfoList.Count > 0)
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{
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ConnectFirstCamera();
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}
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}
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private void ConnectFirstCamera()
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{
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try
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{
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// 创建设备
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IDeviceInfo deviceInfo = deviceInfoList[0];
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device = DeviceFactory.CreateDevice(deviceInfo);
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// 打开设备
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int result = device.Open();
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if (result != MvError.MV_OK)
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{
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MessageBox.Show($"打开设备失败!,{result}");
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return;
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}
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// GigE设备优化
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if (device is IGigEDevice)
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{
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IGigEDevice gigEDevice = device as IGigEDevice;
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int optionPacketSize;
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result = gigEDevice.GetOptimalPacketSize(out optionPacketSize);
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if (result == MvError.MV_OK)
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{
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device.Parameters.SetIntValue("GevSCPSPacketSize", (long)optionPacketSize);
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}
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}
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// 设置采集模式
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device.Parameters.SetEnumValueByString("AcquisitionMode", "Continuous");
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device.Parameters.SetEnumValueByString("TriggerMode", "Off");
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SetCameraParameters(currentExposure, currentGain);
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// 启动图像采集
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StartGrabbing();
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}
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catch (Exception ex)
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{
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MessageBox.Show("连接相机失败: " + ex.Message);
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}
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}
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private void StartGrabbing()
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{
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if (device == null) return;
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try
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{
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isGrabbing = true;
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receiveThread = new Thread(ReceiveThreadProcess);
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receiveThread.Start();
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// 开始采集
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int result = device.StreamGrabber.StartGrabbing();
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if (result != MvError.MV_OK)
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{
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isGrabbing = false;
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receiveThread.Join();
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MessageBox.Show("开始采集失败!" + result);
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return;
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}
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}
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catch (Exception ex)
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{
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MessageBox.Show("启动采集线程失败: " + ex.Message);
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}
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}
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public void ReceiveThreadProcess()
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{
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while (isGrabbing)
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{
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IFrameOut frameOut;
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int nRet = device.StreamGrabber.GetImageBuffer(1000, out frameOut);
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if (MvError.MV_OK == nRet)
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{
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// 保存帧信息用于拍照
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lock (saveImageLock)
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{
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if (frameForSave != null)
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{
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frameForSave.Dispose();
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}
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frameForSave = frameOut.Clone() as IFrameOut;
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}
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// 显示图像到PictureBox
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try
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{
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if (cam_feed.IsHandleCreated)
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{
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device.ImageRender.DisplayOneFrame(cam_feed.Handle, frameOut.Image);
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}
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}
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catch (Exception ex)
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{
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// 处理显示异常
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Console.WriteLine("显示图像异常: " + ex.Message);
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}
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device.StreamGrabber.FreeImageBuffer(frameOut);
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}
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else
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{
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Thread.Sleep(5);
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}
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}
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}
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private void LoadCameraConfig()
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{
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try
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{
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if (File.Exists(configFilePath))
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{
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string[] lines = File.ReadAllLines(configFilePath);
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foreach (string line in lines)
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{
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if (line.StartsWith("Exposure="))
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{
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if (float.TryParse(line.Substring(9), out float exposure))
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currentExposure = exposure;
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}
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else if (line.StartsWith("Gain="))
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{
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if (float.TryParse(line.Substring(5), out float gain))
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currentGain = gain;
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}
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}
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}
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}
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catch (Exception ex)
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{
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Console.WriteLine("加载相机配置失败: " + ex.Message);
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}
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}
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private void SaveCameraConfig()
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{
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try
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{
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string[] config = new string[]
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{
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$"Exposure={currentExposure}",
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$"Gain={currentGain}"
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};
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File.WriteAllLines(configFilePath, config);
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}
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catch (Exception ex)
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{
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Console.WriteLine("保存相机配置失败: " + ex.Message);
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}
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}
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private void TakePhoto()
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{
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if (frameForSave == null)
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{
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MessageBox.Show("没有可用的图像数据！");
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return;
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}
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try
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{
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string fileName = "Photo_" + DateTime.Now.ToString("yyyyMMdd_HHmmss") + ".jpg";
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ImageFormatInfo imageFormatInfo = new ImageFormatInfo();
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imageFormatInfo.FormatType = ImageFormatType.Jpeg;
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imageFormatInfo.JpegQuality = 90;
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lock (saveImageLock)
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{
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int result = device.ImageSaver.SaveImageToFile(fileName, frameForSave.Image, imageFormatInfo, CFAMethod.Optimal);
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if (result == MvError.MV_OK)
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{
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MessageBox.Show($"照片已保存: {fileName}");
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}
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else
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{
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MessageBox.Show("保存照片失败!"+ result);
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}
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}
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}
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catch (Exception ex)
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{
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MessageBox.Show("拍照失败: " + ex.Message);
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}
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}
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private void ShowCameraParameterDialog()
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{
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if (device == null)
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{
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MessageBox.Show("相机未连接！");
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return;
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}
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// 创建参数调整窗体
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using (Form paramForm = new Form())
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||||
{
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paramForm.Text = "相机参数设置";
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||||
paramForm.Size = new Size(300, 200);
|
||||
paramForm.StartPosition = FormStartPosition.CenterParent;
|
||||
// 曝光时间设置
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||||
Label lblExposure = new Label() { Text = "曝光时间:", Location = new Point(10, 20), Size = new Size(80, 20) };
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||||
TextBox txtExposure = new TextBox() { Location = new Point(100, 18), Size = new Size(100, 20), Text = currentExposure.ToString() };
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||||
// 增益设置
|
||||
Label lblGain = new Label() { Text = "增益:", Location = new Point(10, 50), Size = new Size(80, 20) };
|
||||
TextBox txtGain = new TextBox() { Location = new Point(100, 48), Size = new Size(100, 20), Text = currentGain.ToString() };
|
||||
// 确定按钮
|
||||
Button btnOK = new Button() { Text = "应用", Location = new Point(50, 100), Size = new Size(60, 30) };
|
||||
btnOK.Click += (s, e) => {
|
||||
try
|
||||
{
|
||||
float exposure = float.Parse(txtExposure.Text);
|
||||
float gain = float.Parse(txtGain.Text);
|
||||
|
||||
SetCameraParameters(exposure, gain);
|
||||
paramForm.Close();
|
||||
}
|
||||
catch
|
||||
{
|
||||
MessageBox.Show("请输入正确的数值！");
|
||||
}
|
||||
};
|
||||
// 取消按钮
|
||||
Button btnCancel = new Button() { Text = "取消", Location = new Point(130, 100), Size = new Size(60, 30) };
|
||||
btnCancel.Click += (s, e) => paramForm.Close();
|
||||
paramForm.Controls.AddRange(new Control[] { lblExposure, txtExposure, lblGain, txtGain, btnOK, btnCancel });
|
||||
paramForm.ShowDialog(this);
|
||||
}
|
||||
}
|
||||
|
||||
private void SetCameraParameters(float exposure, float gain)
|
||||
{
|
||||
if (device == null) return;
|
||||
try
|
||||
{
|
||||
// 设置曝光时间
|
||||
device.Parameters.SetEnumValue("ExposureAuto", 0); // 关闭自动曝光
|
||||
int result = device.Parameters.SetFloatValue("ExposureTime", exposure);
|
||||
if (result != MvError.MV_OK)
|
||||
{
|
||||
MessageBox.Show("设置曝光时间失败!"+ result);
|
||||
return;
|
||||
}
|
||||
// 设置增益
|
||||
device.Parameters.SetEnumValue("GainAuto", 0); // 关闭自动增益
|
||||
result = device.Parameters.SetFloatValue("Gain", gain);
|
||||
if (result != MvError.MV_OK)
|
||||
{
|
||||
MessageBox.Show("设置增益失败!"+result);
|
||||
return;
|
||||
}
|
||||
currentExposure = exposure;
|
||||
currentGain = gain;
|
||||
SaveCameraConfig();
|
||||
|
||||
//MessageBox.Show("参数设置成功！");
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
MessageBox.Show("设置参数失败: " + ex.Message);
|
||||
}
|
||||
}
|
||||
protected override void OnFormClosing(FormClosingEventArgs e)
|
||||
{
|
||||
// 停止采集
|
||||
if (isGrabbing)
|
||||
{
|
||||
isGrabbing = false;
|
||||
if (receiveThread != null && receiveThread.IsAlive)
|
||||
{
|
||||
receiveThread.Join();
|
||||
}
|
||||
}
|
||||
// 关闭设备
|
||||
if (device != null)
|
||||
{
|
||||
device.StreamGrabber.StopGrabbing();
|
||||
device.Close();
|
||||
device.Dispose();
|
||||
device = null;
|
||||
}
|
||||
// 释放帧缓存
|
||||
lock (saveImageLock)
|
||||
{
|
||||
if (frameForSave != null)
|
||||
{
|
||||
frameForSave.Dispose();
|
||||
frameForSave = null;
|
||||
}
|
||||
}
|
||||
// 终结SDK
|
||||
SDKSystem.Finalize();
|
||||
|
||||
base.OnFormClosing(e);
|
||||
}
|
||||
private void LoadCameraPositions()
|
||||
{
|
||||
@@ -153,6 +472,8 @@ namespace HitBotCSharpDemo
|
||||
lbl_Current_Input = new Label[] { lbl_InputState_0, lbl_InputState_1, lbl_InputState_2, lbl_InputState_3, lbl_InputState_4, lbl_InputState_5 };//输入信号数组
|
||||
lbl_Current_Output = new Label[] { lbl_OutputState_0, lbl_OutputState_1, lbl_OutputState_2, lbl_OutputState_3, lbl_OutputState_4, lbl_OutputState_5 };//输出信号数组
|
||||
LoadCameraPositions();
|
||||
LoadCameraConfig();
|
||||
InitializeCamera();
|
||||
}
|
||||
|
||||
private void cob_Robot_ID_Click(object sender, EventArgs e)
|
||||
@@ -617,24 +938,17 @@ namespace HitBotCSharpDemo
|
||||
|
||||
private void button2_Click_1(object sender, EventArgs e)
|
||||
{
|
||||
// 测试1：枚举设备
|
||||
MyCamera.MV_CC_DEVICE_INFO_LIST deviceList = new MyCamera.MV_CC_DEVICE_INFO_LIST();
|
||||
int nRet = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE, ref deviceList);
|
||||
|
||||
//MessageBox.Show($"SDK初始化成功！返回值: {nRet}");
|
||||
MessageBox.Show($"发现设备数量: {deviceList.nDeviceNum}");
|
||||
|
||||
|
||||
}
|
||||
|
||||
private void button1_Click_1(object sender, EventArgs e)
|
||||
{
|
||||
|
||||
TakePhoto();
|
||||
}
|
||||
|
||||
private void cam_feed_Click(object sender, EventArgs e)
|
||||
{
|
||||
|
||||
ShowCameraParameterDialog();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -121,7 +121,7 @@
|
||||
<value>17, 17</value>
|
||||
</metadata>
|
||||
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
|
||||
<value>39</value>
|
||||
<value>25</value>
|
||||
</metadata>
|
||||
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
|
||||
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
|
||||
2
HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt
Normal file
2
HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt
Normal file
@@ -0,0 +1,2 @@
|
||||
Exposure=60000
|
||||
Gain=2
|
||||
Binary file not shown.
Binary file not shown.
BIN
HitBotCSharpDemo/bin/x64/Debug/Photo_20250610_103512.jpg
Normal file
BIN
HitBotCSharpDemo/bin/x64/Debug/Photo_20250610_103512.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 1.1 MiB |
@@ -849,3 +849,979 @@
|
||||
2025-06-09 11:50:02.236 trail_number2.887374
|
||||
2025-06-09 11:50:02.236 tcp_distance 288.737366
|
||||
2025-06-09 11:50:02.236 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-09 16:16:35.906 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-09 16:16:35.907 robot connected
|
||||
2025-06-09 16:16:35.907 26
|
||||
2025-06-09 16:16:35.908 current generation=26
|
||||
2025-06-09 16:16:36.410 0x1a
|
||||
2025-06-09 16:16:37.276 initial joint2 4444932
|
||||
2025-06-09 16:16:37.276 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-09 16:16:37.276 robot WritePID
|
||||
2025-06-09 16:16:37.584 initial joint1 -1269935
|
||||
2025-06-09 16:16:37.636 initial joint2 4444932
|
||||
2025-06-09 16:16:37.673 initial joint3 -12993
|
||||
2025-06-09 16:16:37.701 initial joint4 -25056187
|
||||
2025-06-09 16:16:37.723 initial joint1 -1269935
|
||||
2025-06-09 16:16:37.777 initial joint2 4444934
|
||||
2025-06-09 16:16:37.810 initial joint3 -12993
|
||||
2025-06-09 16:16:37.857 initial joint4 -25056190
|
||||
2025-06-09 16:16:37.874 initial joint1 -1269935
|
||||
2025-06-09 16:16:37.914 initial joint2 4444936
|
||||
2025-06-09 16:16:37.952 initial joint3 -12993
|
||||
2025-06-09 16:16:37.980 initial joint4 -25056191
|
||||
2025-06-09 16:16:40.065 initial_thread initialized
|
||||
2025-06-09 16:16:40.065 servo enable
|
||||
2025-06-09 16:16:40.065 brake open
|
||||
2025-06-09 16:16:40.065 set_brake_state 0 1
|
||||
2025-06-09 16:16:40.272 robot initialized
|
||||
2025-06-09 16:16:40.871 get_scara_param -87.199501 152.604797 -4.460700 -1027.919922
|
||||
2025-06-09 16:16:40.871 get_scara_real_coor -87.199501 152.604797 -4.461100 -1027.920044
|
||||
2025-06-09 16:16:40.871 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-09 16:16:40.871 position -1269934.750000 4444937.000000 -12992.730469 -25056190.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-09 16:16:40.872 speed 87199.500000 152604.796875 4460.700195 1032283.312500
|
||||
2025-06-09 16:16:40.872 set_first_position_after_initial
|
||||
2025-06-09 16:16:40.872 movej_old start_pos: -87.199501 152.604797 -4.460700 -1027.919922 end_pos: -87.199501 152.604797 -4.460700 -1027.919922 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-09 16:16:41.192 J3 Belt Meilage=40.889694km
|
||||
2025-06-09 16:16:45.161 30 30 30 30
|
||||
2025-06-09 16:16:45.161 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:16:45.161 goal_angle -60.720737 27.061800
|
||||
2025-06-09 16:16:45.161 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:16:45.161 z1 -4.460700 z2 -75.466103
|
||||
2025-06-09 16:16:45.161 angle1_1 -87.199501 angle2_1 152.604797 z1 -4.460700 r1 -1027.919922
|
||||
2025-06-09 16:16:45.161 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:16:45.161 speed 100.000000
|
||||
2025-06-09 16:16:45.161 tcp_distance 361.527252
|
||||
2025-06-09 16:16:45.161 new_end_speed 100.000000 j1_acc_t 1.807636 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.021570
|
||||
2025-06-09 16:16:45.161 new_end_speed 100.000000 j2_acc_t 1.807636 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.962601
|
||||
2025-06-09 16:16:45.161 new_end_speed 100.000000 j3_acc_t 1.807636 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 42.963409
|
||||
2025-06-09 16:16:45.161 new_end_speed 100.000000 j4_acc_t 1.807636 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.431940
|
||||
2025-06-09 16:16:45.161 end_speed 100.000000
|
||||
2025-06-09 16:16:45.161 trail_number3.615273
|
||||
2025-06-09 16:16:45.161 tcp_distance 361.527252
|
||||
2025-06-09 16:16:45.161 angle1_1 = -87.199501 angle2_1 = 152.604797 z1 = -4.460700 r1 = -1027.919922 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:16:48.416 30 30 30 30
|
||||
2025-06-09 16:16:48.416 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:16:48.416 goal_angle -67.226128 86.401024
|
||||
2025-06-09 16:16:48.416 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:16:48.417 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:16:48.417 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:16:48.417 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:16:48.417 speed 100.000000
|
||||
2025-06-09 16:16:48.417 tcp_distance 171.494293
|
||||
2025-06-09 16:16:48.417 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
|
||||
2025-06-09 16:16:48.423 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
|
||||
2025-06-09 16:16:48.423 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:16:48.424 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:16:48.424 end_speed 100.000000
|
||||
2025-06-09 16:16:48.424 trail_number1.714943
|
||||
2025-06-09 16:16:48.424 tcp_distance 171.494293
|
||||
2025-06-09 16:16:48.819 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:16:50.506 30 30 30 30
|
||||
2025-06-09 16:16:50.506 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:16:50.506 goal_angle -44.911705 98.661697
|
||||
2025-06-09 16:16:50.506 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:16:50.506 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:16:50.506 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:16:50.506 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:16:50.506 speed 100.000000
|
||||
2025-06-09 16:16:50.506 tcp_distance 144.069748
|
||||
2025-06-09 16:16:50.506 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||||
2025-06-09 16:16:50.506 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||||
2025-06-09 16:16:50.506 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:16:50.508 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:16:50.508 end_speed 100.000000
|
||||
2025-06-09 16:16:50.508 trail_number1.440697
|
||||
2025-06-09 16:16:50.508 tcp_distance 144.069748
|
||||
2025-06-09 16:16:50.576 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:16:51.962 30 30 30 30
|
||||
2025-06-09 16:16:51.962 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:16:51.962 goal_angle -11.002804 84.112190
|
||||
2025-06-09 16:16:51.962 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:16:51.962 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:16:51.962 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:16:51.962 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:16:51.962 speed 100.000000
|
||||
2025-06-09 16:16:51.962 tcp_distance 144.322098
|
||||
2025-06-09 16:16:51.962 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||||
2025-06-09 16:16:51.962 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||||
2025-06-09 16:16:51.962 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:16:51.962 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:16:51.974 end_speed 100.000000
|
||||
2025-06-09 16:16:51.974 trail_number1.443221
|
||||
2025-06-09 16:16:51.974 tcp_distance 144.322098
|
||||
2025-06-09 16:16:52.069 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:16:53.564 30 30 30 30
|
||||
2025-06-09 16:16:53.564 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-09 16:16:53.564 goal_angle -87.199585 152.604431
|
||||
2025-06-09 16:16:53.564 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-09 16:16:53.564 z1 -75.466103 z2 -4.457100
|
||||
2025-06-09 16:16:53.564 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:16:53.564 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-09 16:16:53.564 speed 100.000000
|
||||
2025-06-09 16:16:53.564 tcp_distance 288.737366
|
||||
2025-06-09 16:16:53.564 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
|
||||
2025-06-09 16:16:53.564 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
|
||||
2025-06-09 16:16:53.564 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
|
||||
2025-06-09 16:16:53.564 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
|
||||
2025-06-09 16:16:53.564 end_speed 100.000000
|
||||
2025-06-09 16:16:53.564 trail_number2.887374
|
||||
2025-06-09 16:16:53.564 tcp_distance 288.737366
|
||||
2025-06-09 16:16:53.564 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-09 16:17:13.444 30 30 30 30
|
||||
2025-06-09 16:17:13.444 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:17:13.444 goal_angle -60.720737 27.061800
|
||||
2025-06-09 16:17:13.444 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:17:13.444 z1 -4.457100 z2 -75.466103
|
||||
2025-06-09 16:17:13.444 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-09 16:17:13.444 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:13.446 speed 100.000000
|
||||
2025-06-09 16:17:13.446 tcp_distance 361.526031
|
||||
2025-06-09 16:17:13.446 new_end_speed 100.000000 j1_acc_t 1.807630 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.021664
|
||||
2025-06-09 16:17:13.446 new_end_speed 100.000000 j2_acc_t 1.807630 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.962593
|
||||
2025-06-09 16:17:13.446 new_end_speed 100.000000 j3_acc_t 1.807630 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 42.965706
|
||||
2025-06-09 16:17:13.446 new_end_speed 100.000000 j4_acc_t 1.807630 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.432059
|
||||
2025-06-09 16:17:13.446 end_speed 100.000000
|
||||
2025-06-09 16:17:13.446 trail_number3.615260
|
||||
2025-06-09 16:17:13.446 tcp_distance 361.526031
|
||||
2025-06-09 16:17:13.446 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:16.949 30 30 30 30
|
||||
2025-06-09 16:17:16.952 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:17:16.952 goal_angle -67.226128 86.401024
|
||||
2025-06-09 16:17:16.952 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:17:16.952 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:17:16.952 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:17:16.952 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:16.952 speed 100.000000
|
||||
2025-06-09 16:17:16.952 tcp_distance 171.494293
|
||||
2025-06-09 16:17:16.952 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
|
||||
2025-06-09 16:17:16.952 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
|
||||
2025-06-09 16:17:16.953 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:17:16.953 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:17:16.953 end_speed 100.000000
|
||||
2025-06-09 16:17:16.953 trail_number1.714943
|
||||
2025-06-09 16:17:16.953 tcp_distance 171.494293
|
||||
2025-06-09 16:17:17.100 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:19.336 30 30 30 30
|
||||
2025-06-09 16:17:19.336 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:17:19.336 goal_angle -44.911705 98.661697
|
||||
2025-06-09 16:17:19.336 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:17:19.336 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:17:19.336 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:17:19.336 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:19.336 speed 100.000000
|
||||
2025-06-09 16:17:19.336 tcp_distance 144.069748
|
||||
2025-06-09 16:17:19.336 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||||
2025-06-09 16:17:19.336 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||||
2025-06-09 16:17:19.336 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:17:19.336 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:17:19.336 end_speed 100.000000
|
||||
2025-06-09 16:17:19.336 trail_number1.440697
|
||||
2025-06-09 16:17:19.336 tcp_distance 144.069748
|
||||
2025-06-09 16:17:19.336 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:20.764 30 30 30 30
|
||||
2025-06-09 16:17:20.764 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:17:20.764 goal_angle -11.002804 84.112190
|
||||
2025-06-09 16:17:20.764 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:17:20.764 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:17:20.764 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:17:20.764 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:20.765 speed 100.000000
|
||||
2025-06-09 16:17:20.765 tcp_distance 144.322098
|
||||
2025-06-09 16:17:20.765 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||||
2025-06-09 16:17:20.765 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||||
2025-06-09 16:17:20.765 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:17:20.765 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:17:20.765 end_speed 100.000000
|
||||
2025-06-09 16:17:20.765 trail_number1.443221
|
||||
2025-06-09 16:17:20.765 tcp_distance 144.322098
|
||||
2025-06-09 16:17:20.835 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:23.595 30 30 30 30
|
||||
2025-06-09 16:17:23.595 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-09 16:17:23.596 goal_angle -87.199585 152.604431
|
||||
2025-06-09 16:17:23.596 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-09 16:17:23.596 z1 -75.466103 z2 -4.457100
|
||||
2025-06-09 16:17:23.596 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:17:23.596 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-09 16:17:23.596 speed 100.000000
|
||||
2025-06-09 16:17:23.597 tcp_distance 288.737366
|
||||
2025-06-09 16:17:23.597 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
|
||||
2025-06-09 16:17:23.597 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
|
||||
2025-06-09 16:17:23.597 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
|
||||
2025-06-09 16:17:23.597 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
|
||||
2025-06-09 16:17:23.597 end_speed 100.000000
|
||||
2025-06-09 16:17:23.597 trail_number2.887374
|
||||
2025-06-09 16:17:23.598 tcp_distance 288.737366
|
||||
2025-06-09 16:17:23.598 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-09 16:17:27.692 30 30 30 30
|
||||
2025-06-09 16:17:27.692 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:17:27.692 goal_angle -11.002804 84.112190
|
||||
2025-06-09 16:17:27.693 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:17:27.693 z1 -4.457100 z2 -75.466103
|
||||
2025-06-09 16:17:27.693 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-09 16:17:27.693 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:27.693 speed 100.000000
|
||||
2025-06-09 16:17:27.693 tcp_distance 288.589417
|
||||
2025-06-09 16:17:27.693 new_end_speed 100.000000 j1_acc_t 1.442947 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.756939
|
||||
2025-06-09 16:17:27.693 new_end_speed 100.000000 j2_acc_t 1.442947 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.916920
|
||||
2025-06-09 16:17:27.695 new_end_speed 100.000000 j3_acc_t 1.442947 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.824619
|
||||
2025-06-09 16:17:27.695 new_end_speed 100.000000 j4_acc_t 1.442947 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.826810
|
||||
2025-06-09 16:17:27.695 end_speed 100.000000
|
||||
2025-06-09 16:17:27.695 trail_number2.885894
|
||||
2025-06-09 16:17:27.695 tcp_distance 288.589417
|
||||
2025-06-09 16:17:27.695 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:30.449 30 30 30 30
|
||||
2025-06-09 16:17:30.449 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:17:30.449 goal_angle -44.911705 98.661697
|
||||
2025-06-09 16:17:30.449 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:17:30.449 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:17:30.449 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:17:30.449 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:30.454 speed 100.000000
|
||||
2025-06-09 16:17:30.454 tcp_distance 144.406967
|
||||
2025-06-09 16:17:30.454 new_end_speed 100.000000 j1_acc_t 0.722035 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.365715
|
||||
2025-06-09 16:17:30.454 new_end_speed 100.000000 j2_acc_t 0.722035 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.039812
|
||||
2025-06-09 16:17:30.454 new_end_speed 100.000000 j3_acc_t 0.722035 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:17:30.454 new_end_speed 100.000000 j4_acc_t 0.722035 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:17:30.454 end_speed 100.000000
|
||||
2025-06-09 16:17:30.454 trail_number1.444070
|
||||
2025-06-09 16:17:30.454 tcp_distance 144.406967
|
||||
2025-06-09 16:17:30.616 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:32.076 30 30 30 30
|
||||
2025-06-09 16:17:32.076 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:17:32.076 goal_angle -67.226128 86.401024
|
||||
2025-06-09 16:17:32.076 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:17:32.076 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:17:32.076 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:17:32.076 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:32.076 speed 100.000000
|
||||
2025-06-09 16:17:32.076 tcp_distance 143.985626
|
||||
2025-06-09 16:17:32.076 new_end_speed 100.000000 j1_acc_t 0.719928 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.901131
|
||||
2025-06-09 16:17:32.076 new_end_speed 100.000000 j2_acc_t 0.719928 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.626997
|
||||
2025-06-09 16:17:32.076 new_end_speed 100.000000 j3_acc_t 0.719928 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:17:32.076 new_end_speed 100.000000 j4_acc_t 0.719928 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:17:32.076 end_speed 100.000000
|
||||
2025-06-09 16:17:32.076 trail_number1.439856
|
||||
2025-06-09 16:17:32.083 tcp_distance 143.985626
|
||||
2025-06-09 16:17:32.108 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:33.539 30 30 30 30
|
||||
2025-06-09 16:17:33.539 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:17:33.539 goal_angle -60.720737 27.061800
|
||||
2025-06-09 16:17:33.539 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:17:33.539 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:17:33.542 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:17:33.542 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:33.542 speed 100.000000
|
||||
2025-06-09 16:17:33.543 tcp_distance 171.615677
|
||||
2025-06-09 16:17:33.543 new_end_speed 100.000000 j1_acc_t 0.858078 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.292104
|
||||
2025-06-09 16:17:33.543 new_end_speed 100.000000 j2_acc_t 0.858078 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.636818
|
||||
2025-06-09 16:17:33.543 new_end_speed 100.000000 j3_acc_t 0.858078 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:17:33.543 new_end_speed 100.000000 j4_acc_t 0.858078 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:17:33.544 end_speed 100.000000
|
||||
2025-06-09 16:17:33.544 trail_number1.716157
|
||||
2025-06-09 16:17:33.544 tcp_distance 171.615677
|
||||
2025-06-09 16:17:33.591 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:50.853 30 30 30 30
|
||||
2025-06-09 16:17:50.853 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:17:50.853 goal_angle -67.226128 86.401024
|
||||
2025-06-09 16:17:50.853 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:17:50.853 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:17:50.853 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:17:50.853 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:50.853 speed 100.000000
|
||||
2025-06-09 16:17:50.853 tcp_distance 171.494293
|
||||
2025-06-09 16:17:50.855 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
|
||||
2025-06-09 16:17:50.855 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
|
||||
2025-06-09 16:17:50.855 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:17:50.855 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:17:50.855 end_speed 100.000000
|
||||
2025-06-09 16:17:50.855 trail_number1.714943
|
||||
2025-06-09 16:17:50.855 tcp_distance 171.494293
|
||||
2025-06-09 16:17:50.855 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:54.678 30 30 30 30
|
||||
2025-06-09 16:17:54.678 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 16:17:54.678 goal_angle -44.911705 98.661697
|
||||
2025-06-09 16:17:54.678 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 16:17:54.678 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:17:54.678 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:17:54.678 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:54.678 speed 100.000000
|
||||
2025-06-09 16:17:54.678 tcp_distance 144.069748
|
||||
2025-06-09 16:17:54.678 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||||
2025-06-09 16:17:54.678 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||||
2025-06-09 16:17:54.678 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:17:54.678 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:17:54.678 end_speed 100.000000
|
||||
2025-06-09 16:17:54.678 trail_number1.440697
|
||||
2025-06-09 16:17:54.678 tcp_distance 144.069748
|
||||
2025-06-09 16:17:54.678 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:58.092 resume
|
||||
2025-06-09 16:17:58.092 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:17:58.092 goal_angle -60.720737 27.061800
|
||||
2025-06-09 16:17:58.092 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:17:58.092 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:17:58.092 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:17:58.092 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:17:58.092 speed 50.000000
|
||||
2025-06-09 16:17:58.093 tcp_distance 333.111633
|
||||
2025-06-09 16:17:58.093 new_end_speed 50.000000 j1_acc_t 3.331116 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.190792
|
||||
2025-06-09 16:17:58.093 new_end_speed 50.000000 j2_acc_t 3.331116 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 23.509356
|
||||
2025-06-09 16:17:58.093 new_end_speed 50.000000 j3_acc_t 3.331116 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:17:58.093 new_end_speed 50.000000 j4_acc_t 3.331116 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:17:58.093 end_speed 50.000000
|
||||
2025-06-09 16:17:58.094 trail_number6.662233
|
||||
2025-06-09 16:17:58.094 tcp_distance 333.111633
|
||||
2025-06-09 16:17:58.094 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:17:58.112 wait_stop in
|
||||
2025-06-09 16:18:04.809 wait_stop out_0
|
||||
2025-06-09 16:18:04.809 new_movej_xyz_lr 274.065002 -137.158096 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:04.809 goal_angle -67.226128 86.401039
|
||||
2025-06-09 16:18:04.809 new_movej_angle -67.226128 86.401039 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:04.809 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:04.809 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:04.809 angle1_2 -67.226128 angle2_2 86.401039 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:04.809 speed 50.000000
|
||||
2025-06-09 16:18:04.809 tcp_distance 171.494400
|
||||
2025-06-09 16:18:04.809 new_end_speed 50.000000 j1_acc_t 1.714944 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148983
|
||||
2025-06-09 16:18:04.809 new_end_speed 50.000000 j2_acc_t 1.714944 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845161
|
||||
2025-06-09 16:18:04.809 new_end_speed 50.000000 j3_acc_t 1.714944 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:04.809 new_end_speed 50.000000 j4_acc_t 1.714944 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:04.809 end_speed 50.000000
|
||||
2025-06-09 16:18:04.809 trail_number3.429888
|
||||
2025-06-09 16:18:04.809 tcp_distance 171.494400
|
||||
2025-06-09 16:18:04.809 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401039 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:04.825 wait_stop in
|
||||
2025-06-09 16:18:08.310 wait_stop out_0
|
||||
2025-06-09 16:18:08.310 new_movej_xyz_lr 274.064911 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:08.310 goal_angle -44.911720 98.661728
|
||||
2025-06-09 16:18:08.310 new_movej_angle -44.911720 98.661728 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:08.312 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:08.312 angle1_1 -67.226128 angle2_1 86.401039 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:08.312 angle1_2 -44.911720 angle2_2 98.661728 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:08.312 speed 50.000000
|
||||
2025-06-09 16:18:08.312 tcp_distance 144.069672
|
||||
2025-06-09 16:18:08.312 new_end_speed 50.000000 j1_acc_t 1.440697 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.940681
|
||||
2025-06-09 16:18:08.312 new_end_speed 50.000000 j2_acc_t 1.440697 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 9.308086
|
||||
2025-06-09 16:18:08.312 new_end_speed 50.000000 j3_acc_t 1.440697 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:08.312 new_end_speed 50.000000 j4_acc_t 1.440697 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:08.312 end_speed 50.000000
|
||||
2025-06-09 16:18:08.312 trail_number2.881393
|
||||
2025-06-09 16:18:08.314 tcp_distance 144.069672
|
||||
2025-06-09 16:18:08.314 angle1_1 = -67.226128 angle2_1 = 86.401039 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911720 angle2_2 = 98.661728 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:08.326 wait_stop in
|
||||
2025-06-09 16:18:11.263 wait_stop out_0
|
||||
2025-06-09 16:18:11.263 resume
|
||||
2025-06-09 16:18:11.263 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:11.263 goal_angle -60.720737 27.061800
|
||||
2025-06-09 16:18:11.263 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:11.263 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:11.263 angle1_1 -44.911720 angle2_1 98.661728 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:11.263 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:11.263 speed 50.000000
|
||||
2025-06-09 16:18:11.263 tcp_distance 333.111603
|
||||
2025-06-09 16:18:11.263 new_end_speed 50.000000 j1_acc_t 3.331116 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.190786
|
||||
2025-06-09 16:18:11.263 new_end_speed 50.000000 j2_acc_t 3.331116 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 23.509363
|
||||
2025-06-09 16:18:11.263 new_end_speed 50.000000 j3_acc_t 3.331116 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:11.263 new_end_speed 50.000000 j4_acc_t 3.331116 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:11.263 end_speed 50.000000
|
||||
2025-06-09 16:18:11.263 trail_number6.662232
|
||||
2025-06-09 16:18:11.263 tcp_distance 333.111603
|
||||
2025-06-09 16:18:11.263 angle1_1 = -44.911720 angle2_1 = 98.661728 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:11.275 wait_stop in
|
||||
2025-06-09 16:18:18.012 wait_stop out_0
|
||||
2025-06-09 16:18:18.012 new_movej_xyz_lr 274.065002 -137.158096 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:18.012 goal_angle -67.226128 86.401039
|
||||
2025-06-09 16:18:18.012 new_movej_angle -67.226128 86.401039 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:18.012 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:18.014 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:18.014 angle1_2 -67.226128 angle2_2 86.401039 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:18.014 speed 50.000000
|
||||
2025-06-09 16:18:18.014 tcp_distance 171.494400
|
||||
2025-06-09 16:18:18.014 new_end_speed 50.000000 j1_acc_t 1.714944 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148983
|
||||
2025-06-09 16:18:18.014 new_end_speed 50.000000 j2_acc_t 1.714944 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845161
|
||||
2025-06-09 16:18:18.014 new_end_speed 50.000000 j3_acc_t 1.714944 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:18.014 new_end_speed 50.000000 j4_acc_t 1.714944 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:18.014 end_speed 50.000000
|
||||
2025-06-09 16:18:18.014 trail_number3.429888
|
||||
2025-06-09 16:18:18.014 tcp_distance 171.494400
|
||||
2025-06-09 16:18:18.014 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401039 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:18.019 wait_stop in
|
||||
2025-06-09 16:18:21.504 wait_stop out_0
|
||||
2025-06-09 16:18:21.504 new_movej_xyz_lr 274.064911 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:21.504 goal_angle -44.911720 98.661728
|
||||
2025-06-09 16:18:21.505 new_movej_angle -44.911720 98.661728 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:21.505 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:21.505 angle1_1 -67.226128 angle2_1 86.401039 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:21.505 angle1_2 -44.911720 angle2_2 98.661728 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:21.505 speed 50.000000
|
||||
2025-06-09 16:18:21.506 tcp_distance 144.069672
|
||||
2025-06-09 16:18:21.506 new_end_speed 50.000000 j1_acc_t 1.440697 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.940681
|
||||
2025-06-09 16:18:21.506 new_end_speed 50.000000 j2_acc_t 1.440697 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 9.308086
|
||||
2025-06-09 16:18:21.506 new_end_speed 50.000000 j3_acc_t 1.440697 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:21.506 new_end_speed 50.000000 j4_acc_t 1.440697 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:21.506 end_speed 50.000000
|
||||
2025-06-09 16:18:21.506 trail_number2.881393
|
||||
2025-06-09 16:18:21.506 tcp_distance 144.069672
|
||||
2025-06-09 16:18:21.507 angle1_1 = -67.226128 angle2_1 = 86.401039 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911720 angle2_2 = 98.661728 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:21.521 wait_stop in
|
||||
2025-06-09 16:18:24.463 wait_stop out_0
|
||||
2025-06-09 16:18:24.463 resume
|
||||
2025-06-09 16:18:24.463 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:24.463 goal_angle -60.720737 27.061800
|
||||
2025-06-09 16:18:24.463 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:24.463 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:24.463 angle1_1 -44.911720 angle2_1 98.661728 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:24.463 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:24.463 speed 50.000000
|
||||
2025-06-09 16:18:24.463 tcp_distance 333.111603
|
||||
2025-06-09 16:18:24.463 new_end_speed 50.000000 j1_acc_t 3.331116 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.190786
|
||||
2025-06-09 16:18:24.463 new_end_speed 50.000000 j2_acc_t 3.331116 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 23.509363
|
||||
2025-06-09 16:18:24.463 new_end_speed 50.000000 j3_acc_t 3.331116 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:24.463 new_end_speed 50.000000 j4_acc_t 3.331116 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:24.463 end_speed 50.000000
|
||||
2025-06-09 16:18:24.463 trail_number6.662232
|
||||
2025-06-09 16:18:24.466 tcp_distance 333.111603
|
||||
2025-06-09 16:18:24.466 angle1_1 = -44.911720 angle2_1 = 98.661728 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:24.478 wait_stop in
|
||||
2025-06-09 16:18:31.195 wait_stop out_0
|
||||
2025-06-09 16:18:31.195 new_movej_xyz_lr 274.065002 -137.158096 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:31.195 goal_angle -67.226128 86.401039
|
||||
2025-06-09 16:18:31.195 new_movej_angle -67.226128 86.401039 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:31.197 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:31.197 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:31.197 angle1_2 -67.226128 angle2_2 86.401039 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:31.197 speed 50.000000
|
||||
2025-06-09 16:18:31.197 tcp_distance 171.494400
|
||||
2025-06-09 16:18:31.197 new_end_speed 50.000000 j1_acc_t 1.714944 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148983
|
||||
2025-06-09 16:18:31.197 new_end_speed 50.000000 j2_acc_t 1.714944 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845161
|
||||
2025-06-09 16:18:31.197 new_end_speed 50.000000 j3_acc_t 1.714944 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:31.198 new_end_speed 50.000000 j4_acc_t 1.714944 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:31.198 end_speed 50.000000
|
||||
2025-06-09 16:18:31.198 trail_number3.429888
|
||||
2025-06-09 16:18:31.198 tcp_distance 171.494400
|
||||
2025-06-09 16:18:31.198 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401039 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:31.214 wait_stop in
|
||||
2025-06-09 16:18:34.707 wait_stop out_0
|
||||
2025-06-09 16:18:34.707 new_movej_xyz_lr 274.064911 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:34.708 goal_angle -44.911720 98.661728
|
||||
2025-06-09 16:18:34.708 new_movej_angle -44.911720 98.661728 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:34.708 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:34.708 angle1_1 -67.226128 angle2_1 86.401039 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:34.708 angle1_2 -44.911720 angle2_2 98.661728 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:34.708 speed 50.000000
|
||||
2025-06-09 16:18:34.710 tcp_distance 144.069672
|
||||
2025-06-09 16:18:34.710 new_end_speed 50.000000 j1_acc_t 1.440697 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.940681
|
||||
2025-06-09 16:18:34.710 new_end_speed 50.000000 j2_acc_t 1.440697 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 9.308086
|
||||
2025-06-09 16:18:34.710 new_end_speed 50.000000 j3_acc_t 1.440697 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:34.710 new_end_speed 50.000000 j4_acc_t 1.440697 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:34.710 end_speed 50.000000
|
||||
2025-06-09 16:18:34.710 trail_number2.881393
|
||||
2025-06-09 16:18:34.710 tcp_distance 144.069672
|
||||
2025-06-09 16:18:34.711 angle1_1 = -67.226128 angle2_1 = 86.401039 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911720 angle2_2 = 98.661728 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:34.729 wait_stop in
|
||||
2025-06-09 16:18:37.674 wait_stop out_0
|
||||
2025-06-09 16:18:37.675 resume
|
||||
2025-06-09 16:18:37.675 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:37.675 goal_angle -60.720737 27.061800
|
||||
2025-06-09 16:18:37.675 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:37.675 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:37.675 angle1_1 -44.911720 angle2_1 98.661728 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:37.676 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:37.676 speed 50.000000
|
||||
2025-06-09 16:18:37.676 tcp_distance 333.111603
|
||||
2025-06-09 16:18:37.676 new_end_speed 50.000000 j1_acc_t 3.331116 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.190786
|
||||
2025-06-09 16:18:37.676 new_end_speed 50.000000 j2_acc_t 3.331116 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 23.509363
|
||||
2025-06-09 16:18:37.676 new_end_speed 50.000000 j3_acc_t 3.331116 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:37.676 new_end_speed 50.000000 j4_acc_t 3.331116 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:37.676 end_speed 50.000000
|
||||
2025-06-09 16:18:37.676 trail_number6.662232
|
||||
2025-06-09 16:18:37.676 tcp_distance 333.111603
|
||||
2025-06-09 16:18:37.678 angle1_1 = -44.911720 angle2_1 = 98.661728 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:37.692 wait_stop in
|
||||
2025-06-09 16:18:44.414 wait_stop out_0
|
||||
2025-06-09 16:18:44.414 new_movej_xyz_lr 274.065002 -137.158096 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:44.414 goal_angle -67.226128 86.401039
|
||||
2025-06-09 16:18:44.414 new_movej_angle -67.226128 86.401039 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:44.414 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:44.416 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:44.416 angle1_2 -67.226128 angle2_2 86.401039 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:44.416 speed 50.000000
|
||||
2025-06-09 16:18:44.416 tcp_distance 171.494400
|
||||
2025-06-09 16:18:44.416 new_end_speed 50.000000 j1_acc_t 1.714944 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148983
|
||||
2025-06-09 16:18:44.416 new_end_speed 50.000000 j2_acc_t 1.714944 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845161
|
||||
2025-06-09 16:18:44.416 new_end_speed 50.000000 j3_acc_t 1.714944 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:44.416 new_end_speed 50.000000 j4_acc_t 1.714944 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:44.416 end_speed 50.000000
|
||||
2025-06-09 16:18:44.416 trail_number3.429888
|
||||
2025-06-09 16:18:44.416 tcp_distance 171.494400
|
||||
2025-06-09 16:18:44.416 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401039 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:44.430 wait_stop in
|
||||
2025-06-09 16:18:47.908 wait_stop out_0
|
||||
2025-06-09 16:18:47.908 new_movej_xyz_lr 274.064911 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:47.908 goal_angle -44.911720 98.661728
|
||||
2025-06-09 16:18:47.909 new_movej_angle -44.911720 98.661728 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:47.909 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:47.909 angle1_1 -67.226128 angle2_1 86.401039 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:47.909 angle1_2 -44.911720 angle2_2 98.661728 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:47.909 speed 50.000000
|
||||
2025-06-09 16:18:47.909 tcp_distance 144.069672
|
||||
2025-06-09 16:18:47.909 new_end_speed 50.000000 j1_acc_t 1.440697 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.940681
|
||||
2025-06-09 16:18:47.909 new_end_speed 50.000000 j2_acc_t 1.440697 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 9.308086
|
||||
2025-06-09 16:18:47.909 new_end_speed 50.000000 j3_acc_t 1.440697 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:47.909 new_end_speed 50.000000 j4_acc_t 1.440697 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:47.909 end_speed 50.000000
|
||||
2025-06-09 16:18:47.909 trail_number2.881393
|
||||
2025-06-09 16:18:47.909 tcp_distance 144.069672
|
||||
2025-06-09 16:18:47.909 angle1_1 = -67.226128 angle2_1 = 86.401039 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911720 angle2_2 = 98.661728 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:47.914 wait_stop in
|
||||
2025-06-09 16:18:50.871 wait_stop out_0
|
||||
2025-06-09 16:18:50.871 resume
|
||||
2025-06-09 16:18:50.871 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:50.872 goal_angle -60.720737 27.061800
|
||||
2025-06-09 16:18:50.872 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:50.872 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:50.872 angle1_1 -44.911720 angle2_1 98.661728 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:50.872 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:50.873 speed 50.000000
|
||||
2025-06-09 16:18:50.873 tcp_distance 333.111603
|
||||
2025-06-09 16:18:50.873 new_end_speed 50.000000 j1_acc_t 3.331116 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.190786
|
||||
2025-06-09 16:18:50.873 new_end_speed 50.000000 j2_acc_t 3.331116 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 23.509363
|
||||
2025-06-09 16:18:50.873 new_end_speed 50.000000 j3_acc_t 3.331116 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:50.873 new_end_speed 50.000000 j4_acc_t 3.331116 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:50.873 end_speed 50.000000
|
||||
2025-06-09 16:18:50.874 trail_number6.662232
|
||||
2025-06-09 16:18:50.874 tcp_distance 333.111603
|
||||
2025-06-09 16:18:50.874 angle1_1 = -44.911720 angle2_1 = 98.661728 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:50.890 wait_stop in
|
||||
2025-06-09 16:18:53.052 _new_stop_move_thread_0
|
||||
2025-06-09 16:18:53.052 j1_slow_down_t = 6
|
||||
2025-06-09 16:18:53.052 j2_slow_down_t = 15
|
||||
2025-06-09 16:18:53.052 j3_slow_down_t = 0
|
||||
2025-06-09 16:18:53.053 j4_slow_down_t = 9
|
||||
2025-06-09 16:18:53.053 tmp_t[3] = 15
|
||||
2025-06-09 16:18:53.053 _new_stop_move_thread_1
|
||||
2025-06-09 16:18:53.952 _new_stop_move_thread_2
|
||||
2025-06-09 16:18:53.952 wait_stop out_0
|
||||
2025-06-09 16:18:53.952 new_movej_xyz_lr 274.065002 -137.158096 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:53.953 new_movej_xyz_lr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-09 16:18:53.953 wait_stop in
|
||||
2025-06-09 16:18:53.981 _new_stop_move_thread_3
|
||||
2025-06-09 16:18:53.981 get_scara_param -51.156799 70.122398 -75.468102 -1005.423279
|
||||
2025-06-09 16:18:53.981 get_scara_real_coor -51.156799 70.122398 -75.468102 -1005.423279
|
||||
2025-06-09 16:18:53.981 _new_stop_move_thread_4
|
||||
2025-06-09 16:18:53.999 wait_stop out_0
|
||||
2025-06-09 16:18:55.529 resume
|
||||
2025-06-09 16:18:55.529 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:55.529 goal_angle -60.720737 27.061800
|
||||
2025-06-09 16:18:55.529 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:55.530 z1 -75.468178 z2 -75.466103
|
||||
2025-06-09 16:18:55.530 angle1_1 -51.156807 angle2_1 70.122406 z1 -75.468178 r1 -1005.423340
|
||||
2025-06-09 16:18:55.530 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:55.530 speed 50.000000
|
||||
2025-06-09 16:18:55.530 tcp_distance 208.030838
|
||||
2025-06-09 16:18:55.530 new_end_speed 50.000000 j1_acc_t 2.080308 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.028368
|
||||
2025-06-09 16:18:55.530 new_end_speed 50.000000 j2_acc_t 2.080308 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.639706
|
||||
2025-06-09 16:18:55.530 new_end_speed 50.000000 j3_acc_t 2.080308 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.001091
|
||||
2025-06-09 16:18:55.530 new_end_speed 50.000000 j4_acc_t 2.080308 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.156503
|
||||
2025-06-09 16:18:55.531 end_speed 50.000000
|
||||
2025-06-09 16:18:55.531 trail_number4.160617
|
||||
2025-06-09 16:18:55.531 tcp_distance 208.030838
|
||||
2025-06-09 16:18:55.531 angle1_1 = -51.156807 angle2_1 = 70.122406 z1 = -75.468178 r1 = -1005.423340 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:55.541 wait_stop in
|
||||
2025-06-09 16:18:59.772 wait_stop out_0
|
||||
2025-06-09 16:18:59.772 new_movej_xyz_lr 274.065002 -137.158096 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:18:59.772 goal_angle -67.226128 86.401039
|
||||
2025-06-09 16:18:59.772 new_movej_angle -67.226128 86.401039 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 16:18:59.772 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 16:18:59.772 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 16:18:59.772 angle1_2 -67.226128 angle2_2 86.401039 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 16:18:59.772 speed 50.000000
|
||||
2025-06-09 16:18:59.773 tcp_distance 171.494400
|
||||
2025-06-09 16:18:59.773 new_end_speed 50.000000 j1_acc_t 1.714944 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148983
|
||||
2025-06-09 16:18:59.773 new_end_speed 50.000000 j2_acc_t 1.714944 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845161
|
||||
2025-06-09 16:18:59.773 new_end_speed 50.000000 j3_acc_t 1.714944 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 16:18:59.773 new_end_speed 50.000000 j4_acc_t 1.714944 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 16:18:59.773 end_speed 50.000000
|
||||
2025-06-09 16:18:59.774 trail_number3.429888
|
||||
2025-06-09 16:18:59.774 tcp_distance 171.494400
|
||||
2025-06-09 16:18:59.774 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401039 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 16:18:59.787 wait_stop in
|
||||
2025-06-09 16:19:00.352 _new_stop_move_thread_0
|
||||
2025-06-09 16:19:00.352 j1_slow_down_t = 5
|
||||
2025-06-09 16:19:00.352 j2_slow_down_t = 23
|
||||
2025-06-09 16:19:00.352 j3_slow_down_t = 0
|
||||
2025-06-09 16:19:00.352 j4_slow_down_t = 8
|
||||
2025-06-09 16:19:00.352 tmp_t[3] = 23
|
||||
2025-06-09 16:19:00.352 _new_stop_move_thread_1
|
||||
2025-06-09 16:19:01.270 _new_stop_move_thread_2
|
||||
2025-06-09 16:19:01.302 _new_stop_move_thread_3
|
||||
2025-06-09 16:19:01.302 get_scara_param -62.775101 45.976700 -75.468102 -1005.922607
|
||||
2025-06-09 16:19:01.302 wait_stop out_0
|
||||
2025-06-09 16:19:01.302 new_movej_xyz_lr 274.064911 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 16:19:01.302 new_movej_xyz_lr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-09 16:19:01.302 wait_stop in
|
||||
2025-06-09 16:19:01.302 get_scara_real_coor -62.775101 45.976700 -75.468102 -1005.922607
|
||||
2025-06-09 16:19:01.302 _new_stop_move_thread_4
|
||||
2025-06-09 16:19:01.346 wait_stop out_0
|
||||
2025-06-09 16:19:03.112 30 30 30 30
|
||||
2025-06-09 16:19:03.112 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-09 16:19:03.112 goal_angle -87.199585 152.604431
|
||||
2025-06-09 16:19:03.112 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-09 16:19:03.112 z1 -75.468178 z2 -4.457100
|
||||
2025-06-09 16:19:03.112 angle1_1 -62.775124 angle2_1 45.976788 z1 -75.468178 r1 -1005.922607
|
||||
2025-06-09 16:19:03.112 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-09 16:19:03.112 speed 100.000000
|
||||
2025-06-09 16:19:03.112 tcp_distance 317.162628
|
||||
2025-06-09 16:19:03.112 new_end_speed 100.000000 j1_acc_t 1.585813 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.845778
|
||||
2025-06-09 16:19:03.114 new_end_speed 100.000000 j2_acc_t 1.585813 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.542076
|
||||
2025-06-09 16:19:03.114 new_end_speed 100.000000 j3_acc_t 1.585813 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 48.977001
|
||||
2025-06-09 16:19:03.114 new_end_speed 100.000000 j4_acc_t 1.585813 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 15.171835
|
||||
2025-06-09 16:19:03.114 end_speed 100.000000
|
||||
2025-06-09 16:19:03.114 trail_number3.171626
|
||||
2025-06-09 16:19:03.114 tcp_distance 317.162628
|
||||
2025-06-09 16:19:03.114 angle1_1 = -62.775124 angle2_1 = 45.976788 z1 = -75.468178 r1 = -1005.922607 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-09 17:14:35.134 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-09 17:14:35.135 robot connected
|
||||
2025-06-09 17:14:35.135 26
|
||||
2025-06-09 17:14:35.139 current generation=26
|
||||
2025-06-09 17:14:35.659 0x1a
|
||||
2025-06-09 17:14:36.458 initial joint2 4444929
|
||||
2025-06-09 17:14:36.458 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-09 17:14:36.458 robot WritePID
|
||||
2025-06-09 17:14:36.773 initial joint1 -1269935
|
||||
2025-06-09 17:14:36.815 initial joint2 4444930
|
||||
2025-06-09 17:14:36.863 initial joint3 -12992
|
||||
2025-06-09 17:14:36.904 initial joint4 -25056190
|
||||
2025-06-09 17:14:36.917 initial joint1 -1269935
|
||||
2025-06-09 17:14:36.961 initial joint2 4444931
|
||||
2025-06-09 17:14:37.004 initial joint3 -12992
|
||||
2025-06-09 17:14:37.044 initial joint4 -25056191
|
||||
2025-06-09 17:14:37.060 initial joint1 -1269935
|
||||
2025-06-09 17:14:37.101 initial joint2 4444931
|
||||
2025-06-09 17:14:37.139 initial joint3 -12992
|
||||
2025-06-09 17:14:37.186 initial joint4 -25056191
|
||||
2025-06-09 17:14:39.337 initial_thread initialized
|
||||
2025-06-09 17:14:39.337 servo enable
|
||||
2025-06-09 17:14:39.337 brake open
|
||||
2025-06-09 17:14:39.337 set_brake_state 0 1
|
||||
2025-06-09 17:14:39.542 robot initialized
|
||||
2025-06-09 17:14:40.100 get_scara_param -87.199501 152.604706 -4.460400 -1027.920166
|
||||
2025-06-09 17:14:40.100 get_scara_real_coor -87.199402 152.604599 -4.460400 -1027.920044
|
||||
2025-06-09 17:14:40.100 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-09 17:14:40.100 position -1269934.750000 4444934.500000 -12991.857422 -25056196.000000 -940296.000000 1566767.500000 -204659.703125 -23671700.000000
|
||||
2025-06-09 17:14:40.100 speed 22634.496094 98814.015625 65803.929688 57039.480469
|
||||
2025-06-09 17:14:40.100 set_first_position_after_initial
|
||||
2025-06-09 17:14:40.104 movej_old start_pos: -87.199501 152.604721 -4.460400 -1027.920166 end_pos: -87.199501 152.604721 -4.460400 -1027.920166 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-09 17:14:40.381 J3 Belt Meilage=40.890472km
|
||||
2025-06-09 17:14:43.350 30 30 30 30
|
||||
2025-06-09 17:14:43.352 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 17:14:43.352 goal_angle -60.720737 27.061800
|
||||
2025-06-09 17:14:43.352 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 17:14:43.352 z1 -4.460400 z2 -75.466103
|
||||
2025-06-09 17:14:43.353 angle1_1 -87.199501 angle2_1 152.604721 z1 -4.460400 r1 -1027.920166
|
||||
2025-06-09 17:14:43.353 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:14:43.353 speed 100.000000
|
||||
2025-06-09 17:14:43.353 tcp_distance 361.526825
|
||||
2025-06-09 17:14:43.354 new_end_speed 100.000000 j1_acc_t 1.807634 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.021587
|
||||
2025-06-09 17:14:43.354 new_end_speed 100.000000 j2_acc_t 1.807634 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.962639
|
||||
2025-06-09 17:14:43.354 new_end_speed 100.000000 j3_acc_t 1.807634 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 42.963638
|
||||
2025-06-09 17:14:43.354 new_end_speed 100.000000 j4_acc_t 1.807634 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.432104
|
||||
2025-06-09 17:14:43.354 end_speed 100.000000
|
||||
2025-06-09 17:14:43.355 trail_number3.615268
|
||||
2025-06-09 17:14:43.355 tcp_distance 361.526825
|
||||
2025-06-09 17:14:43.355 angle1_1 = -87.199501 angle2_1 = 152.604721 z1 = -4.460400 r1 = -1027.920166 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:14:52.180 30 30 30 30
|
||||
2025-06-09 17:14:52.180 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 17:14:52.180 goal_angle -67.226128 86.401024
|
||||
2025-06-09 17:14:52.180 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 17:14:52.180 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:14:52.180 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:14:52.180 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:14:52.180 speed 100.000000
|
||||
2025-06-09 17:14:52.180 tcp_distance 171.494293
|
||||
2025-06-09 17:14:52.180 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
|
||||
2025-06-09 17:14:52.180 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
|
||||
2025-06-09 17:14:52.180 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:14:52.180 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:14:52.180 end_speed 100.000000
|
||||
2025-06-09 17:14:52.180 trail_number1.714943
|
||||
2025-06-09 17:14:52.180 tcp_distance 171.494293
|
||||
2025-06-09 17:14:52.180 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:14:55.585 30 30 30 30
|
||||
2025-06-09 17:14:55.585 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 17:14:55.585 goal_angle -44.911705 98.661697
|
||||
2025-06-09 17:14:55.585 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 17:14:55.587 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:14:55.587 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:14:55.587 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:14:55.587 speed 100.000000
|
||||
2025-06-09 17:14:55.587 tcp_distance 144.069748
|
||||
2025-06-09 17:14:55.587 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||||
2025-06-09 17:14:55.587 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||||
2025-06-09 17:14:55.587 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:14:55.587 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:14:55.587 end_speed 100.000000
|
||||
2025-06-09 17:14:55.587 trail_number1.440697
|
||||
2025-06-09 17:14:55.587 tcp_distance 144.069748
|
||||
2025-06-09 17:14:55.587 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:14:57.657 30 30 30 30
|
||||
2025-06-09 17:14:57.657 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 17:14:57.657 goal_angle -11.002804 84.112190
|
||||
2025-06-09 17:14:57.657 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 17:14:57.657 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:14:57.657 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:14:57.657 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:14:57.657 speed 100.000000
|
||||
2025-06-09 17:14:57.657 tcp_distance 144.322098
|
||||
2025-06-09 17:14:57.657 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||||
2025-06-09 17:14:57.657 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||||
2025-06-09 17:14:57.657 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:14:57.657 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:14:57.661 end_speed 100.000000
|
||||
2025-06-09 17:14:57.661 trail_number1.443221
|
||||
2025-06-09 17:14:57.661 tcp_distance 144.322098
|
||||
2025-06-09 17:14:57.661 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:00.447 30 30 30 30
|
||||
2025-06-09 17:15:00.449 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-09 17:15:00.449 goal_angle -87.199585 152.604431
|
||||
2025-06-09 17:15:00.449 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-09 17:15:00.449 z1 -75.466103 z2 -4.457100
|
||||
2025-06-09 17:15:00.449 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:15:00.451 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-09 17:15:00.451 speed 100.000000
|
||||
2025-06-09 17:15:00.451 tcp_distance 288.737366
|
||||
2025-06-09 17:15:00.451 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
|
||||
2025-06-09 17:15:00.451 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
|
||||
2025-06-09 17:15:00.451 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
|
||||
2025-06-09 17:15:00.451 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
|
||||
2025-06-09 17:15:00.451 end_speed 100.000000
|
||||
2025-06-09 17:15:00.451 trail_number2.887374
|
||||
2025-06-09 17:15:00.451 tcp_distance 288.737366
|
||||
2025-06-09 17:15:00.453 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-09 17:15:18.703 30 30 30 30
|
||||
2025-06-09 17:15:18.703 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 17:15:18.703 goal_angle -60.720737 27.061800
|
||||
2025-06-09 17:15:18.703 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 17:15:18.703 z1 -4.457100 z2 -75.466103
|
||||
2025-06-09 17:15:18.703 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-09 17:15:18.703 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:15:18.703 speed 100.000000
|
||||
2025-06-09 17:15:18.719 tcp_distance 361.526031
|
||||
2025-06-09 17:15:18.719 new_end_speed 100.000000 j1_acc_t 1.807630 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.021664
|
||||
2025-06-09 17:15:18.719 new_end_speed 100.000000 j2_acc_t 1.807630 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.962593
|
||||
2025-06-09 17:15:18.719 new_end_speed 100.000000 j3_acc_t 1.807630 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 42.965706
|
||||
2025-06-09 17:15:18.719 new_end_speed 100.000000 j4_acc_t 1.807630 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.432059
|
||||
2025-06-09 17:15:18.719 end_speed 100.000000
|
||||
2025-06-09 17:15:18.719 trail_number3.615260
|
||||
2025-06-09 17:15:18.719 tcp_distance 361.526031
|
||||
2025-06-09 17:15:18.719 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:23.670 30 30 30 30
|
||||
2025-06-09 17:15:23.670 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 17:15:23.670 goal_angle -67.226128 86.401024
|
||||
2025-06-09 17:15:23.670 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 17:15:23.670 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:15:23.670 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:15:23.670 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:15:23.670 speed 100.000000
|
||||
2025-06-09 17:15:23.670 tcp_distance 171.494293
|
||||
2025-06-09 17:15:23.670 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
|
||||
2025-06-09 17:15:23.670 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
|
||||
2025-06-09 17:15:23.670 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:15:23.670 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:15:23.670 end_speed 100.000000
|
||||
2025-06-09 17:15:23.670 trail_number1.714943
|
||||
2025-06-09 17:15:23.670 tcp_distance 171.494293
|
||||
2025-06-09 17:15:23.670 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:27.009 30 30 30 30
|
||||
2025-06-09 17:15:27.009 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-09 17:15:27.010 goal_angle -44.911705 98.661697
|
||||
2025-06-09 17:15:27.010 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-09 17:15:27.010 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:15:27.011 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:15:27.011 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:15:27.011 speed 100.000000
|
||||
2025-06-09 17:15:27.011 tcp_distance 144.069748
|
||||
2025-06-09 17:15:27.011 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||||
2025-06-09 17:15:27.011 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||||
2025-06-09 17:15:27.011 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:15:27.012 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:15:27.012 end_speed 100.000000
|
||||
2025-06-09 17:15:27.012 trail_number1.440697
|
||||
2025-06-09 17:15:27.013 tcp_distance 144.069748
|
||||
2025-06-09 17:15:27.013 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:29.695 resume
|
||||
2025-06-09 17:15:29.695 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 17:15:29.695 goal_angle -60.720737 27.061800
|
||||
2025-06-09 17:15:29.695 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 17:15:29.696 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:15:29.696 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:15:29.696 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:15:29.696 speed 50.000000
|
||||
2025-06-09 17:15:29.696 tcp_distance 333.111633
|
||||
2025-06-09 17:15:29.696 new_end_speed 50.000000 j1_acc_t 3.331116 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.190792
|
||||
2025-06-09 17:15:29.697 new_end_speed 50.000000 j2_acc_t 3.331116 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 23.509356
|
||||
2025-06-09 17:15:29.697 new_end_speed 50.000000 j3_acc_t 3.331116 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:15:29.697 new_end_speed 50.000000 j4_acc_t 3.331116 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:15:29.697 end_speed 50.000000
|
||||
2025-06-09 17:15:29.697 trail_number6.662233
|
||||
2025-06-09 17:15:29.697 tcp_distance 333.111633
|
||||
2025-06-09 17:15:29.698 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:29.707 wait_stop in
|
||||
2025-06-09 17:15:36.426 wait_stop out_0
|
||||
2025-06-09 17:15:36.426 new_movej_xyz_lr 274.065002 -137.158096 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 17:15:36.426 goal_angle -67.226128 86.401039
|
||||
2025-06-09 17:15:36.427 new_movej_angle -67.226128 86.401039 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 17:15:36.427 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:15:36.427 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:15:36.427 angle1_2 -67.226128 angle2_2 86.401039 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:15:36.427 speed 50.000000
|
||||
2025-06-09 17:15:36.428 tcp_distance 171.494400
|
||||
2025-06-09 17:15:36.428 new_end_speed 50.000000 j1_acc_t 1.714944 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148983
|
||||
2025-06-09 17:15:36.428 new_end_speed 50.000000 j2_acc_t 1.714944 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845161
|
||||
2025-06-09 17:15:36.428 new_end_speed 50.000000 j3_acc_t 1.714944 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:15:36.428 new_end_speed 50.000000 j4_acc_t 1.714944 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:15:36.428 end_speed 50.000000
|
||||
2025-06-09 17:15:36.429 trail_number3.429888
|
||||
2025-06-09 17:15:36.429 tcp_distance 171.494400
|
||||
2025-06-09 17:15:36.429 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401039 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:36.441 wait_stop in
|
||||
2025-06-09 17:15:39.961 wait_stop out_0
|
||||
2025-06-09 17:15:39.961 new_movej_xyz_lr 274.064911 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 17:15:39.961 goal_angle -44.911720 98.661728
|
||||
2025-06-09 17:15:39.961 new_movej_angle -44.911720 98.661728 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 17:15:39.961 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:15:39.961 angle1_1 -67.226128 angle2_1 86.401039 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:15:39.961 angle1_2 -44.911720 angle2_2 98.661728 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:15:39.961 speed 50.000000
|
||||
2025-06-09 17:15:39.961 tcp_distance 144.069672
|
||||
2025-06-09 17:15:39.961 new_end_speed 50.000000 j1_acc_t 1.440697 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.940681
|
||||
2025-06-09 17:15:39.964 new_end_speed 50.000000 j2_acc_t 1.440697 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 9.308086
|
||||
2025-06-09 17:15:39.964 new_end_speed 50.000000 j3_acc_t 1.440697 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:15:39.964 new_end_speed 50.000000 j4_acc_t 1.440697 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:15:39.964 end_speed 50.000000
|
||||
2025-06-09 17:15:39.965 trail_number2.881393
|
||||
2025-06-09 17:15:39.965 tcp_distance 144.069672
|
||||
2025-06-09 17:15:39.965 angle1_1 = -67.226128 angle2_1 = 86.401039 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911720 angle2_2 = 98.661728 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:39.976 wait_stop in
|
||||
2025-06-09 17:15:42.927 wait_stop out_0
|
||||
2025-06-09 17:15:42.927 resume
|
||||
2025-06-09 17:15:42.927 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 17:15:42.927 goal_angle -60.720737 27.061800
|
||||
2025-06-09 17:15:42.927 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 17:15:42.927 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:15:42.929 angle1_1 -44.911720 angle2_1 98.661728 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:15:42.929 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:15:42.929 speed 50.000000
|
||||
2025-06-09 17:15:42.929 tcp_distance 333.111603
|
||||
2025-06-09 17:15:42.929 new_end_speed 50.000000 j1_acc_t 3.331116 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.190786
|
||||
2025-06-09 17:15:42.929 new_end_speed 50.000000 j2_acc_t 3.331116 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 23.509363
|
||||
2025-06-09 17:15:42.929 new_end_speed 50.000000 j3_acc_t 3.331116 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:15:42.929 new_end_speed 50.000000 j4_acc_t 3.331116 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:15:42.929 end_speed 50.000000
|
||||
2025-06-09 17:15:42.929 trail_number6.662232
|
||||
2025-06-09 17:15:42.929 tcp_distance 333.111603
|
||||
2025-06-09 17:15:42.929 angle1_1 = -44.911720 angle2_1 = 98.661728 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:42.943 wait_stop in
|
||||
2025-06-09 17:15:49.676 wait_stop out_0
|
||||
2025-06-09 17:15:49.676 new_movej_xyz_lr 274.065002 -137.158096 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 17:15:49.676 goal_angle -67.226128 86.401039
|
||||
2025-06-09 17:15:49.676 new_movej_angle -67.226128 86.401039 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 17:15:49.676 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:15:49.676 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:15:49.676 angle1_2 -67.226128 angle2_2 86.401039 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:15:49.676 speed 50.000000
|
||||
2025-06-09 17:15:49.676 tcp_distance 171.494400
|
||||
2025-06-09 17:15:49.676 new_end_speed 50.000000 j1_acc_t 1.714944 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148983
|
||||
2025-06-09 17:15:49.676 new_end_speed 50.000000 j2_acc_t 1.714944 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845161
|
||||
2025-06-09 17:15:49.676 new_end_speed 50.000000 j3_acc_t 1.714944 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:15:49.676 new_end_speed 50.000000 j4_acc_t 1.714944 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:15:49.676 end_speed 50.000000
|
||||
2025-06-09 17:15:49.676 trail_number3.429888
|
||||
2025-06-09 17:15:49.676 tcp_distance 171.494400
|
||||
2025-06-09 17:15:49.681 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401039 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:49.692 wait_stop in
|
||||
2025-06-09 17:15:53.182 wait_stop out_0
|
||||
2025-06-09 17:15:53.182 new_movej_xyz_lr 274.064911 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 17:15:53.182 goal_angle -44.911720 98.661728
|
||||
2025-06-09 17:15:53.182 new_movej_angle -44.911720 98.661728 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 17:15:53.182 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:15:53.182 angle1_1 -67.226128 angle2_1 86.401039 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:15:53.182 angle1_2 -44.911720 angle2_2 98.661728 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:15:53.182 speed 50.000000
|
||||
2025-06-09 17:15:53.182 tcp_distance 144.069672
|
||||
2025-06-09 17:15:53.182 new_end_speed 50.000000 j1_acc_t 1.440697 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 16.940681
|
||||
2025-06-09 17:15:53.182 new_end_speed 50.000000 j2_acc_t 1.440697 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 9.308086
|
||||
2025-06-09 17:15:53.182 new_end_speed 50.000000 j3_acc_t 1.440697 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:15:53.182 new_end_speed 50.000000 j4_acc_t 1.440697 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:15:53.182 end_speed 50.000000
|
||||
2025-06-09 17:15:53.182 trail_number2.881393
|
||||
2025-06-09 17:15:53.182 tcp_distance 144.069672
|
||||
2025-06-09 17:15:53.182 angle1_1 = -67.226128 angle2_1 = 86.401039 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911720 angle2_2 = 98.661728 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:53.195 wait_stop in
|
||||
2025-06-09 17:15:56.088 pause
|
||||
2025-06-09 17:15:56.146 wait_stop out_0
|
||||
2025-06-09 17:15:56.146 resume
|
||||
2025-06-09 17:15:56.146 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 17:15:56.146 goal_angle -60.720737 27.061800
|
||||
2025-06-09 17:15:56.146 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 17:15:56.146 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:15:56.146 angle1_1 -44.911720 angle2_1 98.661728 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:15:56.146 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:15:56.148 speed 50.000000
|
||||
2025-06-09 17:15:56.148 tcp_distance 333.111603
|
||||
2025-06-09 17:15:56.148 new_end_speed 50.000000 j1_acc_t 3.331116 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.190786
|
||||
2025-06-09 17:15:56.148 new_end_speed 50.000000 j2_acc_t 3.331116 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 23.509363
|
||||
2025-06-09 17:15:56.148 new_end_speed 50.000000 j3_acc_t 3.331116 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:15:56.148 new_end_speed 50.000000 j4_acc_t 3.331116 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:15:56.148 end_speed 50.000000
|
||||
2025-06-09 17:15:56.148 trail_number6.662232
|
||||
2025-06-09 17:15:56.148 tcp_distance 333.111603
|
||||
2025-06-09 17:15:56.148 angle1_1 = -44.911720 angle2_1 = 98.661728 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:15:56.153 wait_stop in
|
||||
2025-06-09 17:16:02.885 wait_stop out_0
|
||||
2025-06-09 17:16:02.886 new_movej_xyz_lr 274.065002 -137.158096 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 17:16:02.886 goal_angle -67.226128 86.401039
|
||||
2025-06-09 17:16:02.886 new_movej_angle -67.226128 86.401039 -75.466103 -1005.721008 0.000000 50.000000
|
||||
2025-06-09 17:16:02.886 z1 -75.466103 z2 -75.466103
|
||||
2025-06-09 17:16:02.886 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-09 17:16:02.886 angle1_2 -67.226128 angle2_2 86.401039 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-09 17:16:02.887 speed 50.000000
|
||||
2025-06-09 17:16:02.887 tcp_distance 171.494400
|
||||
2025-06-09 17:16:02.887 new_end_speed 50.000000 j1_acc_t 1.714944 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 4.148983
|
||||
2025-06-09 17:16:02.887 new_end_speed 50.000000 j2_acc_t 1.714944 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 37.845161
|
||||
2025-06-09 17:16:02.887 new_end_speed 50.000000 j3_acc_t 1.714944 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-09 17:16:02.887 new_end_speed 50.000000 j4_acc_t 1.714944 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-09 17:16:02.888 end_speed 50.000000
|
||||
2025-06-09 17:16:02.888 trail_number3.429888
|
||||
2025-06-09 17:16:02.888 tcp_distance 171.494400
|
||||
2025-06-09 17:16:02.888 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401039 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-09 17:16:02.894 wait_stop in
|
||||
2025-06-09 17:16:03.109 resume
|
||||
2025-06-09 17:16:05.696 _new_stop_move_thread_0
|
||||
2025-06-09 17:16:05.697 _new_stop_move_thread_1
|
||||
2025-06-09 17:16:06.384 _new_stop_move_thread_2
|
||||
2025-06-09 17:16:06.399 wait_stop out_0
|
||||
2025-06-09 17:16:06.399 new_movej_xyz_lr 274.064911 5.965300 -75.466103 -1005.721008 50.000000 0.000000 1
|
||||
2025-06-09 17:16:06.399 new_movej_xyz_lr return 99 <20><>ͣ<EFBFBD><CDA3>
|
||||
2025-06-09 17:16:06.399 wait_stop in
|
||||
2025-06-09 17:16:06.415 _new_stop_move_thread_3
|
||||
2025-06-09 17:16:06.415 get_scara_param -67.225197 86.401299 -75.469200 -1005.748718
|
||||
2025-06-09 17:16:06.415 get_scara_real_coor -67.225197 86.401299 -75.469200 -1005.748718
|
||||
2025-06-09 17:16:06.415 _new_stop_move_thread_4
|
||||
2025-06-09 17:16:06.431 wait_stop out_0
|
||||
2025-06-09 17:16:09.710 30 30 30 30
|
||||
2025-06-09 17:16:09.710 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-09 17:16:09.710 goal_angle -87.199585 152.604431
|
||||
2025-06-09 17:16:09.710 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-09 17:16:09.710 z1 -75.469208 z2 -4.457100
|
||||
2025-06-09 17:16:09.710 angle1_1 -67.225273 angle2_1 86.401360 z1 -75.469208 r1 -1005.748718
|
||||
2025-06-09 17:16:09.710 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-09 17:16:09.710 speed 100.000000
|
||||
2025-06-09 17:16:09.710 tcp_distance 218.265488
|
||||
2025-06-09 17:16:09.710 new_end_speed 100.000000 j1_acc_t 1.091327 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 20.018654
|
||||
2025-06-09 17:16:09.710 new_end_speed 100.000000 j2_acc_t 1.091327 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.350037
|
||||
2025-06-09 17:16:09.710 new_end_speed 100.000000 j3_acc_t 1.091327 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.169754
|
||||
2025-06-09 17:16:09.710 new_end_speed 100.000000 j4_acc_t 1.091327 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.220542
|
||||
2025-06-09 17:16:09.710 end_speed 100.000000
|
||||
2025-06-09 17:16:09.713 trail_number2.182655
|
||||
2025-06-09 17:16:09.713 tcp_distance 218.265488
|
||||
2025-06-09 17:16:09.713 angle1_1 = -67.225273 angle2_1 = 86.401360 z1 = -75.469208 r1 = -1005.748718 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
|
||||
646
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-10.hilog
Normal file
646
HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-10.hilog
Normal file
@@ -0,0 +1,646 @@
|
||||
2025-06-10 10:25:32.933 ROBOT_ERROR_CODE = 1004
|
||||
2025-06-10 10:25:32.935
|
||||
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 : 6564 6735 6550 6733 6735 0
|
||||
2025-06-10 10:25:37.013 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-10 10:25:37.013 robot connected
|
||||
2025-06-10 10:25:37.013 26
|
||||
2025-06-10 10:25:37.013 current generation=26
|
||||
2025-06-10 10:25:37.632 0x1a
|
||||
2025-06-10 10:25:38.484 initial joint2 4435416
|
||||
2025-06-10 10:25:38.484 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-10 10:25:38.484 robot WritePID
|
||||
2025-06-10 10:25:38.796 initial joint1 -1265910
|
||||
2025-06-10 10:25:38.836 initial joint2 4435416
|
||||
2025-06-10 10:25:38.873 initial joint3 -13322
|
||||
2025-06-10 10:25:38.910 initial joint4 -25058982
|
||||
2025-06-10 10:25:38.939 initial joint1 -1265912
|
||||
2025-06-10 10:25:38.989 initial joint2 4435416
|
||||
2025-06-10 10:25:39.033 initial joint3 -13322
|
||||
2025-06-10 10:25:39.092 initial joint4 -25058983
|
||||
2025-06-10 10:25:39.108 initial joint1 -1265910
|
||||
2025-06-10 10:25:39.159 initial joint2 4435415
|
||||
2025-06-10 10:25:39.200 initial joint3 -13323
|
||||
2025-06-10 10:25:39.240 initial joint4 -25058984
|
||||
2025-06-10 10:25:41.392 initial_thread initialized
|
||||
2025-06-10 10:25:41.392 servo enable
|
||||
2025-06-10 10:25:41.394 brake open
|
||||
2025-06-10 10:25:41.394 set_brake_state 0 1
|
||||
2025-06-10 10:25:41.605 robot initialized
|
||||
2025-06-10 10:25:42.183 get_scara_param -86.922798 152.277893 -4.574000 -1027.954468
|
||||
2025-06-10 10:25:42.183 get_scara_real_coor -86.922096 152.277893 -4.574000 -1027.953857
|
||||
2025-06-10 10:25:42.183 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-10 10:25:42.183 position -1265905.000000 4435415.000000 -13322.740234 -25058986.000000 -976696.875000 2473658.750000 -219810.953125 -24020456.000000
|
||||
2025-06-10 10:25:42.183 speed 19858.345703 67351.554688 70892.101563 42786.117188
|
||||
2025-06-10 10:25:42.183 set_first_position_after_initial
|
||||
2025-06-10 10:25:42.183 movej_old start_pos: -86.922798 152.277893 -4.574000 -1027.954468 end_pos: -86.922798 152.277802 -4.574000 -1027.954468 org_sp 10.000000 end_sp 0.802898
|
||||
2025-06-10 10:25:42.481 J3 Belt Meilage=40.892139km
|
||||
2025-06-10 10:25:45.055 30 30 30 30
|
||||
2025-06-10 10:25:45.057 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 10:25:45.057 goal_angle -11.002804 84.112190
|
||||
2025-06-10 10:25:45.057 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 10:25:45.057 z1 -4.574000 z2 -75.466103
|
||||
2025-06-10 10:25:45.059 angle1_1 -86.922798 angle2_1 152.277802 z1 -4.574000 r1 -1027.954468
|
||||
2025-06-10 10:25:45.059 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 10:25:45.059 speed 100.000000
|
||||
2025-06-10 10:25:45.059 tcp_distance 287.533997
|
||||
2025-06-10 10:25:45.059 new_end_speed 100.000000 j1_acc_t 1.437670 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.758366
|
||||
2025-06-10 10:25:45.059 new_end_speed 100.000000 j2_acc_t 1.437670 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.858990
|
||||
2025-06-10 10:25:45.059 new_end_speed 100.000000 j3_acc_t 1.437670 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.933250
|
||||
2025-06-10 10:25:45.059 new_end_speed 100.000000 j4_acc_t 1.437670 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.914762
|
||||
2025-06-10 10:25:45.059 end_speed 100.000000
|
||||
2025-06-10 10:25:45.059 trail_number2.875340
|
||||
2025-06-10 10:25:45.059 tcp_distance 287.533997
|
||||
2025-06-10 10:25:45.062 angle1_1 = -86.922798 angle2_1 = 152.277802 z1 = -4.574000 r1 = -1027.954468 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 10:28:55.947 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-10 10:28:55.947 robot connected
|
||||
2025-06-10 10:28:55.947 26
|
||||
2025-06-10 10:28:55.947 current generation=26
|
||||
2025-06-10 10:28:56.465 0x1a
|
||||
2025-06-10 10:28:57.254 initial joint2 2449949
|
||||
2025-06-10 10:28:57.254 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-10 10:28:57.254 robot WritePID
|
||||
2025-06-10 10:28:57.571 initial joint1 -160239
|
||||
2025-06-10 10:28:57.608 initial joint2 2449948
|
||||
2025-06-10 10:28:57.676 initial joint3 -219816
|
||||
2025-06-10 10:28:57.726 initial joint4 -25369362
|
||||
2025-06-10 10:28:57.758 initial joint1 -160239
|
||||
2025-06-10 10:28:57.796 initial joint2 2449950
|
||||
2025-06-10 10:28:57.844 initial joint3 -219816
|
||||
2025-06-10 10:28:57.907 initial joint4 -25369363
|
||||
2025-06-10 10:28:57.931 initial joint1 -160244
|
||||
2025-06-10 10:28:57.985 initial joint2 2449952
|
||||
2025-06-10 10:28:58.027 initial joint3 -219817
|
||||
2025-06-10 10:28:58.081 initial joint4 -25369363
|
||||
2025-06-10 10:29:00.173 initial_thread initialized
|
||||
2025-06-10 10:29:00.173 servo enable
|
||||
2025-06-10 10:29:00.173 brake open
|
||||
2025-06-10 10:29:00.175 set_brake_state 0 1
|
||||
2025-06-10 10:29:00.375 robot initialized
|
||||
2025-06-10 10:29:00.928 get_scara_param -11.003400 84.112503 -75.468803 -1005.721619
|
||||
2025-06-10 10:29:00.928 get_scara_real_coor -11.003000 84.112396 -75.468803 -1005.721191
|
||||
2025-06-10 10:29:00.928 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-10 10:29:00.928 position -160248.625000 2449954.250000 -219818.828125 -25369364.000000 -976696.875000 2473658.750000 -219810.953125 -24020456.000000
|
||||
2025-06-10 10:29:00.928 speed 56061.054688 813.829407 2.703667 55573.300781
|
||||
2025-06-10 10:29:00.928 set_first_position_after_initial
|
||||
2025-06-10 10:29:00.928 movej_old start_pos: -11.003400 84.112503 -75.468803 -1005.721558 end_pos: -11.003400 84.112503 -75.468803 -1005.721558 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-10 10:29:01.205 J3 Belt Meilage=40.892262km
|
||||
2025-06-10 10:29:03.144 30 30 30 30
|
||||
2025-06-10 10:29:03.146 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 10:29:03.146 goal_angle -60.720737 27.061800
|
||||
2025-06-10 10:29:03.147 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 10:29:03.147 z1 -75.468803 z2 -75.466103
|
||||
2025-06-10 10:29:03.147 angle1_1 -11.003400 angle2_1 84.112503 z1 -75.468803 r1 -1005.721558
|
||||
2025-06-10 10:29:03.147 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 10:29:03.147 speed 100.000000
|
||||
2025-06-10 10:29:03.147 tcp_distance 498.314575
|
||||
2025-06-10 10:29:03.147 new_end_speed 100.000000 j1_acc_t 2.491573 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 21.824907
|
||||
2025-06-10 10:29:03.147 new_end_speed 100.000000 j2_acc_t 2.491573 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.044107
|
||||
2025-06-10 10:29:03.147 new_end_speed 100.000000 j3_acc_t 2.491573 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.001186
|
||||
2025-06-10 10:29:03.147 new_end_speed 100.000000 j4_acc_t 2.491573 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000241
|
||||
2025-06-10 10:29:03.147 end_speed 100.000000
|
||||
2025-06-10 10:29:03.147 trail_number4.983146
|
||||
2025-06-10 10:29:03.147 tcp_distance 498.314575
|
||||
2025-06-10 10:29:03.149 angle1_1 = -11.003400 angle2_1 = 84.112503 z1 = -75.468803 r1 = -1005.721558 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 10:29:09.093 30 30 30 30
|
||||
2025-06-10 10:29:09.093 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 10:29:09.093 goal_angle -67.226128 86.401024
|
||||
2025-06-10 10:29:09.094 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 10:29:09.094 z1 -75.466103 z2 -75.466103
|
||||
2025-06-10 10:29:09.095 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 10:29:09.095 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 10:29:09.095 speed 100.000000
|
||||
2025-06-10 10:29:09.095 tcp_distance 171.494293
|
||||
2025-06-10 10:29:09.095 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
|
||||
2025-06-10 10:29:09.096 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
|
||||
2025-06-10 10:29:09.096 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-10 10:29:09.096 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-10 10:29:09.097 end_speed 100.000000
|
||||
2025-06-10 10:29:09.097 trail_number1.714943
|
||||
2025-06-10 10:29:09.097 tcp_distance 171.494293
|
||||
2025-06-10 10:29:09.097 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 10:29:10.752 30 30 30 30
|
||||
2025-06-10 10:29:10.752 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 10:29:10.752 goal_angle -44.911705 98.661697
|
||||
2025-06-10 10:29:10.753 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 10:29:10.753 z1 -75.466103 z2 -75.466103
|
||||
2025-06-10 10:29:10.753 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 10:29:10.753 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 10:29:10.753 speed 100.000000
|
||||
2025-06-10 10:29:10.753 tcp_distance 144.069748
|
||||
2025-06-10 10:29:10.754 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||||
2025-06-10 10:29:10.754 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||||
2025-06-10 10:29:10.754 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-10 10:29:10.754 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-10 10:29:10.754 end_speed 100.000000
|
||||
2025-06-10 10:29:10.754 trail_number1.440697
|
||||
2025-06-10 10:29:10.755 tcp_distance 144.069748
|
||||
2025-06-10 10:29:10.843 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 10:29:12.438 30 30 30 30
|
||||
2025-06-10 10:29:12.438 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 10:29:12.438 goal_angle -11.002804 84.112190
|
||||
2025-06-10 10:29:12.438 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 10:29:12.438 z1 -75.466103 z2 -75.466103
|
||||
2025-06-10 10:29:12.438 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 10:29:12.438 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 10:29:12.438 speed 100.000000
|
||||
2025-06-10 10:29:12.438 tcp_distance 144.322098
|
||||
2025-06-10 10:29:12.438 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||||
2025-06-10 10:29:12.438 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||||
2025-06-10 10:29:12.438 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-10 10:29:12.438 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-10 10:29:12.438 end_speed 100.000000
|
||||
2025-06-10 10:29:12.438 trail_number1.443221
|
||||
2025-06-10 10:29:12.438 tcp_distance 144.322098
|
||||
2025-06-10 10:29:12.438 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 10:29:15.216 30 30 30 30
|
||||
2025-06-10 10:29:15.216 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-10 10:29:15.216 goal_angle -87.199585 152.604431
|
||||
2025-06-10 10:29:15.216 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-10 10:29:15.216 z1 -75.466103 z2 -4.457100
|
||||
2025-06-10 10:29:15.216 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 10:29:15.216 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-10 10:29:15.216 speed 100.000000
|
||||
2025-06-10 10:29:15.216 tcp_distance 288.737366
|
||||
2025-06-10 10:29:15.216 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
|
||||
2025-06-10 10:29:15.216 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
|
||||
2025-06-10 10:29:15.216 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
|
||||
2025-06-10 10:29:15.216 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
|
||||
2025-06-10 10:29:15.216 end_speed 100.000000
|
||||
2025-06-10 10:29:15.216 trail_number2.887374
|
||||
2025-06-10 10:29:15.216 tcp_distance 288.737366
|
||||
2025-06-10 10:29:15.216 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-10 10:29:18.915 30 30 30 30
|
||||
2025-06-10 10:29:18.915 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 10:29:18.915 goal_angle -11.002804 84.112190
|
||||
2025-06-10 10:29:18.915 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 10:29:18.915 z1 -4.457100 z2 -75.466103
|
||||
2025-06-10 10:29:18.915 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-10 10:29:18.915 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 10:29:18.915 speed 100.000000
|
||||
2025-06-10 10:29:18.915 tcp_distance 288.589417
|
||||
2025-06-10 10:29:18.915 new_end_speed 100.000000 j1_acc_t 1.442947 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.756939
|
||||
2025-06-10 10:29:18.919 new_end_speed 100.000000 j2_acc_t 1.442947 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.916920
|
||||
2025-06-10 10:29:18.919 new_end_speed 100.000000 j3_acc_t 1.442947 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.824619
|
||||
2025-06-10 10:29:18.919 new_end_speed 100.000000 j4_acc_t 1.442947 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.826810
|
||||
2025-06-10 10:29:18.919 end_speed 100.000000
|
||||
2025-06-10 10:29:18.919 trail_number2.885894
|
||||
2025-06-10 10:29:18.919 tcp_distance 288.589417
|
||||
2025-06-10 10:29:18.919 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 10:35:04.949 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-10 10:35:04.949 robot connected
|
||||
2025-06-10 10:35:04.949 26
|
||||
2025-06-10 10:35:04.949 current generation=26
|
||||
2025-06-10 10:35:05.461 0x1a
|
||||
2025-06-10 10:35:06.270 initial joint2 2449951
|
||||
2025-06-10 10:35:06.270 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-10 10:35:06.270 robot WritePID
|
||||
2025-06-10 10:35:06.580 initial joint1 -160239
|
||||
2025-06-10 10:35:06.626 initial joint2 2449951
|
||||
2025-06-10 10:35:06.693 initial joint3 -219815
|
||||
2025-06-10 10:35:06.740 initial joint4 -25369361
|
||||
2025-06-10 10:35:06.745 initial joint1 -160240
|
||||
2025-06-10 10:35:06.780 initial joint2 2449952
|
||||
2025-06-10 10:35:06.818 initial joint3 -219819
|
||||
2025-06-10 10:35:06.854 initial joint4 -25369362
|
||||
2025-06-10 10:35:06.867 initial joint1 -160239
|
||||
2025-06-10 10:35:06.921 initial joint2 2449953
|
||||
2025-06-10 10:35:06.959 initial joint3 -219822
|
||||
2025-06-10 10:35:06.993 initial joint4 -25369363
|
||||
2025-06-10 10:35:09.156 initial_thread initialized
|
||||
2025-06-10 10:35:09.156 servo enable
|
||||
2025-06-10 10:35:09.156 brake open
|
||||
2025-06-10 10:35:09.156 set_brake_state 0 1
|
||||
2025-06-10 10:35:09.359 robot initialized
|
||||
2025-06-10 10:35:09.973 get_scara_param -11.002600 84.112503 -75.471901 -1005.720825
|
||||
2025-06-10 10:35:09.973 get_scara_real_coor -11.002900 84.112503 -75.470901 -1005.721130
|
||||
2025-06-10 10:35:09.973 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-10 10:35:09.973 position -160236.984375 2449954.250000 -219827.843750 -25369368.000000 -1269576.875000 4444280.500000 -13049.168945 -25056288.000000
|
||||
2025-06-10 10:35:09.973 speed 76172.320313 68469.757813 70991.820313 12898.499023
|
||||
2025-06-10 10:35:09.973 set_first_position_after_initial
|
||||
2025-06-10 10:35:09.973 movej_old start_pos: -11.002601 84.112503 -75.471901 -1005.720886 end_pos: -11.002601 84.112503 -75.471901 -1005.720886 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-10 10:35:10.266 J3 Belt Meilage=40.892654km
|
||||
2025-06-10 10:35:57.690 30 30 30 30
|
||||
2025-06-10 10:35:57.691 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 10:35:57.691 goal_angle -60.720737 27.061800
|
||||
2025-06-10 10:35:57.692 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 10:35:57.692 z1 -75.471901 z2 -75.466103
|
||||
2025-06-10 10:35:57.692 angle1_1 -11.002601 angle2_1 84.112503 z1 -75.471901 r1 -1005.720886
|
||||
2025-06-10 10:35:57.692 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 10:35:57.692 speed 100.000000
|
||||
2025-06-10 10:35:57.692 tcp_distance 498.319611
|
||||
2025-06-10 10:35:57.693 new_end_speed 100.000000 j1_acc_t 2.491598 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 21.825037
|
||||
2025-06-10 10:35:57.693 new_end_speed 100.000000 j2_acc_t 2.491598 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.043852
|
||||
2025-06-10 10:35:57.693 new_end_speed 100.000000 j3_acc_t 2.491598 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.002545
|
||||
2025-06-10 10:35:57.693 new_end_speed 100.000000 j4_acc_t 2.491598 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000054
|
||||
2025-06-10 10:35:57.693 end_speed 100.000000
|
||||
2025-06-10 10:35:57.693 trail_number4.983196
|
||||
2025-06-10 10:35:57.694 tcp_distance 498.319611
|
||||
2025-06-10 10:35:57.694 angle1_1 = -11.002601 angle2_1 = 84.112503 z1 = -75.471901 r1 = -1005.720886 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 10:36:55.970 30 30 30 30
|
||||
2025-06-10 10:36:55.970 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 10:36:55.970 goal_angle -11.002804 84.112190
|
||||
2025-06-10 10:36:55.970 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 10:36:55.970 z1 -75.466103 z2 -75.466103
|
||||
2025-06-10 10:36:55.970 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 10:36:55.970 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 10:36:55.970 speed 100.000000
|
||||
2025-06-10 10:36:55.975 tcp_distance 498.946289
|
||||
2025-06-10 10:36:55.975 new_end_speed 100.000000 j1_acc_t 2.494731 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 21.797541
|
||||
2025-06-10 10:36:55.975 new_end_speed 100.000000 j2_acc_t 2.494731 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.012268
|
||||
2025-06-10 10:36:55.975 new_end_speed 100.000000 j3_acc_t 2.494731 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-10 10:36:55.975 new_end_speed 100.000000 j4_acc_t 2.494731 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-10 10:36:55.975 end_speed 100.000000
|
||||
2025-06-10 10:36:55.975 trail_number4.989463
|
||||
2025-06-10 10:36:55.975 tcp_distance 498.946289
|
||||
2025-06-10 10:36:55.975 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 10:58:37.195 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-10 10:58:37.195 robot connected
|
||||
2025-06-10 10:58:37.201 26
|
||||
2025-06-10 10:58:37.201 current generation=26
|
||||
2025-06-10 10:58:37.710 0x1a
|
||||
2025-06-10 10:58:38.564 initial joint2 2449948
|
||||
2025-06-10 10:58:38.564 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-10 10:58:38.564 robot WritePID
|
||||
2025-06-10 10:58:38.866 initial joint1 -160239
|
||||
2025-06-10 10:58:38.905 initial joint2 2449948
|
||||
2025-06-10 10:58:38.950 initial joint3 -219825
|
||||
2025-06-10 10:58:38.999 initial joint4 -25369364
|
||||
2025-06-10 10:58:39.014 initial joint1 -160239
|
||||
2025-06-10 10:58:39.052 initial joint2 2449950
|
||||
2025-06-10 10:58:39.106 initial joint3 -219826
|
||||
2025-06-10 10:58:39.148 initial joint4 -25369364
|
||||
2025-06-10 10:58:39.164 initial joint1 -160239
|
||||
2025-06-10 10:58:39.234 initial joint2 2449951
|
||||
2025-06-10 10:58:39.269 initial joint3 -219826
|
||||
2025-06-10 10:58:39.315 initial joint4 -25369364
|
||||
2025-06-10 10:58:41.473 initial_thread initialized
|
||||
2025-06-10 10:58:41.473 servo enable
|
||||
2025-06-10 10:58:41.473 brake open
|
||||
2025-06-10 10:58:41.473 set_brake_state 0 1
|
||||
2025-06-10 10:58:41.679 robot initialized
|
||||
2025-06-10 10:58:42.232 get_scara_param -11.002600 84.112396 -75.472603 -1005.720886
|
||||
2025-06-10 10:58:42.232 get_scara_real_coor -11.002700 84.112396 -75.471603 -1005.720886
|
||||
2025-06-10 10:58:42.232 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-10 10:58:42.232 position -160236.984375 2449951.000000 -219829.890625 -25369366.000000 -309952.843750 2106359.750000 -219810.953125 -24948048.000000
|
||||
2025-06-10 10:58:42.232 speed 10280.171875 11796.269531 6.501675 17357.767578
|
||||
2025-06-10 10:58:42.232 set_first_position_after_initial
|
||||
2025-06-10 10:58:42.232 movej_old start_pos: -11.002601 84.112396 -75.472603 -1005.720886 end_pos: -11.002601 84.112297 -75.472603 -1005.720886 org_sp 10.000000 end_sp 0.687322
|
||||
2025-06-10 10:58:42.526 J3 Belt Meilage=40.893021km
|
||||
2025-06-10 10:59:58.517 30 30 30 30
|
||||
2025-06-10 10:59:58.519 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 10:59:58.519 goal_angle -60.720737 27.061800
|
||||
2025-06-10 10:59:58.519 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 10:59:58.520 z1 -75.472603 z2 -75.466103
|
||||
2025-06-10 10:59:58.520 angle1_1 -11.002601 angle2_1 84.112297 z1 -75.472603 r1 -1005.720886
|
||||
2025-06-10 10:59:58.520 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 10:59:58.520 speed 100.000000
|
||||
2025-06-10 10:59:58.521 tcp_distance 498.319061
|
||||
2025-06-10 10:59:58.521 new_end_speed 100.000000 j1_acc_t 2.491595 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 21.825052
|
||||
2025-06-10 10:59:58.521 new_end_speed 100.000000 j2_acc_t 2.491595 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.043779
|
||||
2025-06-10 10:59:58.521 new_end_speed 100.000000 j3_acc_t 2.491595 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.002853
|
||||
2025-06-10 10:59:58.521 new_end_speed 100.000000 j4_acc_t 2.491595 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000054
|
||||
2025-06-10 10:59:58.522 end_speed 100.000000
|
||||
2025-06-10 10:59:58.522 trail_number4.983191
|
||||
2025-06-10 10:59:58.522 tcp_distance 498.319061
|
||||
2025-06-10 10:59:58.523 angle1_1 = -11.002601 angle2_1 = 84.112297 z1 = -75.472603 r1 = -1005.720886 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 11:00:03.253 30 30 30 30
|
||||
2025-06-10 11:00:03.253 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 11:00:03.253 goal_angle -67.226128 86.401024
|
||||
2025-06-10 11:00:03.253 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 11:00:03.253 z1 -75.466103 z2 -75.466103
|
||||
2025-06-10 11:00:03.253 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 11:00:03.253 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 11:00:03.253 speed 100.000000
|
||||
2025-06-10 11:00:03.253 tcp_distance 171.494293
|
||||
2025-06-10 11:00:03.256 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
|
||||
2025-06-10 11:00:03.256 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
|
||||
2025-06-10 11:00:03.256 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-10 11:00:03.256 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-10 11:00:03.256 end_speed 100.000000
|
||||
2025-06-10 11:00:03.256 trail_number1.714943
|
||||
2025-06-10 11:00:03.256 tcp_distance 171.494293
|
||||
2025-06-10 11:00:03.570 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 11:00:05.006 30 30 30 30
|
||||
2025-06-10 11:00:05.008 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-10 11:00:05.008 goal_angle -87.199585 152.604431
|
||||
2025-06-10 11:00:05.008 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-10 11:00:05.008 z1 -75.466103 z2 -4.457100
|
||||
2025-06-10 11:00:05.008 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 11:00:05.008 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-10 11:00:05.008 speed 100.000000
|
||||
2025-06-10 11:00:05.008 tcp_distance 218.265945
|
||||
2025-06-10 11:00:05.008 new_end_speed 100.000000 j1_acc_t 1.091330 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 20.017746
|
||||
2025-06-10 11:00:05.008 new_end_speed 100.000000 j2_acc_t 1.091330 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.350204
|
||||
2025-06-10 11:00:05.010 new_end_speed 100.000000 j3_acc_t 1.091330 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.166458
|
||||
2025-06-10 11:00:05.010 new_end_speed 100.000000 j4_acc_t 1.091330 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.248268
|
||||
2025-06-10 11:00:05.010 end_speed 100.000000
|
||||
2025-06-10 11:00:05.010 trail_number2.182659
|
||||
2025-06-10 11:00:05.010 tcp_distance 218.265945
|
||||
2025-06-10 11:00:05.321 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-10 11:00:07.806 30 30 30 30
|
||||
2025-06-10 11:00:07.806 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 11:00:07.806 goal_angle -11.002804 84.112190
|
||||
2025-06-10 11:00:07.806 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 11:00:07.806 z1 -4.457100 z2 -75.466103
|
||||
2025-06-10 11:00:07.807 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-10 11:00:07.807 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 11:00:07.807 speed 100.000000
|
||||
2025-06-10 11:00:07.807 tcp_distance 288.589417
|
||||
2025-06-10 11:00:07.807 new_end_speed 100.000000 j1_acc_t 1.442947 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.756939
|
||||
2025-06-10 11:00:07.807 new_end_speed 100.000000 j2_acc_t 1.442947 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.916920
|
||||
2025-06-10 11:00:07.808 new_end_speed 100.000000 j3_acc_t 1.442947 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.824619
|
||||
2025-06-10 11:00:07.808 new_end_speed 100.000000 j4_acc_t 1.442947 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.826810
|
||||
2025-06-10 11:00:07.808 end_speed 100.000000
|
||||
2025-06-10 11:00:07.808 trail_number2.885894
|
||||
2025-06-10 11:00:07.808 tcp_distance 288.589417
|
||||
2025-06-10 11:00:07.809 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 11:11:53.064 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-10 11:11:53.064 robot connected
|
||||
2025-06-10 11:11:53.064 26
|
||||
2025-06-10 11:11:53.064 current generation=26
|
||||
2025-06-10 11:11:53.573 0x1a
|
||||
2025-06-10 11:11:53.573 initial return 3 ĩ<>˹ؽڲ<D8BD><DAB2><EFBFBD><EFBFBD><EFBFBD><DEB6><EFBFBD>Χ<EFBFBD><CEA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>joint_homeʹ<65>ؽ<EFBFBD>ǿ<EFBFBD>ƻ<EFBFBD><C6BB><EFBFBD>
|
||||
2025-06-10 11:11:55.713 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-10 11:11:55.713 robot connected
|
||||
2025-06-10 11:11:55.713 26
|
||||
2025-06-10 11:11:55.713 current generation=26
|
||||
2025-06-10 11:11:56.222 0x1a
|
||||
2025-06-10 11:11:57.132 initial joint2 2449950
|
||||
2025-06-10 11:11:57.132 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-10 11:11:57.132 robot WritePID
|
||||
2025-06-10 11:11:57.434 initial joint1 -160240
|
||||
2025-06-10 11:11:57.481 initial joint2 2449948
|
||||
2025-06-10 11:11:57.529 initial joint3 -219814
|
||||
2025-06-10 11:11:57.578 initial joint4 -25369363
|
||||
2025-06-10 11:11:57.594 initial joint1 -160241
|
||||
2025-06-10 11:11:57.628 initial joint2 2449949
|
||||
2025-06-10 11:11:57.676 initial joint3 -219817
|
||||
2025-06-10 11:11:57.721 initial joint4 -25369362
|
||||
2025-06-10 11:11:57.727 initial joint1 -160241
|
||||
2025-06-10 11:11:57.780 initial joint2 2449952
|
||||
2025-06-10 11:11:57.819 initial joint3 -219819
|
||||
2025-06-10 11:11:57.852 initial joint4 -25369364
|
||||
2025-06-10 11:11:59.922 initial_thread initialized
|
||||
2025-06-10 11:11:59.922 servo enable
|
||||
2025-06-10 11:11:59.922 brake open
|
||||
2025-06-10 11:11:59.922 set_brake_state 0 1
|
||||
2025-06-10 11:12:00.133 robot initialized
|
||||
2025-06-10 11:12:00.707 get_scara_param -11.002700 84.112396 -75.468803 -1005.720886
|
||||
2025-06-10 11:12:00.707 get_scara_real_coor -11.003000 84.112503 -75.469200 -1005.721313
|
||||
2025-06-10 11:12:00.709 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-10 11:12:00.709 position -160238.437500 2449951.000000 -219818.828125 -25369364.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-10 11:12:00.709 speed 11002.700195 84112.390625 75468.804688 1045185.625000
|
||||
2025-06-10 11:12:00.709 set_first_position_after_initial
|
||||
2025-06-10 11:12:00.710 movej_old start_pos: -11.002701 84.112396 -75.468803 -1005.720886 end_pos: -11.002701 84.112297 -75.468803 -1005.720886 org_sp 10.000000 end_sp 0.793652
|
||||
2025-06-10 11:12:01.002 J3 Belt Meilage=40.893345km
|
||||
2025-06-10 11:14:55.507 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-10 11:14:55.507 robot connected
|
||||
2025-06-10 11:14:55.507 26
|
||||
2025-06-10 11:14:55.507 current generation=26
|
||||
2025-06-10 11:14:56.020 0x1a
|
||||
2025-06-10 11:14:56.840 initial joint2 2449952
|
||||
2025-06-10 11:14:56.840 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-10 11:14:56.840 robot WritePID
|
||||
2025-06-10 11:14:57.146 initial joint1 -160237
|
||||
2025-06-10 11:14:57.210 initial joint2 2449952
|
||||
2025-06-10 11:14:57.249 initial joint3 -219820
|
||||
2025-06-10 11:14:57.297 initial joint4 -25369364
|
||||
2025-06-10 11:14:57.313 initial joint1 -160237
|
||||
2025-06-10 11:14:57.353 initial joint2 2449954
|
||||
2025-06-10 11:14:57.413 initial joint3 -219824
|
||||
2025-06-10 11:14:57.452 initial joint4 -25369364
|
||||
2025-06-10 11:14:57.468 initial joint1 -160237
|
||||
2025-06-10 11:14:57.528 initial joint2 2449956
|
||||
2025-06-10 11:14:57.568 initial joint3 -219826
|
||||
2025-06-10 11:14:57.632 initial joint4 -25369364
|
||||
2025-06-10 11:14:59.810 initial_thread initialized
|
||||
2025-06-10 11:14:59.810 servo enable
|
||||
2025-06-10 11:14:59.810 brake open
|
||||
2025-06-10 11:14:59.810 set_brake_state 0 1
|
||||
2025-06-10 11:15:00.028 robot initialized
|
||||
2025-06-10 11:15:00.589 get_scara_param -11.002600 84.112701 -75.471603 -1005.720581
|
||||
2025-06-10 11:15:00.589 get_scara_real_coor -11.002500 84.112701 -75.472603 -1005.720581
|
||||
2025-06-10 11:15:00.589 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-10 11:15:00.591 position -160236.984375 2449960.000000 -219826.984375 -25369364.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-10 11:15:00.591 speed 11002.600586 84112.703125 75471.601563 1045185.625000
|
||||
2025-06-10 11:15:00.591 set_first_position_after_initial
|
||||
2025-06-10 11:15:00.591 movej_old start_pos: -11.002601 84.112701 -75.471603 -1005.720642 end_pos: -11.002601 84.112701 -75.471603 -1005.720642 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-10 11:15:00.877 J3 Belt Meilage=40.893383km
|
||||
2025-06-10 11:15:40.213 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-10 11:15:40.213 robot connected
|
||||
2025-06-10 11:15:40.213 26
|
||||
2025-06-10 11:15:40.214 current generation=26
|
||||
2025-06-10 11:15:40.722 0x1a
|
||||
2025-06-10 11:15:41.539 initial joint2 2449966
|
||||
2025-06-10 11:15:41.539 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-10 11:15:41.539 robot WritePID
|
||||
2025-06-10 11:15:41.841 initial joint1 -160236
|
||||
2025-06-10 11:15:41.888 initial joint2 2449964
|
||||
2025-06-10 11:15:41.945 initial joint3 -219832
|
||||
2025-06-10 11:15:42.011 initial joint4 -25369364
|
||||
2025-06-10 11:15:42.026 initial joint1 -160236
|
||||
2025-06-10 11:15:42.092 initial joint2 2449966
|
||||
2025-06-10 11:15:42.127 initial joint3 -219836
|
||||
2025-06-10 11:15:42.179 initial joint4 -25369366
|
||||
2025-06-10 11:15:42.190 initial joint1 -160236
|
||||
2025-06-10 11:15:42.256 initial joint2 2449966
|
||||
2025-06-10 11:15:42.305 initial joint3 -219838
|
||||
2025-06-10 11:15:42.371 initial joint4 -25369366
|
||||
2025-06-10 11:15:44.582 initial_thread initialized
|
||||
2025-06-10 11:15:44.582 servo enable
|
||||
2025-06-10 11:15:44.583 brake open
|
||||
2025-06-10 11:15:44.583 set_brake_state 0 1
|
||||
2025-06-10 11:15:44.789 robot initialized
|
||||
2025-06-10 11:15:45.403 get_scara_param -11.002500 84.112900 -75.476700 -1005.720520
|
||||
2025-06-10 11:15:45.403 get_scara_real_coor -11.002400 84.112999 -75.475998 -1005.720276
|
||||
2025-06-10 11:15:45.403 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-10 11:15:45.403 position -160235.515625 2449965.750000 -219841.828125 -25369368.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2025-06-10 11:15:45.403 speed 11002.500000 84112.898438 75476.703125 1045185.812500
|
||||
2025-06-10 11:15:45.403 set_first_position_after_initial
|
||||
2025-06-10 11:15:45.403 movej_old start_pos: -11.002500 84.112900 -75.476700 -1005.720520 end_pos: -11.002399 84.112900 -75.476700 -1005.720520 org_sp 10.000000 end_sp 1.021393
|
||||
2025-06-10 11:15:45.693 J3 Belt Meilage=40.893391km
|
||||
2025-06-10 11:16:51.383 30 30 30 30
|
||||
2025-06-10 11:16:51.383 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 11:16:51.383 goal_angle -60.720737 27.061800
|
||||
2025-06-10 11:16:51.383 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 11:16:51.383 z1 -75.476700 z2 -75.466103
|
||||
2025-06-10 11:16:51.383 angle1_1 -11.002399 angle2_1 84.112900 z1 -75.476700 r1 -1005.720520
|
||||
2025-06-10 11:16:51.383 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 11:16:51.383 speed 100.000000
|
||||
2025-06-10 11:16:51.383 tcp_distance 498.321869
|
||||
2025-06-10 11:16:51.383 new_end_speed 100.000000 j1_acc_t 2.491609 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 21.825022
|
||||
2025-06-10 11:16:51.383 new_end_speed 100.000000 j2_acc_t 2.491609 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.043909
|
||||
2025-06-10 11:16:51.383 new_end_speed 100.000000 j3_acc_t 2.491609 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.004652
|
||||
2025-06-10 11:16:51.383 new_end_speed 100.000000 j4_acc_t 2.491609 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000214
|
||||
2025-06-10 11:16:51.383 end_speed 100.000000
|
||||
2025-06-10 11:16:51.383 trail_number4.983219
|
||||
2025-06-10 11:16:51.383 tcp_distance 498.321869
|
||||
2025-06-10 11:16:51.383 angle1_1 = -11.002399 angle2_1 = 84.112900 z1 = -75.476700 r1 = -1005.720520 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 11:16:56.263 30 30 30 30
|
||||
2025-06-10 11:16:56.263 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 11:16:56.263 goal_angle -11.002804 84.112190
|
||||
2025-06-10 11:16:56.263 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 11:16:56.263 z1 -75.466103 z2 -75.466103
|
||||
2025-06-10 11:16:56.263 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 11:16:56.263 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 11:16:56.263 speed 100.000000
|
||||
2025-06-10 11:16:56.263 tcp_distance 498.946289
|
||||
2025-06-10 11:16:56.263 new_end_speed 100.000000 j1_acc_t 2.494731 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 21.797541
|
||||
2025-06-10 11:16:56.263 new_end_speed 100.000000 j2_acc_t 2.494731 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.012268
|
||||
2025-06-10 11:16:56.263 new_end_speed 100.000000 j3_acc_t 2.494731 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-10 11:16:56.263 new_end_speed 100.000000 j4_acc_t 2.494731 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-10 11:16:56.263 end_speed 100.000000
|
||||
2025-06-10 11:16:56.263 trail_number4.989463
|
||||
2025-06-10 11:16:56.263 tcp_distance 498.946289
|
||||
2025-06-10 11:16:56.436 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 11:28:40.144 30 30 30 30
|
||||
2025-06-10 11:28:40.144 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 11:28:40.144 goal_angle -44.911705 98.661697
|
||||
2025-06-10 11:28:40.144 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 11:28:40.144 z1 -75.466103 z2 -75.466103
|
||||
2025-06-10 11:28:40.144 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 11:28:40.144 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 11:28:40.144 speed 100.000000
|
||||
2025-06-10 11:28:40.144 tcp_distance 144.406967
|
||||
2025-06-10 11:28:40.144 new_end_speed 100.000000 j1_acc_t 0.722035 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.365715
|
||||
2025-06-10 11:28:40.144 new_end_speed 100.000000 j2_acc_t 0.722035 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.039812
|
||||
2025-06-10 11:28:40.144 new_end_speed 100.000000 j3_acc_t 0.722035 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-10 11:28:40.144 new_end_speed 100.000000 j4_acc_t 0.722035 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-10 11:28:40.144 end_speed 100.000000
|
||||
2025-06-10 11:28:40.144 trail_number1.444070
|
||||
2025-06-10 11:28:40.144 tcp_distance 144.406967
|
||||
2025-06-10 11:28:40.144 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 11:28:42.264 30 30 30 30
|
||||
2025-06-10 11:28:42.264 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 11:28:42.264 goal_angle -11.002804 84.112190
|
||||
2025-06-10 11:28:42.264 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 11:28:42.264 z1 -75.466103 z2 -75.466103
|
||||
2025-06-10 11:28:42.264 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 11:28:42.264 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 11:28:42.264 speed 100.000000
|
||||
2025-06-10 11:28:42.264 tcp_distance 144.322098
|
||||
2025-06-10 11:28:42.264 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||||
2025-06-10 11:28:42.264 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||||
2025-06-10 11:28:42.264 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-10 11:28:42.264 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-10 11:28:42.264 end_speed 100.000000
|
||||
2025-06-10 11:28:42.264 trail_number1.443221
|
||||
2025-06-10 11:28:42.264 tcp_distance 144.322098
|
||||
2025-06-10 11:28:42.264 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 11:28:47.748 30 30 30 30
|
||||
2025-06-10 11:28:47.748 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-10 11:28:47.748 goal_angle -87.199585 152.604431
|
||||
2025-06-10 11:28:47.749 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-10 11:28:47.749 z1 -75.466103 z2 -4.457100
|
||||
2025-06-10 11:28:47.749 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 11:28:47.749 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-10 11:28:47.749 speed 100.000000
|
||||
2025-06-10 11:28:47.749 tcp_distance 288.737366
|
||||
2025-06-10 11:28:47.749 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
|
||||
2025-06-10 11:28:47.749 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
|
||||
2025-06-10 11:28:47.749 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
|
||||
2025-06-10 11:28:47.749 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
|
||||
2025-06-10 11:28:47.749 end_speed 100.000000
|
||||
2025-06-10 11:28:47.749 trail_number2.887374
|
||||
2025-06-10 11:28:47.749 tcp_distance 288.737366
|
||||
2025-06-10 11:28:47.749 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-10 11:28:51.733 30 30 30 30
|
||||
2025-06-10 11:28:51.733 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 11:28:51.733 goal_angle -11.002804 84.112190
|
||||
2025-06-10 11:28:51.733 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 11:28:51.733 z1 -4.457100 z2 -75.466103
|
||||
2025-06-10 11:28:51.734 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-10 11:28:51.734 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 11:28:51.734 speed 100.000000
|
||||
2025-06-10 11:28:51.734 tcp_distance 288.589417
|
||||
2025-06-10 11:28:51.734 new_end_speed 100.000000 j1_acc_t 1.442947 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.756939
|
||||
2025-06-10 11:28:51.735 new_end_speed 100.000000 j2_acc_t 1.442947 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.916920
|
||||
2025-06-10 11:28:51.735 new_end_speed 100.000000 j3_acc_t 1.442947 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.824619
|
||||
2025-06-10 11:28:51.735 new_end_speed 100.000000 j4_acc_t 1.442947 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.826810
|
||||
2025-06-10 11:28:51.735 end_speed 100.000000
|
||||
2025-06-10 11:28:51.735 trail_number2.885894
|
||||
2025-06-10 11:28:51.735 tcp_distance 288.589417
|
||||
2025-06-10 11:28:51.736 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 11:32:50.881 30 30 30 30
|
||||
2025-06-10 11:32:50.882 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-10 11:32:50.882 goal_angle -87.199585 152.604431
|
||||
2025-06-10 11:32:50.882 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-10 11:32:50.882 z1 -75.466103 z2 -4.457100
|
||||
2025-06-10 11:32:50.882 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 11:32:50.883 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-10 11:32:50.883 speed 100.000000
|
||||
2025-06-10 11:32:50.883 tcp_distance 288.737366
|
||||
2025-06-10 11:32:50.884 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
|
||||
2025-06-10 11:32:50.884 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
|
||||
2025-06-10 11:32:50.884 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
|
||||
2025-06-10 11:32:50.884 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
|
||||
2025-06-10 11:32:50.884 end_speed 100.000000
|
||||
2025-06-10 11:32:50.884 trail_number2.887374
|
||||
2025-06-10 11:32:50.885 tcp_distance 288.737366
|
||||
2025-06-10 11:32:50.885 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-10 11:32:54.538 30 30 30 30
|
||||
2025-06-10 11:32:54.538 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 11:32:54.538 goal_angle -11.002804 84.112190
|
||||
2025-06-10 11:32:54.538 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 11:32:54.539 z1 -4.457100 z2 -75.466103
|
||||
2025-06-10 11:32:54.539 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-10 11:32:54.539 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 11:32:54.539 speed 100.000000
|
||||
2025-06-10 11:32:54.539 tcp_distance 288.589417
|
||||
2025-06-10 11:32:54.540 new_end_speed 100.000000 j1_acc_t 1.442947 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.756939
|
||||
2025-06-10 11:32:54.540 new_end_speed 100.000000 j2_acc_t 1.442947 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.916920
|
||||
2025-06-10 11:32:54.540 new_end_speed 100.000000 j3_acc_t 1.442947 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.824619
|
||||
2025-06-10 11:32:54.540 new_end_speed 100.000000 j4_acc_t 1.442947 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.826810
|
||||
2025-06-10 11:32:54.541 end_speed 100.000000
|
||||
2025-06-10 11:32:54.541 trail_number2.885894
|
||||
2025-06-10 11:32:54.541 tcp_distance 288.589417
|
||||
2025-06-10 11:32:54.542 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 11:32:58.034 30 30 30 30
|
||||
2025-06-10 11:32:58.035 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 11:32:58.035 goal_angle -44.911705 98.661697
|
||||
2025-06-10 11:32:58.035 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 11:32:58.035 z1 -75.466103 z2 -75.466103
|
||||
2025-06-10 11:32:58.036 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 11:32:58.036 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 11:32:58.036 speed 100.000000
|
||||
2025-06-10 11:32:58.036 tcp_distance 144.406967
|
||||
2025-06-10 11:32:58.036 new_end_speed 100.000000 j1_acc_t 0.722035 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.365715
|
||||
2025-06-10 11:32:58.037 new_end_speed 100.000000 j2_acc_t 0.722035 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.039812
|
||||
2025-06-10 11:32:58.037 new_end_speed 100.000000 j3_acc_t 0.722035 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-10 11:32:58.037 new_end_speed 100.000000 j4_acc_t 0.722035 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-10 11:32:58.037 end_speed 100.000000
|
||||
2025-06-10 11:32:58.037 trail_number1.444070
|
||||
2025-06-10 11:32:58.037 tcp_distance 144.406967
|
||||
2025-06-10 11:32:58.038 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-10 11:33:00.429 30 30 30 30
|
||||
2025-06-10 11:33:00.429 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-10 11:33:00.430 goal_angle -11.002804 84.112190
|
||||
2025-06-10 11:33:00.430 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-10 11:33:00.430 z1 -75.466103 z2 -75.466103
|
||||
2025-06-10 11:33:00.430 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-10 11:33:00.430 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-10 11:33:00.431 speed 100.000000
|
||||
2025-06-10 11:33:00.431 tcp_distance 144.322098
|
||||
2025-06-10 11:33:00.431 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||||
2025-06-10 11:33:00.431 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||||
2025-06-10 11:33:00.431 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-10 11:33:00.432 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-10 11:33:00.432 end_speed 100.000000
|
||||
2025-06-10 11:33:00.432 trail_number1.443221
|
||||
2025-06-10 11:33:00.432 tcp_distance 144.322098
|
||||
2025-06-10 11:33:00.433 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
@@ -1 +1 @@
|
||||
601c0e3a021487c440b2658da2c2fff70bd90fc5e9e4b9164ca2c498d1fcad6a
|
||||
816de040cdf5177811fa70601d689c5d927f9830358954b1a683be9260f8cc07
|
||||
|
||||
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Reference in New Issue
Block a user