From 343b9f2422685054eaf782392c1112ea4abec493 Mon Sep 17 00:00:00 2001 From: uu Date: Tue, 10 Jun 2025 11:34:28 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E7=9B=B8=E6=9C=BA=E7=94=BB?= =?UTF-8?q?=E9=9D=A2=E5=92=8C=E6=8B=8D=E6=91=84=E6=8C=89=E9=92=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HitBotCSharpDemo/CSharpDemo.csproj | 1 + HitBotCSharpDemo/CameraManager.cs | 6 +- HitBotCSharpDemo/ShowForm.Designer.cs | 69 +- HitBotCSharpDemo/ShowForm.cs | 342 +++++- HitBotCSharpDemo/ShowForm.resx | 2 +- .../bin/x64/Debug/Camera_config.txt | 2 + .../bin/x64/Debug/HitBotCSharpDemo.exe | Bin 309760 -> 315392 bytes .../bin/x64/Debug/HitBotCSharpDemo.pdb | Bin 62976 -> 75264 bytes .../bin/x64/Debug/Photo_20250610_103512.jpg | Bin 0 -> 1143237 bytes .../x64/Debug/SDK_LOG/id_74_2025-06-09.hilog | 976 ++++++++++++++++++ .../x64/Debug/SDK_LOG/id_74_2025-06-10.hilog | 646 ++++++++++++ .../CSharpDemo.csproj.CoreCompileInputs.cache | 2 +- .../CSharpDemo.csproj.GenerateResource.cache | Bin 132 -> 132 bytes .../obj/x64/Debug/HitBotCSharpDemo.exe | Bin 309760 -> 315392 bytes .../obj/x64/Debug/HitBotCSharpDemo.pdb | Bin 62976 -> 75264 bytes 15 files changed, 1987 insertions(+), 59 deletions(-) create mode 100644 HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt create mode 100644 HitBotCSharpDemo/bin/x64/Debug/Photo_20250610_103512.jpg create mode 100644 HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-10.hilog diff --git a/HitBotCSharpDemo/CSharpDemo.csproj b/HitBotCSharpDemo/CSharpDemo.csproj index 823c8c9..fdb1875 100644 --- a/HitBotCSharpDemo/CSharpDemo.csproj +++ b/HitBotCSharpDemo/CSharpDemo.csproj @@ -93,6 +93,7 @@ + Form diff --git a/HitBotCSharpDemo/CameraManager.cs b/HitBotCSharpDemo/CameraManager.cs index cc7f54e..20f9f4e 100644 --- a/HitBotCSharpDemo/CameraManager.cs +++ b/HitBotCSharpDemo/CameraManager.cs @@ -1,14 +1,16 @@ -using System; +using MvCamCtrl.NET; +using MvCameraControl; +using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Threading.Tasks; -using MvCamCtrl.NET; namespace HitBotCSharpDemo { public class CameraManager { + } } diff --git a/HitBotCSharpDemo/ShowForm.Designer.cs b/HitBotCSharpDemo/ShowForm.Designer.cs index 9b9d95f..486b24a 100644 --- a/HitBotCSharpDemo/ShowForm.Designer.cs +++ b/HitBotCSharpDemo/ShowForm.Designer.cs @@ -103,6 +103,8 @@ this.btn_Pause = new System.Windows.Forms.Button(); this.btn_Start = new System.Windows.Forms.Button(); this.tap_Cam = new System.Windows.Forms.TabPage(); + this.cam_feed = new System.Windows.Forms.PictureBox(); + this.cam_shooting = new System.Windows.Forms.Button(); this.init_pos_btn = new System.Windows.Forms.Button(); this.cam_btn_4 = new System.Windows.Forms.Button(); this.cam_btn_3 = new System.Windows.Forms.Button(); @@ -113,9 +115,6 @@ this.lbl_Refresh_ID = new System.Windows.Forms.Label(); this.tim_IO_Refresh = new System.Windows.Forms.Timer(this.components); this.rit_Coord = new System.Windows.Forms.RichTextBox(); - this.cam_connected = new System.Windows.Forms.Button(); - this.cam_shooting = new System.Windows.Forms.Button(); - this.cam_feed = new System.Windows.Forms.PictureBox(); this.tac_MainForm.SuspendLayout(); this.tap_Axis.SuspendLayout(); this.grb_R.SuspendLayout(); @@ -129,8 +128,8 @@ this.grb_joint_origin.SuspendLayout(); this.tap_Move.SuspendLayout(); this.tap_Cam.SuspendLayout(); - this.panel1.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.cam_feed)).BeginInit(); + this.panel1.SuspendLayout(); this.SuspendLayout(); // // btn_Init @@ -994,7 +993,6 @@ // this.tap_Cam.Controls.Add(this.cam_feed); this.tap_Cam.Controls.Add(this.cam_shooting); - this.tap_Cam.Controls.Add(this.cam_connected); this.tap_Cam.Controls.Add(this.init_pos_btn); this.tap_Cam.Controls.Add(this.cam_btn_4); this.tap_Cam.Controls.Add(this.cam_btn_3); @@ -1008,9 +1006,28 @@ this.tap_Cam.Text = "相机点位"; this.tap_Cam.UseVisualStyleBackColor = true; // + // cam_feed + // + this.cam_feed.Location = new System.Drawing.Point(426, 52); + this.cam_feed.Name = "cam_feed"; + this.cam_feed.Size = new System.Drawing.Size(675, 552); + this.cam_feed.TabIndex = 8; + this.cam_feed.TabStop = false; + this.cam_feed.Click += new System.EventHandler(this.cam_feed_Click); + // + // cam_shooting + // + this.cam_shooting.Location = new System.Drawing.Point(743, 639); + this.cam_shooting.Name = "cam_shooting"; + this.cam_shooting.Size = new System.Drawing.Size(128, 43); + this.cam_shooting.TabIndex = 7; + this.cam_shooting.Text = "拍摄"; + this.cam_shooting.UseVisualStyleBackColor = true; + this.cam_shooting.Click += new System.EventHandler(this.button1_Click_1); + // // init_pos_btn // - this.init_pos_btn.Location = new System.Drawing.Point(222, 470); + this.init_pos_btn.Location = new System.Drawing.Point(122, 492); this.init_pos_btn.Name = "init_pos_btn"; this.init_pos_btn.Size = new System.Drawing.Size(128, 43); this.init_pos_btn.TabIndex = 4; @@ -1020,7 +1037,7 @@ // // cam_btn_4 // - this.cam_btn_4.Location = new System.Drawing.Point(222, 383); + this.cam_btn_4.Location = new System.Drawing.Point(122, 373); this.cam_btn_4.Name = "cam_btn_4"; this.cam_btn_4.Size = new System.Drawing.Size(128, 43); this.cam_btn_4.TabIndex = 3; @@ -1030,7 +1047,7 @@ // // cam_btn_3 // - this.cam_btn_3.Location = new System.Drawing.Point(222, 289); + this.cam_btn_3.Location = new System.Drawing.Point(122, 274); this.cam_btn_3.Name = "cam_btn_3"; this.cam_btn_3.Size = new System.Drawing.Size(128, 43); this.cam_btn_3.TabIndex = 2; @@ -1040,7 +1057,7 @@ // // cam_btn_2 // - this.cam_btn_2.Location = new System.Drawing.Point(222, 201); + this.cam_btn_2.Location = new System.Drawing.Point(122, 175); this.cam_btn_2.Name = "cam_btn_2"; this.cam_btn_2.Size = new System.Drawing.Size(128, 43); this.cam_btn_2.TabIndex = 1; @@ -1050,7 +1067,7 @@ // // cam_btn_1 // - this.cam_btn_1.Location = new System.Drawing.Point(222, 117); + this.cam_btn_1.Location = new System.Drawing.Point(122, 79); this.cam_btn_1.Name = "cam_btn_1"; this.cam_btn_1.Size = new System.Drawing.Size(128, 43); this.cam_btn_1.TabIndex = 0; @@ -1104,35 +1121,6 @@ this.rit_Coord.Text = ""; this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged); // - // cam_connected - // - this.cam_connected.Location = new System.Drawing.Point(796, 470); - this.cam_connected.Name = "cam_connected"; - this.cam_connected.Size = new System.Drawing.Size(130, 43); - this.cam_connected.TabIndex = 6; - this.cam_connected.Text = "摄像头链接"; - this.cam_connected.UseVisualStyleBackColor = true; - this.cam_connected.Click += new System.EventHandler(this.button2_Click_1); - // - // cam_shooting - // - this.cam_shooting.Location = new System.Drawing.Point(626, 470); - this.cam_shooting.Name = "cam_shooting"; - this.cam_shooting.Size = new System.Drawing.Size(128, 43); - this.cam_shooting.TabIndex = 7; - this.cam_shooting.Text = "拍摄"; - this.cam_shooting.UseVisualStyleBackColor = true; - this.cam_shooting.Click += new System.EventHandler(this.button1_Click_1); - // - // cam_feed - // - this.cam_feed.Location = new System.Drawing.Point(598, 117); - this.cam_feed.Name = "cam_feed"; - this.cam_feed.Size = new System.Drawing.Size(357, 318); - this.cam_feed.TabIndex = 8; - this.cam_feed.TabStop = false; - this.cam_feed.Click += new System.EventHandler(this.cam_feed_Click); - // // ShowForm // this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F); @@ -1172,8 +1160,8 @@ this.tap_Move.ResumeLayout(false); this.tap_Move.PerformLayout(); this.tap_Cam.ResumeLayout(false); - this.panel1.ResumeLayout(false); ((System.ComponentModel.ISupportInitialize)(this.cam_feed)).EndInit(); + this.panel1.ResumeLayout(false); this.ResumeLayout(false); this.PerformLayout(); @@ -1264,7 +1252,6 @@ private System.Windows.Forms.Button cam_btn_2; private System.Windows.Forms.Button cam_btn_1; private System.Windows.Forms.Button init_pos_btn; - private System.Windows.Forms.Button cam_connected; private System.Windows.Forms.Button cam_shooting; private System.Windows.Forms.PictureBox cam_feed; } diff --git a/HitBotCSharpDemo/ShowForm.cs b/HitBotCSharpDemo/ShowForm.cs index 51f06ea..0242cea 100644 --- a/HitBotCSharpDemo/ShowForm.cs +++ b/HitBotCSharpDemo/ShowForm.cs @@ -1,11 +1,13 @@ -using System; +using ControlBeanExDll; +using MvCamCtrl.NET; +using MvCameraControl; +using System; +using System.Collections.Generic; using System.Drawing; using System.IO; using System.Threading; using System.Windows.Forms; -using ControlBeanExDll; using TcpserverExDll; -using MvCamCtrl.NET; namespace HitBotCSharpDemo { public partial class ShowForm : Form @@ -15,7 +17,7 @@ namespace HitBotCSharpDemo bool isInit = false; Button btn;//声明按钮对象。 Label lbl; - int offset = 1;//寸动距离 + int offset = 2;//寸动距离 int offset_jog = 2;//连续移动单次距离 static int io_Count = 6;//IO数量 int[] io_In = new int[io_Count]; @@ -37,7 +39,19 @@ namespace HitBotCSharpDemo Thread thread_PosMove; private float[][] cameraPositions; private string filePath = "Cam_pos_path.txt"; - + private string configFilePath = "Camera_config.txt"; + readonly DeviceTLayerType enumTLayerType = DeviceTLayerType.MvGigEDevice | DeviceTLayerType.MvUsbDevice + | DeviceTLayerType.MvGenTLGigEDevice | DeviceTLayerType.MvGenTLCXPDevice | DeviceTLayerType.MvGenTLCameraLinkDevice | DeviceTLayerType.MvGenTLXoFDevice; + List deviceInfoList = new List(); + IDevice device = null; + bool isGrabbing = false; + Thread receiveThread = null; + private IFrameOut frameForSave; + private readonly object saveImageLock = new object(); + // 添加曝光参数控制变量 + private float currentExposure = 10000f; // 默认曝光时间 + private float currentGain = 0f; // 默认增益 + private ControlBeanEx robot; public ShowForm() @@ -45,6 +59,311 @@ namespace HitBotCSharpDemo InitializeComponent(); TcpserverEx.net_port_initial(); robot = TcpserverEx.get_robot(74);//替换为自己的机器的id号 + // 初始化SDK + SDKSystem.Initialize(); + // 初始化相机 + //InitializeCamera(); + Control.CheckForIllegalCrossThreadCalls = false; + } + private void InitializeCamera() + { + // 枚举设备 + int nRet = DeviceEnumerator.EnumDevices(enumTLayerType, out deviceInfoList); + if (nRet != MvError.MV_OK) + { + MessageBox.Show($"枚举设备失败!,{ nRet}"); + return; + } + // 如果有设备，自动连接第一个 + if (deviceInfoList.Count > 0) + { + ConnectFirstCamera(); + } + } + private void ConnectFirstCamera() + { + try + { + // 创建设备 + IDeviceInfo deviceInfo = deviceInfoList[0]; + device = DeviceFactory.CreateDevice(deviceInfo); + // 打开设备 + int result = device.Open(); + if (result != MvError.MV_OK) + { + MessageBox.Show($"打开设备失败!,{result}"); + return; + } + // GigE设备优化 + if (device is IGigEDevice) + { + IGigEDevice gigEDevice = device as IGigEDevice; + int optionPacketSize; + result = gigEDevice.GetOptimalPacketSize(out optionPacketSize); + if (result == MvError.MV_OK) + { + device.Parameters.SetIntValue("GevSCPSPacketSize", (long)optionPacketSize); + } + } + // 设置采集模式 + device.Parameters.SetEnumValueByString("AcquisitionMode", "Continuous"); + device.Parameters.SetEnumValueByString("TriggerMode", "Off"); + + SetCameraParameters(currentExposure, currentGain); + + // 启动图像采集 + StartGrabbing(); + } + catch (Exception ex) + { + MessageBox.Show("连接相机失败: " + ex.Message); + } + } + private void StartGrabbing() + { + if (device == null) return; + try + { + isGrabbing = true; + receiveThread = new Thread(ReceiveThreadProcess); + receiveThread.Start(); + // 开始采集 + int result = device.StreamGrabber.StartGrabbing(); + if (result != MvError.MV_OK) + { + isGrabbing = false; + receiveThread.Join(); + MessageBox.Show("开始采集失败!" + result); + return; + } + } + catch (Exception ex) + { + MessageBox.Show("启动采集线程失败: " + ex.Message); + } + } + public void ReceiveThreadProcess() + { + while (isGrabbing) + { + IFrameOut frameOut; + int nRet = device.StreamGrabber.GetImageBuffer(1000, out frameOut); + + if (MvError.MV_OK == nRet) + { + // 保存帧信息用于拍照 + lock (saveImageLock) + { + if (frameForSave != null) + { + frameForSave.Dispose(); + } + frameForSave = frameOut.Clone() as IFrameOut; + } + // 显示图像到PictureBox + try + { + if (cam_feed.IsHandleCreated) + { + device.ImageRender.DisplayOneFrame(cam_feed.Handle, frameOut.Image); + } + } + catch (Exception ex) + { + // 处理显示异常 + Console.WriteLine("显示图像异常: " + ex.Message); + } + device.StreamGrabber.FreeImageBuffer(frameOut); + } + else + { + Thread.Sleep(5); + } + } + } + private void LoadCameraConfig() + { + try + { + if (File.Exists(configFilePath)) + { + string[] lines = File.ReadAllLines(configFilePath); + foreach (string line in lines) + { + if (line.StartsWith("Exposure=")) + { + if (float.TryParse(line.Substring(9), out float exposure)) + currentExposure = exposure; + } + else if (line.StartsWith("Gain=")) + { + if (float.TryParse(line.Substring(5), out float gain)) + currentGain = gain; + } + } + } + } + catch (Exception ex) + { + Console.WriteLine("加载相机配置失败: " + ex.Message); + } + } + private void SaveCameraConfig() + { + try + { + string[] config = new string[] + { + $"Exposure={currentExposure}", + $"Gain={currentGain}" + }; + File.WriteAllLines(configFilePath, config); + } + catch (Exception ex) + { + Console.WriteLine("保存相机配置失败: " + ex.Message); + } + } + + private void TakePhoto() + { + if (frameForSave == null) + { + MessageBox.Show("没有可用的图像数据！"); + return; + } + try + { + string fileName = "Photo_" + DateTime.Now.ToString("yyyyMMdd_HHmmss") + ".jpg"; + + ImageFormatInfo imageFormatInfo = new ImageFormatInfo(); + imageFormatInfo.FormatType = ImageFormatType.Jpeg; + imageFormatInfo.JpegQuality = 90; + lock (saveImageLock) + { + int result = device.ImageSaver.SaveImageToFile(fileName, frameForSave.Image, imageFormatInfo, CFAMethod.Optimal); + if (result == MvError.MV_OK) + { + MessageBox.Show($"照片已保存: {fileName}"); + } + else + { + MessageBox.Show("保存照片失败!"+ result); + } + } + } + catch (Exception ex) + { + MessageBox.Show("拍照失败: " + ex.Message); + } + } + private void ShowCameraParameterDialog() + { + if (device == null) + { + MessageBox.Show("相机未连接！"); + return; + } + // 创建参数调整窗体 + using (Form paramForm = new Form()) + { + paramForm.Text = "相机参数设置"; + paramForm.Size = new Size(300, 200); + paramForm.StartPosition = FormStartPosition.CenterParent; + // 曝光时间设置 + Label lblExposure = new Label() { Text = "曝光时间:", Location = new Point(10, 20), Size = new Size(80, 20) }; + TextBox txtExposure = new TextBox() { Location = new Point(100, 18), Size = new Size(100, 20), Text = currentExposure.ToString() }; + // 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(); } } } diff --git a/HitBotCSharpDemo/ShowForm.resx b/HitBotCSharpDemo/ShowForm.resx index ad3ffa5..e285988 100644 --- a/HitBotCSharpDemo/ShowForm.resx +++ b/HitBotCSharpDemo/ShowForm.resx @@ -121,7 +121,7 @@ 17, 17 - 39 + 25 diff --git a/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt b/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt new file mode 100644 index 0000000..0a43f7f --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/Camera_config.txt @@ -0,0 +1,2 @@ +Exposure=60000 +Gain=2 diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe index 4ec7fc2cb8246bd0e9592332be762fabd43ec6e1..6e307e705773fc4d757fb9c06046e4ddb1cfed08 100644 GIT binary patch delta 32529 zcmd^odwf*Yz3hl9ty;D9L2KKiZM7afZSAQ&)mu-s54_*+Z$D3W+E*pGJIbVNNqf~`HNvWszf93=&yZ=Xv zLn@?xAKE{%DOCHLpqh~%`N2u~Jz9PImG1|Y%7X3b{O#K47^qYjt!ML3X{Xlz>N2H* z^OVwnV6gC;-^1(ZAehH59Hr-Km5Qqg=&PBetM~EBFFidF0GHk{fN}T|;mf5_l>1J^ zPy;bvJ3pw;vCPp*Z69bRoP83!10z`Nt;6U8$FN#Ekl{;uAZxcqNLOd52ud?Dk80o%3KVs!`IWK9CVN8Kp7v~GFu`s{7;OPJFT&W#&=vzujKeARfCju9H}61~ 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100644 --- a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog @@ -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 λɢ +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 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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 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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 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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 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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 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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 ͣ +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 ͣ +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 λɢ +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 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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 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-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 ͣ +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 diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-10.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-10.hilog new file mode 100644 index 0000000..d4d7a68 --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-10.hilog @@ -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 λɢ +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 λɢ +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 λɢ +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 λɢ +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޶Χʹjoint_homeʹؽǿƻ +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 λɢ +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 λɢ +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 λɢ +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 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