diff --git a/HitBotCSharpDemo/ShowForm.cs b/HitBotCSharpDemo/ShowForm.cs index 6612862..75d45e5 100644 --- a/HitBotCSharpDemo/ShowForm.cs +++ b/HitBotCSharpDemo/ShowForm.cs @@ -244,17 +244,60 @@ namespace HitBotCSharpDemo float y = cameraPositions[positionIndex][1]; float z = cameraPositions[positionIndex][2]; float r = cameraPositions[positionIndex][3]; + float safeZ = -97.6206f; // 安全Z轴高度 // 设置运动参数 robot.new_set_acc(30, 30, 30, 30); - // 移动到指定位置 - int result = robot.new_movej_xyz_lr(x, y, z, r, 100, 0, currentHand); - - if (result != 1) + // 判断当前Z轴高度是否小于安全高度 + if (robot.z < safeZ) { - MessageBox.Show($"移动到点位{positionIndex + 1}失败，返回值：{result}"); + // 移动z轴 + int result0 = robot.new_movej_xyz_lr(robot.x, robot.y, z, robot.rotation, 100, 0, currentHand); + if (result0 != 1) + { + MessageBox.Show($"移动Z轴到安全高度失败，返回值：{result0}"); + return; + } + // 等待运动完成 + robot.wait_stop(); + robot.get_scara_param(); + + // 先移动XY轴和R轴 + int result1 = robot.new_movej_xyz_lr(x, y, robot.z, r, 100, 0, currentHand); + if (result1 != 1) + { + MessageBox.Show($"移动到吸盘点位{positionIndex + 1}的XY位置失败，返回值：{result1}"); + return; + } } + else + { + int result1 = robot.new_movej_xyz_lr(x, y, robot.z, r, 100, 0, currentHand); + if (result1 != 1) + { + MessageBox.Show($"移动到吸盘点位{positionIndex + 1}的XY位置失败，返回值：{result1}"); + return; + } + // 等待运动完成 + robot.wait_stop(); + robot.get_scara_param(); + // 移动z轴 + int result0 = robot.new_movej_xyz_lr(robot.x, robot.y, z, robot.rotation, 100, 0, currentHand); + if (result0 != 1) + { + MessageBox.Show($"移动Z轴到安全高度失败，返回值：{result0}"); + return; + } + } + + // 移动到指定位置 + //int result = robot.new_movej_xyz_lr(x, y, z, r, 100, 0, currentHand); + + //if (result != 1) + //{ + // MessageBox.Show($"移动到点位{positionIndex + 1}失败，返回值：{result}"); + //} } catch (Exception ex) { @@ -282,7 +325,7 @@ namespace HitBotCSharpDemo float targetY = suctionCupPositions[positionIndex][1]; float targetZ = suctionCupPositions[positionIndex][2]; float targetR = suctionCupPositions[positionIndex][3]; - float safeZ = -97.6206f; // 安全Z轴高度 + float safeZ = -100f; // 安全Z轴高度 robot.new_set_acc(30, 30, 30, 30); // 设置运动参数 // 判断当前Z轴高度是否小于安全高度 @@ -371,6 +414,7 @@ namespace HitBotCSharpDemo InitializeHeatingButtons(); textBox10.Text = "9"; + textBox10.Enabled = false; } private void InitializeHeatingButtons() { @@ -1845,6 +1889,10 @@ namespace HitBotCSharpDemo private void button18_Click(object sender, EventArgs e) { + if(!textBox10.Enabled) + { + textBox10.Enabled = false; + } suctionCupControl.ToggleSerialPort(button18, comboBox3); } @@ -1902,6 +1950,7 @@ namespace HitBotCSharpDemo comboBox4.SelectedIndex = 0; MessageBox.Show($"扫描完成，找到 {comboBox4.Items.Count} 个设备", "扫描结果", MessageBoxButtons.OK, MessageBoxIcon.Information); + textBox10.Enabled = true; } else { @@ -1911,6 +1960,7 @@ namespace HitBotCSharpDemo // 恢复按钮状态 button13.Enabled = true; button13.Text = "扫描设备"; + })); } catch (Exception ex) diff --git a/HitBotCSharpDemo/SuctionCupControl.cs b/HitBotCSharpDemo/SuctionCupControl.cs index 1728fd4..60f1378 100644 --- a/HitBotCSharpDemo/SuctionCupControl.cs +++ b/HitBotCSharpDemo/SuctionCupControl.cs @@ -169,8 +169,8 @@ namespace HitBotCSharpDemo { // 创建Modbus RTU主站 master = ModbusSerialMaster.CreateRtu(suctioncupport); - //master.Transport.ReadTimeout = 25; // 设置读取超时时间为25ms - //master.Transport.WriteTimeout = 25; // 设置写入超时时间为25ms + master.Transport.ReadTimeout = 30; // 设置读取超时时间为25ms + master.Transport.WriteTimeout = 30; // 设置写入超时时间为25ms for (byte deviceId = (byte)startId; deviceId <= endId; deviceId++) { try @@ -276,8 +276,8 @@ namespace HitBotCSharpDemo // 更新使能状态 enableStates[deviceId] = enable; string action = enable ? "使能" : "禁用"; - MessageBox.Show($"设备ID {deviceId} {action}命令发送成功", "操作成功", - MessageBoxButtons.OK, MessageBoxIcon.Information); + //MessageBox.Show($"设备ID {deviceId} {action}命令发送成功", "操作成功", + // MessageBoxButtons.OK, MessageBoxIcon.Information); } catch (Exception ex) { diff --git a/HitBotCSharpDemo/ZoomControl.cs b/HitBotCSharpDemo/ZoomControl.cs index 6879e59..010cfea 100644 --- a/HitBotCSharpDemo/ZoomControl.cs +++ b/HitBotCSharpDemo/ZoomControl.cs @@ -143,8 +143,8 @@ namespace HitBotCSharpDemo PMSOptical_Close(ref deviceHandle); deviceHandle = IntPtr.Zero; UpdateUIStatus(false, button, comboBox); - MessageBox.Show("变焦镜头设备已关闭", "提示", - MessageBoxButtons.OK, MessageBoxIcon.Information); + //MessageBox.Show("变焦镜头设备已关闭", "提示", + // MessageBoxButtons.OK, MessageBoxIcon.Information); } else { @@ -165,8 +165,8 @@ namespace HitBotCSharpDemo if (finalCheck && bIsOpened) { UpdateUIStatus(true, button, comboBox); - MessageBox.Show($"变焦镜头串口 {serialPort.PortName} 已成功打开", "提示", - MessageBoxButtons.OK, MessageBoxIcon.Information); + //MessageBox.Show($"变焦镜头串口 {serialPort.PortName} 已成功打开", "提示", + // MessageBoxButtons.OK, MessageBoxIcon.Information); } else { diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe index 85df3e3..e9b978c 100644 Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.exe differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb index 93e5855..e63cab6 100644 Binary files a/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb and b/HitBotCSharpDemo/bin/x64/Debug/HitBotCSharpDemo.pdb differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-27.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-27.hilog new file mode 100644 index 0000000..721ba89 --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-27.hilog @@ -0,0 +1,1656 @@ +2025-06-27 10:30:33.807 SDK_VERSION_V2.0.0.29_Release +2025-06-27 10:30:33.808 robot connected +2025-06-27 10:30:33.808 26 +2025-06-27 10:30:33.809 current generation=26 +2025-06-27 10:30:34.323 0x1a +2025-06-27 10:30:35.197 initial joint2 1750023 +2025-06-27 10:30:35.197 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-27 10:30:35.197 robot WritePID +2025-06-27 10:30:35.506 initial joint1 -961233 +2025-06-27 10:30:35.553 initial joint2 1750022 +2025-06-27 10:30:35.598 initial joint3 -349529 +2025-06-27 10:30:35.659 initial joint4 -23681035 +2025-06-27 10:30:35.674 initial joint1 -961233 +2025-06-27 10:30:35.722 initial joint2 1750023 +2025-06-27 10:30:35.768 initial joint3 -349530 +2025-06-27 10:30:35.815 initial joint4 -23681035 +2025-06-27 10:30:35.846 initial joint1 -961233 +2025-06-27 10:30:35.893 initial joint2 1750024 +2025-06-27 10:30:35.940 initial joint3 -349530 +2025-06-27 10:30:35.986 initial joint4 -23681035 +2025-06-27 10:30:38.184 initial_thread initialized +2025-06-27 10:30:38.185 servo enable +2025-06-27 10:30:38.185 brake open +2025-06-27 10:30:38.185 set_brake_state 0 1 +2025-06-27 10:30:38.397 robot initialized +2025-06-27 10:30:38.969 get_scara_param -66.002602 60.082298 -120.001900 -1005.581787 +2025-06-27 10:30:38.970 get_scara_real_coor -66.002602 60.082298 -120.002197 -1005.581909 +2025-06-27 10:30:38.970 λɢ +2025-06-27 10:30:38.970 position -961232.562500 1750023.875000 -349530.875000 -23681034.000000 -829627.375000 2574898.250000 -284340.593750 -24312884.000000 +2025-06-27 10:30:38.970 speed 9036.611328 28319.814453 22381.306641 26031.417969 +2025-06-27 10:30:38.970 set_first_position_after_initial +2025-06-27 10:30:38.972 movej_old start_pos: -66.002602 60.082302 -120.001900 -1005.581787 end_pos: -66.002602 60.082302 -120.001900 -1005.581787 org_sp 10.000000 end_sp 10.000000 +2025-06-27 10:30:39.273 J3 Belt Meilage=40.974979km +2025-06-27 10:30:41.924 30 30 30 30 +2025-06-27 10:30:41.926 new_movej_xyz_lr 288.406189 -221.613007 -97.620598 -1005.581787 100.000000 0.000000 1 +2025-06-27 10:30:41.926 goal_angle -66.002609 60.082325 +2025-06-27 10:30:41.926 new_movej_angle -66.002609 60.082325 -97.620598 -1005.581787 0.000000 100.000000 +2025-06-27 10:30:41.927 z1 -120.001900 z2 -97.620598 +2025-06-27 10:30:41.927 angle1_1 -66.002602 angle2_1 60.082302 z1 -120.001900 r1 -1005.581787 +2025-06-27 10:30:41.927 angle1_2 -66.002609 angle2_2 60.082325 z2 -97.620598 r2 -1005.581787 +2025-06-27 10:30:41.927 speed 100.000000 +2025-06-27 10:30:41.927 tcp_distance 22.256958 +2025-06-27 10:30:41.928 new_end_speed 100.000000 j1_acc_t 0.111285 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000075 +2025-06-27 10:30:41.928 new_end_speed 100.000000 j2_acc_t 0.111285 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000225 +2025-06-27 10:30:41.928 new_end_speed 100.000000 j3_acc_t 0.111285 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.971954 +2025-06-27 10:30:41.928 new_end_speed 100.000000 j4_acc_t 0.111285 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:30:41.928 end_speed 100.000000 +2025-06-27 10:30:41.928 trail_number0.222570 +2025-06-27 10:30:41.930 tcp_distance 22.256958 +2025-06-27 10:30:41.930 angle1_1 = -66.002602 angle2_1 = 60.082302 z1 = -120.001900 r1 = -1005.581787 angle1_2 = -66.002609 angle2_2 = 60.082325 z2 = -97.620598 r2 = -1005.581787 +2025-06-27 10:30:41.938 wait_stop in +2025-06-27 10:30:42.538 wait_stop out_0 +2025-06-27 10:30:42.539 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:30:42.539 goal_angle -55.984741 91.477249 +2025-06-27 10:30:42.539 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-27 10:30:42.539 z1 -97.620598 z2 -97.620598 +2025-06-27 10:30:42.539 angle1_1 -66.002609 angle2_1 60.082325 z1 -97.620598 r1 -1005.581787 +2025-06-27 10:30:42.540 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-27 10:30:42.540 speed 100.000000 +2025-06-27 10:30:42.540 tcp_distance 157.432571 +2025-06-27 10:30:42.540 new_end_speed 100.000000 j1_acc_t 0.787163 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 13.919659 +2025-06-27 10:30:42.540 new_end_speed 100.000000 j2_acc_t 0.787163 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 43.622715 +2025-06-27 10:30:42.540 new_end_speed 100.000000 j3_acc_t 0.787163 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:30:42.541 new_end_speed 100.000000 j4_acc_t 0.787163 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.004495 +2025-06-27 10:30:42.541 end_speed 100.000000 +2025-06-27 10:30:42.541 trail_number1.574326 +2025-06-27 10:30:42.541 tcp_distance 157.432571 +2025-06-27 10:30:42.542 angle1_1 = -66.002609 angle2_1 = 60.082325 z1 = -97.620598 r1 = -1005.581787 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-27 10:30:42.554 wait_stop in +2025-06-27 10:30:44.190 wait_stop out_0 +2025-06-27 10:30:44.191 new_movej_xyz_lr 285.909302 -66.236198 -119.977501 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:30:44.191 goal_angle -55.984741 91.477249 +2025-06-27 10:30:44.191 new_movej_angle -55.984741 91.477249 -119.977501 -1005.585022 0.000000 100.000000 +2025-06-27 10:30:44.191 z1 -97.620598 z2 -119.977501 +2025-06-27 10:30:44.191 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-27 10:30:44.191 angle1_2 -55.984741 angle2_2 91.477249 z2 -119.977501 r2 -1005.585022 +2025-06-27 10:30:44.192 speed 100.000000 +2025-06-27 10:30:44.192 tcp_distance 22.232697 +2025-06-27 10:30:44.192 new_end_speed 100.000000 j1_acc_t 0.111163 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:30:44.192 new_end_speed 100.000000 j2_acc_t 0.111163 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:30:44.192 new_end_speed 100.000000 j3_acc_t 0.111163 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-27 10:30:44.192 new_end_speed 100.000000 j4_acc_t 0.111163 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:30:44.193 end_speed 100.000000 +2025-06-27 10:30:44.193 trail_number0.222327 +2025-06-27 10:30:44.193 tcp_distance 22.232697 +2025-06-27 10:30:44.193 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -119.977501 r2 = -1005.585022 +2025-06-27 10:30:49.414 30 30 30 30 +2025-06-27 10:30:49.414 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:30:49.414 goal_angle -55.984741 91.477249 +2025-06-27 10:30:49.415 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-27 10:30:49.415 z1 -119.977501 z2 -97.620598 +2025-06-27 10:30:49.415 angle1_1 -55.984741 angle2_1 91.477249 z1 -119.977501 r1 -1005.585022 +2025-06-27 10:30:49.415 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-27 10:30:49.415 speed 100.000000 +2025-06-27 10:30:49.415 tcp_distance 22.232697 +2025-06-27 10:30:49.415 new_end_speed 100.000000 j1_acc_t 0.111163 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:30:49.416 new_end_speed 100.000000 j2_acc_t 0.111163 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:30:49.416 new_end_speed 100.000000 j3_acc_t 0.111163 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-27 10:30:49.416 new_end_speed 100.000000 j4_acc_t 0.111163 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:30:49.416 end_speed 100.000000 +2025-06-27 10:30:49.416 trail_number0.222327 +2025-06-27 10:30:49.416 tcp_distance 22.232697 +2025-06-27 10:30:49.417 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -119.977501 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-27 10:30:49.427 wait_stop in +2025-06-27 10:30:50.042 wait_stop out_0 +2025-06-27 10:30:50.043 new_movej_xyz_lr 287.342896 73.423103 -97.620598 -1005.557007 100.000000 0.000000 1 +2025-06-27 10:30:50.043 goal_angle -28.070442 90.288498 +2025-06-27 10:30:50.043 new_movej_angle -28.070442 90.288498 -97.620598 -1005.557007 0.000000 100.000000 +2025-06-27 10:30:50.043 z1 -97.620598 z2 -97.620598 +2025-06-27 10:30:50.044 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-27 10:30:50.044 angle1_2 -28.070442 angle2_2 90.288498 z2 -97.620598 r2 -1005.557007 +2025-06-27 10:30:50.044 speed 100.000000 +2025-06-27 10:30:50.044 tcp_distance 140.219284 +2025-06-27 10:30:50.044 new_end_speed 100.000000 j1_acc_t 0.701096 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 43.547913 +2025-06-27 10:30:50.045 new_end_speed 100.000000 j2_acc_t 0.701096 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.854520 +2025-06-27 10:30:50.045 new_end_speed 100.000000 j3_acc_t 0.701096 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:30:50.045 new_end_speed 100.000000 j4_acc_t 0.701096 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.043705 +2025-06-27 10:30:50.045 end_speed 100.000000 +2025-06-27 10:30:50.045 trail_number1.402193 +2025-06-27 10:30:50.045 tcp_distance 140.219284 +2025-06-27 10:30:50.046 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -97.620598 r2 = -1005.557007 +2025-06-27 10:30:50.057 wait_stop in +2025-06-27 10:30:51.525 wait_stop out_0 +2025-06-27 10:30:51.525 new_movej_xyz_lr 287.342896 73.423103 -118.853500 -1005.557007 100.000000 0.000000 1 +2025-06-27 10:30:51.526 goal_angle -28.070442 90.288498 +2025-06-27 10:30:51.526 new_movej_angle -28.070442 90.288498 -118.853500 -1005.557007 0.000000 100.000000 +2025-06-27 10:30:51.526 z1 -97.620598 z2 -118.853500 +2025-06-27 10:30:51.526 angle1_1 -28.070442 angle2_1 90.288498 z1 -97.620598 r1 -1005.557007 +2025-06-27 10:30:51.526 angle1_2 -28.070442 angle2_2 90.288498 z2 -118.853500 r2 -1005.557007 +2025-06-27 10:30:51.526 speed 100.000000 +2025-06-27 10:30:51.526 tcp_distance 21.114937 +2025-06-27 10:30:51.528 new_end_speed 100.000000 j1_acc_t 0.105575 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:30:51.528 new_end_speed 100.000000 j2_acc_t 0.105575 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:30:51.528 new_end_speed 100.000000 j3_acc_t 0.105575 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972137 +2025-06-27 10:30:51.528 new_end_speed 100.000000 j4_acc_t 0.105575 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:30:51.528 end_speed 100.000000 +2025-06-27 10:30:51.528 trail_number0.211149 +2025-06-27 10:30:51.528 tcp_distance 21.114937 +2025-06-27 10:30:51.529 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -97.620598 r1 = -1005.557007 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -118.853500 r2 = -1005.557007 +2025-06-27 10:31:01.559 30 30 30 30 +2025-06-27 10:31:01.560 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1 +2025-06-27 10:31:01.560 goal_angle -87.199585 152.604431 +2025-06-27 10:31:01.560 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000 +2025-06-27 10:31:01.560 z1 -118.853500 z2 -4.457100 +2025-06-27 10:31:01.560 angle1_1 -28.070442 angle2_1 90.288498 z1 -118.853500 r1 -1005.557007 +2025-06-27 10:31:01.561 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044 +2025-06-27 10:31:01.561 speed 100.000000 +2025-06-27 10:31:01.561 tcp_distance 257.879364 +2025-06-27 10:31:01.561 new_end_speed 100.000000 j1_acc_t 1.289397 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 50.157185 +2025-06-27 10:31:01.561 new_end_speed 100.000000 j2_acc_t 1.289397 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 52.860428 +2025-06-27 10:31:01.561 new_end_speed 100.000000 j3_acc_t 1.289397 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 97.038467 +2025-06-27 10:31:01.562 new_end_speed 100.000000 j4_acc_t 1.289397 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 18.969779 +2025-06-27 10:31:01.562 end_speed 100.000000 +2025-06-27 10:31:01.562 trail_number2.578794 +2025-06-27 10:31:01.562 tcp_distance 257.879364 +2025-06-27 10:31:01.563 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -118.853500 r1 = -1005.557007 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044 +2025-06-27 10:31:05.836 30 30 30 30 +2025-06-27 10:31:05.838 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:31:05.838 goal_angle -61.881187 31.250517 +2025-06-27 10:31:05.838 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:31:05.838 z1 -4.457100 z2 -97.620598 +2025-06-27 10:31:05.838 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044 +2025-06-27 10:31:05.839 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:31:05.839 speed 100.000000 +2025-06-27 10:31:05.839 tcp_distance 358.791901 +2025-06-27 10:31:05.839 new_end_speed 100.000000 j1_acc_t 1.793959 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 15.436246 +2025-06-27 10:31:05.839 new_end_speed 100.000000 j2_acc_t 1.793959 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.987656 +2025-06-27 10:31:05.839 new_end_speed 100.000000 j3_acc_t 1.793959 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 56.800385 +2025-06-27 10:31:05.840 new_end_speed 100.000000 j4_acc_t 1.793959 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.688066 +2025-06-27 10:31:05.840 end_speed 100.000000 +2025-06-27 10:31:05.840 trail_number3.587919 +2025-06-27 10:31:05.840 tcp_distance 358.791901 +2025-06-27 10:31:05.840 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:31:11.436 30 30 30 30 +2025-06-27 10:31:11.437 new_movej_xyz_lr 288.405792 -221.614197 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:31:11.437 goal_angle -66.002686 60.082100 +2025-06-27 10:31:11.437 new_movej_angle -66.002686 60.082100 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-27 10:31:11.437 z1 -97.620598 z2 -97.620598 +2025-06-27 10:31:11.437 angle1_1 -61.881187 angle2_1 31.250517 z1 -97.620598 r1 -1005.468994 +2025-06-27 10:31:11.437 angle1_2 -66.002686 angle2_2 60.082100 z2 -97.620598 r2 -1005.581970 +2025-06-27 10:31:11.437 speed 100.000000 +2025-06-27 10:31:11.437 tcp_distance 75.709747 +2025-06-27 10:31:11.438 new_end_speed 100.000000 j1_acc_t 0.378549 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 11.908349 +2025-06-27 10:31:11.438 new_end_speed 100.000000 j2_acc_t 0.378549 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 83.303825 +2025-06-27 10:31:11.438 new_end_speed 100.000000 j3_acc_t 0.378549 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:31:11.438 new_end_speed 100.000000 j4_acc_t 0.378549 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.326424 +2025-06-27 10:31:11.438 end_speed 100.000000 +2025-06-27 10:31:11.439 trail_number0.757097 +2025-06-27 10:31:11.439 tcp_distance 75.709747 +2025-06-27 10:31:11.439 angle1_1 = -61.881187 angle2_1 = 31.250517 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -97.620598 r2 = -1005.581970 +2025-06-27 10:31:11.448 wait_stop in +2025-06-27 10:31:12.264 wait_stop out_0 +2025-06-27 10:31:12.265 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:31:12.265 goal_angle -66.002686 60.082100 +2025-06-27 10:31:12.265 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-27 10:31:12.265 z1 -97.620598 z2 -119.998100 +2025-06-27 10:31:12.265 angle1_1 -66.002686 angle2_1 60.082100 z1 -97.620598 r1 -1005.581970 +2025-06-27 10:31:12.265 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-27 10:31:12.265 speed 100.000000 +2025-06-27 10:31:12.266 tcp_distance 22.253181 +2025-06-27 10:31:12.266 new_end_speed 100.000000 j1_acc_t 0.111266 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:31:12.266 new_end_speed 100.000000 j2_acc_t 0.111266 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:31:12.266 new_end_speed 100.000000 j3_acc_t 0.111266 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972198 +2025-06-27 10:31:12.266 new_end_speed 100.000000 j4_acc_t 0.111266 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:31:12.266 end_speed 100.000000 +2025-06-27 10:31:12.266 trail_number0.222532 +2025-06-27 10:31:12.267 tcp_distance 22.253181 +2025-06-27 10:31:12.267 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -119.998100 r2 = -1005.581970 +2025-06-27 10:31:16.046 30 30 30 30 +2025-06-27 10:31:16.047 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:31:16.047 goal_angle -61.881187 31.250517 +2025-06-27 10:31:16.047 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:31:16.047 z1 -119.998100 z2 -97.620598 +2025-06-27 10:31:16.047 angle1_1 -66.002686 angle2_1 60.082100 z1 -119.998100 r1 -1005.581970 +2025-06-27 10:31:16.047 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:31:16.048 speed 100.000000 +2025-06-27 10:31:16.048 tcp_distance 78.947876 +2025-06-27 10:31:16.048 new_end_speed 100.000000 j1_acc_t 0.394739 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 11.419908 +2025-06-27 10:31:16.048 new_end_speed 100.000000 j2_acc_t 0.394739 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 79.886971 +2025-06-27 10:31:16.048 new_end_speed 100.000000 j3_acc_t 0.394739 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 62.003910 +2025-06-27 10:31:16.048 new_end_speed 100.000000 j4_acc_t 0.394739 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.313036 +2025-06-27 10:31:16.049 end_speed 100.000000 +2025-06-27 10:31:16.049 trail_number0.789479 +2025-06-27 10:31:16.049 tcp_distance 78.947876 +2025-06-27 10:31:16.049 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -119.998100 r1 = -1005.581970 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:36:27.073 SDK_VERSION_V2.0.0.29_Release +2025-06-27 10:36:27.074 robot connected +2025-06-27 10:36:27.074 26 +2025-06-27 10:36:27.074 current generation=26 +2025-06-27 10:36:27.586 0x1a +2025-06-27 10:36:28.511 initial joint2 910240 +2025-06-27 10:36:28.511 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-27 10:36:28.512 robot WritePID +2025-06-27 10:36:28.819 initial joint1 -901211 +2025-06-27 10:36:28.879 initial joint2 910239 +2025-06-27 10:36:28.940 initial joint3 -284348 +2025-06-27 10:36:29.003 initial joint4 -23358441 +2025-06-27 10:36:29.018 initial joint1 -901211 +2025-06-27 10:36:29.079 initial joint2 910241 +2025-06-27 10:36:29.141 initial joint3 -284351 +2025-06-27 10:36:29.202 initial joint4 -23358443 +2025-06-27 10:36:29.218 initial joint1 -901211 +2025-06-27 10:36:29.264 initial joint2 910243 +2025-06-27 10:36:29.310 initial joint3 -284354 +2025-06-27 10:36:29.356 initial joint4 -23358442 +2025-06-27 10:36:31.528 initial_thread initialized +2025-06-27 10:36:31.528 servo enable +2025-06-27 10:36:31.529 brake open +2025-06-27 10:36:31.529 set_brake_state 0 1 +2025-06-27 10:36:31.743 robot initialized +2025-06-27 10:36:32.315 get_scara_param -61.881199 31.250700 -97.625801 -1005.468994 +2025-06-27 10:36:32.315 get_scara_real_coor -61.881199 31.250700 -97.625198 -1005.468994 +2025-06-27 10:36:32.315 λɢ +2025-06-27 10:36:32.315 position -901210.312500 910242.562500 -284355.750000 -23358444.000000 -1095679.625000 2774465.500000 -141223.656250 -24253848.000000 +2025-06-27 10:36:32.316 speed 13353.148438 64003.015625 49140.503906 36889.507813 +2025-06-27 10:36:32.316 set_first_position_after_initial +2025-06-27 10:36:32.317 movej_old start_pos: -61.881203 31.250698 -97.625801 -1005.469055 end_pos: -61.881203 31.250603 -97.625801 -1005.469116 org_sp 10.000000 end_sp 0.595239 +2025-06-27 10:36:32.607 J3 Belt Meilage=40.975384km +2025-06-27 10:36:35.212 30 30 30 30 +2025-06-27 10:36:35.215 new_movej_xyz_lr 275.780304 -295.933990 -97.620598 -1005.469116 100.000000 0.000000 1 +2025-06-27 10:36:35.215 goal_angle -61.881226 31.250681 +2025-06-27 10:36:35.216 new_movej_angle -61.881226 31.250681 -97.620598 -1005.469116 0.000000 100.000000 +2025-06-27 10:36:35.216 z1 -97.625801 z2 -97.620598 +2025-06-27 10:36:35.217 angle1_1 -61.881203 angle2_1 31.250603 z1 -97.625801 r1 -1005.469116 +2025-06-27 10:36:35.217 angle1_2 -61.881226 angle2_2 31.250681 z2 -97.620598 r2 -1005.469116 +2025-06-27 10:36:35.217 speed 100.000000 +2025-06-27 10:36:35.217 tcp_distance 0.005729 +2025-06-27 10:36:35.218 new_end_speed 100.000000 j1_acc_t 0.005000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.005007 +2025-06-27 10:36:35.218 new_end_speed 100.000000 j2_acc_t 0.005000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.017107 +2025-06-27 10:36:35.218 new_end_speed 100.000000 j3_acc_t 0.005000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 1.138210 +2025-06-27 10:36:35.218 new_end_speed 100.000000 j4_acc_t 0.005000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:36:35.218 end_speed 100.000000 +2025-06-27 10:36:35.219 trail_number0.010000 +2025-06-27 10:36:35.219 tcp_distance 0.005729 +2025-06-27 10:36:35.219 angle1_1 = -61.881203 angle2_1 = 31.250603 z1 = -97.625801 r1 = -1005.469116 angle1_2 = -61.881226 angle2_2 = 31.250681 z2 = -97.620598 r2 = -1005.469116 +2025-06-27 10:36:35.229 wait_stop in +2025-06-27 10:36:35.291 wait_stop out_0 +2025-06-27 10:36:35.292 new_movej_xyz_lr 288.405792 -221.614197 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:36:35.292 goal_angle -66.002686 60.082100 +2025-06-27 10:36:35.292 new_movej_angle -66.002686 60.082100 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-27 10:36:35.292 z1 -97.620651 z2 -97.620598 +2025-06-27 10:36:35.292 angle1_1 -61.881226 angle2_1 31.250681 z1 -97.620651 r1 -1005.469116 +2025-06-27 10:36:35.292 angle1_2 -66.002686 angle2_2 60.082100 z2 -97.620598 r2 -1005.581970 +2025-06-27 10:36:35.293 speed 100.000000 +2025-06-27 10:36:35.293 tcp_distance 75.709419 +2025-06-27 10:36:35.293 new_end_speed 100.000000 j1_acc_t 0.378547 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 11.908287 +2025-06-27 10:36:35.293 new_end_speed 100.000000 j2_acc_t 0.378547 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 83.303688 +2025-06-27 10:36:35.293 new_end_speed 100.000000 j3_acc_t 0.378547 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000154 +2025-06-27 10:36:35.293 new_end_speed 100.000000 j4_acc_t 0.378547 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.326073 +2025-06-27 10:36:35.293 end_speed 100.000000 +2025-06-27 10:36:35.293 trail_number0.757094 +2025-06-27 10:36:35.293 tcp_distance 75.709419 +2025-06-27 10:36:35.295 angle1_1 = -61.881226 angle2_1 = 31.250681 z1 = -97.620651 r1 = -1005.469116 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -97.620598 r2 = -1005.581970 +2025-06-27 10:36:35.307 wait_stop in +2025-06-27 10:36:36.108 wait_stop out_0 +2025-06-27 10:36:36.108 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:36:36.108 goal_angle -66.002686 60.082100 +2025-06-27 10:36:36.108 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-27 10:36:36.109 z1 -97.620598 z2 -119.998100 +2025-06-27 10:36:36.109 angle1_1 -66.002686 angle2_1 60.082100 z1 -97.620598 r1 -1005.581970 +2025-06-27 10:36:36.109 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-27 10:36:36.109 speed 100.000000 +2025-06-27 10:36:36.109 tcp_distance 22.253181 +2025-06-27 10:36:36.110 new_end_speed 100.000000 j1_acc_t 0.111266 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:36:36.110 new_end_speed 100.000000 j2_acc_t 0.111266 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:36:36.110 new_end_speed 100.000000 j3_acc_t 0.111266 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972198 +2025-06-27 10:36:36.110 new_end_speed 100.000000 j4_acc_t 0.111266 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:36:36.110 end_speed 100.000000 +2025-06-27 10:36:36.110 trail_number0.222532 +2025-06-27 10:36:36.111 tcp_distance 22.253181 +2025-06-27 10:36:36.111 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -119.998100 r2 = -1005.581970 +2025-06-27 10:36:39.707 30 30 30 30 +2025-06-27 10:36:39.707 new_movej_xyz_lr 288.405792 -221.614105 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:36:39.707 goal_angle -66.002693 60.082127 +2025-06-27 10:36:39.708 new_movej_angle -66.002693 60.082127 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-27 10:36:39.708 z1 -119.998100 z2 -97.620598 +2025-06-27 10:36:39.708 angle1_1 -66.002686 angle2_1 60.082100 z1 -119.998100 r1 -1005.581970 +2025-06-27 10:36:39.708 angle1_2 -66.002693 angle2_2 60.082127 z2 -97.620598 r2 -1005.581970 +2025-06-27 10:36:39.708 speed 100.000000 +2025-06-27 10:36:39.708 tcp_distance 22.253181 +2025-06-27 10:36:39.709 new_end_speed 100.000000 j1_acc_t 0.111266 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000075 +2025-06-27 10:36:39.709 new_end_speed 100.000000 j2_acc_t 0.111266 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000262 +2025-06-27 10:36:39.709 new_end_speed 100.000000 j3_acc_t 0.111266 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972198 +2025-06-27 10:36:39.709 new_end_speed 100.000000 j4_acc_t 0.111266 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:36:39.709 end_speed 100.000000 +2025-06-27 10:36:39.709 trail_number0.222532 +2025-06-27 10:36:39.710 tcp_distance 22.253181 +2025-06-27 10:36:39.710 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -119.998100 r1 = -1005.581970 angle1_2 = -66.002693 angle2_2 = 60.082127 z2 = -97.620598 r2 = -1005.581970 +2025-06-27 10:36:39.722 wait_stop in +2025-06-27 10:36:40.322 wait_stop out_0 +2025-06-27 10:36:40.322 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:36:40.322 goal_angle -61.881187 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-61.881187 angle2_1 = 31.250517 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:36:42.841 wait_stop in +2025-06-27 10:36:44.595 wait_stop out_0 +2025-06-27 10:36:44.595 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:36:44.595 goal_angle -66.454506 86.491570 +2025-06-27 10:36:44.596 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:36:44.596 z1 -97.620598 z2 -99.620598 +2025-06-27 10:36:44.596 angle1_1 -66.454506 angle2_1 86.491570 z1 -97.620598 r1 -1005.468994 +2025-06-27 10:36:44.596 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-27 10:36:44.596 speed 100.000000 +2025-06-27 10:36:44.596 tcp_distance 1.988892 +2025-06-27 10:36:44.597 new_end_speed 30.735683 j1_acc_t 0.032355 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:36:44.597 new_end_speed 30.735683 j2_acc_t 0.032355 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:36:44.597 new_end_speed 30.735683 j3_acc_t 0.032355 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 67.609840 +2025-06-27 10:36:44.597 new_end_speed 30.735683 j4_acc_t 0.032355 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:36:44.597 end_speed 30.735683 +2025-06-27 10:36:44.597 trail_number0.064710 +2025-06-27 10:36:44.598 tcp_distance 1.988892 +2025-06-27 10:36:44.598 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-27 10:36:46.640 30 30 30 30 +2025-06-27 10:36:46.641 new_movej_xyz_lr 275.779205 -133.157898 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:36:46.641 goal_angle -66.454506 86.491570 +2025-06-27 10:36:46.641 new_movej_angle -66.454506 86.491570 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:36:46.641 z1 -99.620598 z2 -97.620598 +2025-06-27 10:36:46.641 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-27 10:36:46.642 angle1_2 -66.454506 angle2_2 86.491570 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:36:46.642 speed 100.000000 +2025-06-27 10:36:46.642 tcp_distance 1.988892 +2025-06-27 10:36:46.642 new_end_speed 30.735683 j1_acc_t 0.032355 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:36:46.642 new_end_speed 30.735683 j2_acc_t 0.032355 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:36:46.642 new_end_speed 30.735683 j3_acc_t 0.032355 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 67.609840 +2025-06-27 10:36:46.643 new_end_speed 30.735683 j4_acc_t 0.032355 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:36:46.643 end_speed 30.735683 +2025-06-27 10:36:46.643 trail_number0.064710 +2025-06-27 10:36:46.643 tcp_distance 1.988892 +2025-06-27 10:36:46.644 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:36:46.648 wait_stop in +2025-06-27 10:36:46.786 wait_stop out_0 +2025-06-27 10:36:46.786 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:36:46.787 goal_angle -55.984741 91.477249 +2025-06-27 10:36:46.787 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-27 10:36:46.787 z1 -97.620598 z2 -97.620598 +2025-06-27 10:36:46.787 angle1_1 -66.454506 angle2_1 86.491570 z1 -97.620598 r1 -1005.468994 +2025-06-27 10:36:46.787 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-27 10:36:46.788 speed 100.000000 +2025-06-27 10:36:46.788 tcp_distance 67.475487 +2025-06-27 10:36:46.788 new_end_speed 100.000000 j1_acc_t 0.337377 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.942101 +2025-06-27 10:36:46.788 new_end_speed 100.000000 j2_acc_t 0.337377 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 16.163157 +2025-06-27 10:36:46.788 new_end_speed 100.000000 j3_acc_t 0.337377 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:36:46.788 new_end_speed 100.000000 j4_acc_t 0.337377 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.376153 +2025-06-27 10:36:46.789 end_speed 100.000000 +2025-06-27 10:36:46.789 trail_number0.674755 +2025-06-27 10:36:46.789 tcp_distance 67.475487 +2025-06-27 10:36:46.790 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-27 10:36:46.802 wait_stop in +2025-06-27 10:36:47.525 wait_stop out_0 +2025-06-27 10:36:47.526 new_movej_xyz_lr 285.909302 -66.236198 -119.977501 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:36:47.526 goal_angle -55.984741 91.477249 +2025-06-27 10:36:47.526 new_movej_angle -55.984741 91.477249 -119.977501 -1005.585022 0.000000 100.000000 +2025-06-27 10:36:47.526 z1 -97.620598 z2 -119.977501 +2025-06-27 10:36:47.526 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-27 10:36:47.526 angle1_2 -55.984741 angle2_2 91.477249 z2 -119.977501 r2 -1005.585022 +2025-06-27 10:36:47.526 speed 100.000000 +2025-06-27 10:36:47.527 tcp_distance 22.232697 +2025-06-27 10:36:47.527 new_end_speed 100.000000 j1_acc_t 0.111163 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:36:47.527 new_end_speed 100.000000 j2_acc_t 0.111163 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:36:47.527 new_end_speed 100.000000 j3_acc_t 0.111163 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-27 10:36:47.527 new_end_speed 100.000000 j4_acc_t 0.111163 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:36:47.527 end_speed 100.000000 +2025-06-27 10:36:47.527 trail_number0.222327 +2025-06-27 10:36:47.527 tcp_distance 22.232697 +2025-06-27 10:36:47.528 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -119.977501 r2 = -1005.585022 +2025-06-27 10:36:52.045 30 30 30 30 +2025-06-27 10:36:52.045 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:36:52.045 goal_angle -55.984741 91.477249 +2025-06-27 10:36:52.045 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-27 10:36:52.045 z1 -119.977501 z2 -97.620598 +2025-06-27 10:36:52.046 angle1_1 -55.984741 angle2_1 91.477249 z1 -119.977501 r1 -1005.585022 +2025-06-27 10:36:52.046 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-27 10:36:52.046 speed 100.000000 +2025-06-27 10:36:52.046 tcp_distance 22.232697 +2025-06-27 10:36:52.046 new_end_speed 100.000000 j1_acc_t 0.111163 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:36:52.047 new_end_speed 100.000000 j2_acc_t 0.111163 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:36:52.047 new_end_speed 100.000000 j3_acc_t 0.111163 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-27 10:36:52.047 new_end_speed 100.000000 j4_acc_t 0.111163 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:36:52.047 end_speed 100.000000 +2025-06-27 10:36:52.047 trail_number0.222327 +2025-06-27 10:36:52.047 tcp_distance 22.232697 +2025-06-27 10:36:52.048 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -119.977501 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-27 10:36:52.063 wait_stop in +2025-06-27 10:36:52.668 wait_stop out_0 +2025-06-27 10:36:52.669 new_movej_xyz_lr 275.779205 -133.157898 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:36:52.669 goal_angle -66.454506 86.491570 +2025-06-27 10:36:52.669 new_movej_angle -66.454506 86.491570 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:36:52.669 z1 -97.620598 z2 -97.620598 +2025-06-27 10:36:52.669 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-27 10:36:52.669 angle1_2 -66.454506 angle2_2 86.491570 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:36:52.670 speed 100.000000 +2025-06-27 10:36:52.670 tcp_distance 67.460052 +2025-06-27 10:36:52.670 new_end_speed 100.000000 j1_acc_t 0.337300 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.949890 +2025-06-27 10:36:52.670 new_end_speed 100.000000 j2_acc_t 0.337300 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 16.166864 +2025-06-27 10:36:52.670 new_end_speed 100.000000 j3_acc_t 0.337300 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:36:52.670 new_end_speed 100.000000 j4_acc_t 0.337300 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.376239 +2025-06-27 10:36:52.671 end_speed 100.000000 +2025-06-27 10:36:52.671 trail_number0.674601 +2025-06-27 10:36:52.671 tcp_distance 67.460052 +2025-06-27 10:36:52.671 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:36:52.683 wait_stop in +2025-06-27 10:36:53.408 wait_stop out_0 +2025-06-27 10:36:53.408 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:36:53.409 goal_angle -66.454506 86.491570 +2025-06-27 10:36:53.409 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:36:53.409 z1 -97.620598 z2 -99.620598 +2025-06-27 10:36:53.409 angle1_1 -66.454506 angle2_1 86.491570 z1 -97.620598 r1 -1005.468994 +2025-06-27 10:36:53.409 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-27 10:36:53.409 speed 100.000000 +2025-06-27 10:36:53.410 tcp_distance 1.988892 +2025-06-27 10:36:53.410 new_end_speed 30.735683 j1_acc_t 0.032355 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:36:53.410 new_end_speed 30.735683 j2_acc_t 0.032355 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:36:53.410 new_end_speed 30.735683 j3_acc_t 0.032355 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 67.609840 +2025-06-27 10:36:53.410 new_end_speed 30.735683 j4_acc_t 0.032355 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:36:53.410 end_speed 30.735683 +2025-06-27 10:36:53.411 trail_number0.064710 +2025-06-27 10:36:53.411 tcp_distance 1.988892 +2025-06-27 10:36:53.411 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-27 10:42:33.063 SDK_VERSION_V2.0.0.29_Release +2025-06-27 10:42:33.063 robot connected +2025-06-27 10:42:33.063 26 +2025-06-27 10:42:33.063 current generation=26 +2025-06-27 10:42:33.572 0x1a +2025-06-27 10:42:34.464 initial joint2 2519253 +2025-06-27 10:42:34.464 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-27 10:42:34.465 robot WritePID +2025-06-27 10:42:34.773 initial joint1 -967813 +2025-06-27 10:42:34.819 initial joint2 2519253 +2025-06-27 10:42:34.866 initial joint3 -290173 +2025-06-27 10:42:34.913 initial joint4 -24051941 +2025-06-27 10:42:34.928 initial joint1 -967813 +2025-06-27 10:42:34.975 initial joint2 2519254 +2025-06-27 10:42:35.020 initial joint3 -290174 +2025-06-27 10:42:35.067 initial joint4 -24051941 +2025-06-27 10:42:35.082 initial joint1 -967813 +2025-06-27 10:42:35.144 initial joint2 2519255 +2025-06-27 10:42:35.206 initial joint3 -290174 +2025-06-27 10:42:35.267 initial joint4 -24051942 +2025-06-27 10:42:37.413 initial_thread initialized +2025-06-27 10:42:37.413 servo enable +2025-06-27 10:42:37.414 brake open +2025-06-27 10:42:37.414 set_brake_state 0 1 +2025-06-27 10:42:37.628 robot initialized +2025-06-27 10:42:38.187 get_scara_param -66.454399 86.491699 -99.624001 -1005.468994 +2025-06-27 10:42:38.187 get_scara_real_coor -66.454399 86.491798 -99.624298 -1005.468872 +2025-06-27 10:42:38.188 λɢ +2025-06-27 10:42:38.188 position -967812.375000 2519253.250000 -290175.937500 -24051946.000000 -903117.625000 2580866.000000 -284340.593750 -24191770.000000 +2025-06-27 10:42:38.188 speed 4442.235840 2115.305908 2003.406250 5760.571777 +2025-06-27 10:42:38.188 set_first_position_after_initial +2025-06-27 10:42:38.188 movej_old start_pos: -66.454399 86.491699 -99.624001 -1005.469055 end_pos: -66.454399 86.491699 -99.624001 -1005.469116 org_sp 10.000000 end_sp 10.000000 +2025-06-27 10:42:38.481 J3 Belt Meilage=40.975555km +2025-06-27 10:42:39.981 30 30 30 30 +2025-06-27 10:42:39.982 new_movej_xyz_lr 275.779297 -133.156906 -97.620598 -1005.469116 100.000000 0.000000 1 +2025-06-27 10:42:39.982 goal_angle -66.454391 86.491707 +2025-06-27 10:42:39.982 new_movej_angle -66.454391 86.491707 -97.620598 -1005.469116 0.000000 100.000000 +2025-06-27 10:42:39.984 z1 -99.624001 z2 -97.620598 +2025-06-27 10:42:39.984 angle1_1 -66.454399 angle2_1 86.491699 z1 -99.624001 r1 -1005.469116 +2025-06-27 10:42:39.984 angle1_2 -66.454391 angle2_2 86.491707 z2 -97.620598 r2 -1005.469116 +2025-06-27 10:42:39.984 speed 100.000000 +2025-06-27 10:42:39.985 tcp_distance 1.992272 +2025-06-27 10:42:39.985 new_end_speed 30.735683 j1_acc_t 0.032410 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000257 +2025-06-27 10:42:39.985 new_end_speed 30.735683 j2_acc_t 0.032410 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000257 +2025-06-27 10:42:39.985 new_end_speed 30.735683 j3_acc_t 0.032410 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 67.609970 +2025-06-27 10:42:39.985 new_end_speed 30.735683 j4_acc_t 0.032410 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:42:39.985 end_speed 30.735683 +2025-06-27 10:42:39.985 trail_number0.064820 +2025-06-27 10:42:39.985 tcp_distance 1.992272 +2025-06-27 10:42:39.986 angle1_1 = -66.454399 angle2_1 = 86.491699 z1 = -99.624001 r1 = -1005.469116 angle1_2 = -66.454391 angle2_2 = 86.491707 z2 = -97.620598 r2 = -1005.469116 +2025-06-27 10:42:39.989 wait_stop in +2025-06-27 10:42:40.141 wait_stop out_0 +2025-06-27 10:42:40.143 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:42:40.143 goal_angle -61.881187 31.250517 +2025-06-27 10:42:40.143 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:42:40.143 z1 -97.620598 z2 -97.620598 +2025-06-27 10:42:40.144 angle1_1 -66.454391 angle2_1 86.491707 z1 -97.620598 r1 -1005.469116 +2025-06-27 10:42:40.144 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:42:40.144 speed 100.000000 +2025-06-27 10:42:40.144 tcp_distance 167.868027 +2025-06-27 10:42:40.144 new_end_speed 100.000000 j1_acc_t 0.839340 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.959374 +2025-06-27 10:42:40.144 new_end_speed 100.000000 j2_acc_t 0.839340 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 71.985184 +2025-06-27 10:42:40.145 new_end_speed 100.000000 j3_acc_t 0.839340 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:42:40.145 new_end_speed 100.000000 j4_acc_t 0.839340 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000159 +2025-06-27 10:42:40.145 end_speed 100.000000 +2025-06-27 10:42:40.145 trail_number1.678680 +2025-06-27 10:42:40.145 tcp_distance 167.868027 +2025-06-27 10:42:40.146 angle1_1 = -66.454391 angle2_1 = 86.491707 z1 = -97.620598 r1 = -1005.469116 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:42:42.822 30 30 30 30 +2025-06-27 10:42:42.823 new_movej_xyz_lr 275.779205 -133.157898 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:42:42.823 goal_angle -66.454506 86.491570 +2025-06-27 10:42:42.823 new_movej_angle -66.454506 86.491570 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:42:42.823 z1 -97.620598 z2 -97.620598 +2025-06-27 10:42:42.823 angle1_1 -61.881187 angle2_1 31.250517 z1 -97.620598 r1 -1005.468994 +2025-06-27 10:42:42.824 angle1_2 -66.454506 angle2_2 86.491570 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:42:42.824 speed 100.000000 +2025-06-27 10:42:42.824 tcp_distance 167.786407 +2025-06-27 10:42:42.824 new_end_speed 100.000000 j1_acc_t 0.838932 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.962423 +2025-06-27 10:42:42.824 new_end_speed 100.000000 j2_acc_t 0.838932 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 72.020027 +2025-06-27 10:42:42.824 new_end_speed 100.000000 j3_acc_t 0.838932 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:42:42.825 new_end_speed 100.000000 j4_acc_t 0.838932 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:42:42.825 end_speed 100.000000 +2025-06-27 10:42:42.825 trail_number1.677864 +2025-06-27 10:42:42.825 tcp_distance 167.786407 +2025-06-27 10:42:42.825 angle1_1 = -61.881187 angle2_1 = 31.250517 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:42:42.832 wait_stop in +2025-06-27 10:42:44.563 wait_stop out_0 +2025-06-27 10:42:44.563 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:42:44.564 goal_angle -66.454506 86.491570 +2025-06-27 10:42:44.564 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:42:44.564 z1 -97.620598 z2 -99.620598 +2025-06-27 10:42:44.564 angle1_1 -66.454506 angle2_1 86.491570 z1 -97.620598 r1 -1005.468994 +2025-06-27 10:42:44.564 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-27 10:42:44.565 speed 100.000000 +2025-06-27 10:42:44.565 tcp_distance 1.988892 +2025-06-27 10:42:44.565 new_end_speed 30.735683 j1_acc_t 0.032355 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:42:44.565 new_end_speed 30.735683 j2_acc_t 0.032355 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:42:44.565 new_end_speed 30.735683 j3_acc_t 0.032355 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 67.609840 +2025-06-27 10:42:44.565 new_end_speed 30.735683 j4_acc_t 0.032355 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:42:44.566 end_speed 30.735683 +2025-06-27 10:42:44.566 trail_number0.064710 +2025-06-27 10:42:44.566 tcp_distance 1.988892 +2025-06-27 10:42:44.566 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-27 10:42:47.352 30 30 30 30 +2025-06-27 10:42:47.353 new_movej_xyz_lr 275.779205 -133.157898 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:42:47.353 goal_angle -66.454506 86.491570 +2025-06-27 10:42:47.353 new_movej_angle -66.454506 86.491570 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:42:47.353 z1 -99.620598 z2 -97.620598 +2025-06-27 10:42:47.353 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-27 10:42:47.353 angle1_2 -66.454506 angle2_2 86.491570 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:42:47.354 speed 100.000000 +2025-06-27 10:42:47.354 tcp_distance 1.988892 +2025-06-27 10:42:47.354 new_end_speed 30.735683 j1_acc_t 0.032355 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:42:47.354 new_end_speed 30.735683 j2_acc_t 0.032355 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:42:47.354 new_end_speed 30.735683 j3_acc_t 0.032355 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 67.609840 +2025-06-27 10:42:47.354 new_end_speed 30.735683 j4_acc_t 0.032355 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:42:47.354 end_speed 30.735683 +2025-06-27 10:42:47.355 trail_number0.064710 +2025-06-27 10:42:47.355 tcp_distance 1.988892 +2025-06-27 10:42:47.355 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:42:47.362 wait_stop in +2025-06-27 10:42:47.486 wait_stop out_0 +2025-06-27 10:42:47.487 new_movej_xyz_lr 288.405792 -221.614197 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:42:47.487 goal_angle -66.002686 60.082100 +2025-06-27 10:42:47.487 new_movej_angle -66.002686 60.082100 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-27 10:42:47.487 z1 -97.620598 z2 -97.620598 +2025-06-27 10:42:47.487 angle1_1 -66.454506 angle2_1 86.491570 z1 -97.620598 r1 -1005.468994 +2025-06-27 10:42:47.487 angle1_2 -66.002686 angle2_2 60.082100 z2 -97.620598 r2 -1005.581970 +2025-06-27 10:42:47.487 speed 100.000000 +2025-06-27 10:42:47.487 tcp_distance 89.631134 +2025-06-27 10:42:47.488 new_end_speed 100.000000 j1_acc_t 0.448156 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.102694 +2025-06-27 10:42:47.488 new_end_speed 100.000000 j2_acc_t 0.448156 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 64.453842 +2025-06-27 10:42:47.488 new_end_speed 100.000000 j3_acc_t 0.448156 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:42:47.488 new_end_speed 100.000000 j4_acc_t 0.448156 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.275725 +2025-06-27 10:42:47.488 end_speed 100.000000 +2025-06-27 10:42:47.488 trail_number0.896311 +2025-06-27 10:42:47.489 tcp_distance 89.631134 +2025-06-27 10:42:47.489 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -97.620598 r2 = -1005.581970 +2025-06-27 10:42:47.502 wait_stop in +2025-06-27 10:42:48.444 wait_stop out_0 +2025-06-27 10:42:48.444 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:42:48.444 goal_angle -66.002686 60.082100 +2025-06-27 10:42:48.445 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-27 10:42:48.445 z1 -97.620598 z2 -119.998100 +2025-06-27 10:42:48.445 angle1_1 -66.002686 angle2_1 60.082100 z1 -97.620598 r1 -1005.581970 +2025-06-27 10:42:48.445 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-27 10:42:48.445 speed 100.000000 +2025-06-27 10:42:48.445 tcp_distance 22.253181 +2025-06-27 10:42:48.446 new_end_speed 100.000000 j1_acc_t 0.111266 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:42:48.446 new_end_speed 100.000000 j2_acc_t 0.111266 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:42:48.446 new_end_speed 100.000000 j3_acc_t 0.111266 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972198 +2025-06-27 10:42:48.446 new_end_speed 100.000000 j4_acc_t 0.111266 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:42:48.446 end_speed 100.000000 +2025-06-27 10:42:48.446 trail_number0.222532 +2025-06-27 10:42:48.446 tcp_distance 22.253181 +2025-06-27 10:42:48.448 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -119.998100 r2 = -1005.581970 +2025-06-27 10:42:57.300 30 30 30 30 +2025-06-27 10:42:57.301 new_movej_xyz_lr 288.405792 -221.614105 -99.620598 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:42:57.301 goal_angle -66.002693 60.082127 +2025-06-27 10:42:57.301 new_movej_angle -66.002693 60.082127 -99.620598 -1005.581970 0.000000 100.000000 +2025-06-27 10:42:57.301 z1 -119.998100 z2 -99.620598 +2025-06-27 10:42:57.302 angle1_1 -66.002686 angle2_1 60.082100 z1 -119.998100 r1 -1005.581970 +2025-06-27 10:42:57.302 angle1_2 -66.002693 angle2_2 60.082127 z2 -99.620598 r2 -1005.581970 +2025-06-27 10:42:57.302 speed 100.000000 +2025-06-27 10:42:57.303 tcp_distance 20.264290 +2025-06-27 10:42:57.303 new_end_speed 100.000000 j1_acc_t 0.101321 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000082 +2025-06-27 10:42:57.303 new_end_speed 100.000000 j2_acc_t 0.101321 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000288 +2025-06-27 10:42:57.303 new_end_speed 100.000000 j3_acc_t 0.101321 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972137 +2025-06-27 10:42:57.303 new_end_speed 100.000000 j4_acc_t 0.101321 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:42:57.303 end_speed 100.000000 +2025-06-27 10:42:57.304 trail_number0.202643 +2025-06-27 10:42:57.304 tcp_distance 20.264290 +2025-06-27 10:42:57.304 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -119.998100 r1 = -1005.581970 angle1_2 = -66.002693 angle2_2 = 60.082127 z2 = -99.620598 r2 = -1005.581970 +2025-06-27 10:42:57.310 wait_stop in +2025-06-27 10:42:57.879 wait_stop out_0 +2025-06-27 10:42:57.923 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:42:57.924 goal_angle -66.454506 86.491570 +2025-06-27 10:42:57.924 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:42:57.924 z1 -99.620598 z2 -99.620598 +2025-06-27 10:42:57.924 angle1_1 -66.002693 angle2_1 60.082127 z1 -99.620598 r1 -1005.581970 +2025-06-27 10:42:57.924 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-27 10:42:57.925 speed 100.000000 +2025-06-27 10:42:57.925 tcp_distance 89.626869 +2025-06-27 10:42:57.925 new_end_speed 100.000000 j1_acc_t 0.448134 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.102728 +2025-06-27 10:42:57.925 new_end_speed 100.000000 j2_acc_t 0.448134 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 64.456833 +2025-06-27 10:42:57.925 new_end_speed 100.000000 j3_acc_t 0.448134 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:42:57.926 new_end_speed 100.000000 j4_acc_t 0.448134 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.275738 +2025-06-27 10:42:57.926 end_speed 100.000000 +2025-06-27 10:42:57.926 trail_number0.896269 +2025-06-27 10:42:57.926 tcp_distance 89.626869 +2025-06-27 10:42:57.927 angle1_1 = -66.002693 angle2_1 = 60.082127 z1 = -99.620598 r1 = -1005.581970 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-27 10:43:01.525 30 30 30 30 +2025-06-27 10:43:01.525 new_movej_xyz_lr 275.779205 -133.157898 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:43:01.525 goal_angle -66.454506 86.491570 +2025-06-27 10:43:01.526 new_movej_angle -66.454506 86.491570 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:43:01.526 z1 -99.620598 z2 -97.620598 +2025-06-27 10:43:01.526 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-27 10:43:01.526 angle1_2 -66.454506 angle2_2 86.491570 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:43:01.526 speed 100.000000 +2025-06-27 10:43:01.527 tcp_distance 1.988892 +2025-06-27 10:43:01.527 new_end_speed 30.735683 j1_acc_t 0.032355 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:43:01.527 new_end_speed 30.735683 j2_acc_t 0.032355 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:43:01.527 new_end_speed 30.735683 j3_acc_t 0.032355 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 67.609840 +2025-06-27 10:43:01.527 new_end_speed 30.735683 j4_acc_t 0.032355 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:43:01.528 end_speed 30.735683 +2025-06-27 10:43:01.528 trail_number0.064710 +2025-06-27 10:43:01.528 tcp_distance 1.988892 +2025-06-27 10:43:01.528 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:43:01.545 wait_stop in +2025-06-27 10:43:01.667 wait_stop out_0 +2025-06-27 10:43:01.668 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:43:01.668 goal_angle -55.984741 91.477249 +2025-06-27 10:43:01.668 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-27 10:43:01.668 z1 -97.620598 z2 -97.620598 +2025-06-27 10:43:01.668 angle1_1 -66.454506 angle2_1 86.491570 z1 -97.620598 r1 -1005.468994 +2025-06-27 10:43:01.668 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-27 10:43:01.668 speed 100.000000 +2025-06-27 10:43:01.668 tcp_distance 67.475487 +2025-06-27 10:43:01.670 new_end_speed 100.000000 j1_acc_t 0.337377 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.942101 +2025-06-27 10:43:01.670 new_end_speed 100.000000 j2_acc_t 0.337377 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 16.163157 +2025-06-27 10:43:01.670 new_end_speed 100.000000 j3_acc_t 0.337377 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:43:01.670 new_end_speed 100.000000 j4_acc_t 0.337377 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.376153 +2025-06-27 10:43:01.670 end_speed 100.000000 +2025-06-27 10:43:01.670 trail_number0.674755 +2025-06-27 10:43:01.670 tcp_distance 67.475487 +2025-06-27 10:43:01.671 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-27 10:43:01.682 wait_stop in +2025-06-27 10:43:02.405 wait_stop out_0 +2025-06-27 10:43:02.406 new_movej_xyz_lr 285.909302 -66.236198 -119.977501 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:43:02.406 goal_angle -55.984741 91.477249 +2025-06-27 10:43:02.406 new_movej_angle -55.984741 91.477249 -119.977501 -1005.585022 0.000000 100.000000 +2025-06-27 10:43:02.406 z1 -97.620598 z2 -119.977501 +2025-06-27 10:43:02.406 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-27 10:43:02.406 angle1_2 -55.984741 angle2_2 91.477249 z2 -119.977501 r2 -1005.585022 +2025-06-27 10:43:02.407 speed 100.000000 +2025-06-27 10:43:02.407 tcp_distance 22.232697 +2025-06-27 10:43:02.407 new_end_speed 100.000000 j1_acc_t 0.111163 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:43:02.407 new_end_speed 100.000000 j2_acc_t 0.111163 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:43:02.407 new_end_speed 100.000000 j3_acc_t 0.111163 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-27 10:43:02.407 new_end_speed 100.000000 j4_acc_t 0.111163 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:43:02.408 end_speed 100.000000 +2025-06-27 10:43:02.408 trail_number0.222327 +2025-06-27 10:43:02.408 tcp_distance 22.232697 +2025-06-27 10:43:02.408 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -119.977501 r2 = -1005.585022 +2025-06-27 10:43:04.389 30 30 30 30 +2025-06-27 10:43:04.389 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:43:04.389 goal_angle -55.984741 91.477249 +2025-06-27 10:43:04.389 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-27 10:43:04.390 z1 -119.977501 z2 -97.620598 +2025-06-27 10:43:04.390 angle1_1 -55.984741 angle2_1 91.477249 z1 -119.977501 r1 -1005.585022 +2025-06-27 10:43:04.390 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-27 10:43:04.390 speed 100.000000 +2025-06-27 10:43:04.390 tcp_distance 22.232697 +2025-06-27 10:43:04.390 new_end_speed 100.000000 j1_acc_t 0.111163 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:43:04.391 new_end_speed 100.000000 j2_acc_t 0.111163 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:43:04.391 new_end_speed 100.000000 j3_acc_t 0.111163 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-27 10:43:04.391 new_end_speed 100.000000 j4_acc_t 0.111163 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:43:04.391 end_speed 100.000000 +2025-06-27 10:43:04.391 trail_number0.222327 +2025-06-27 10:43:04.391 tcp_distance 22.232697 +2025-06-27 10:43:04.392 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -119.977501 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-27 10:43:04.408 wait_stop in +2025-06-27 10:43:05.010 wait_stop out_0 +2025-06-27 10:43:05.010 new_movej_xyz_lr 288.405792 -221.614197 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:43:05.011 goal_angle -66.002686 60.082100 +2025-06-27 10:43:05.011 new_movej_angle -66.002686 60.082100 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-27 10:43:05.011 z1 -97.620598 z2 -97.620598 +2025-06-27 10:43:05.011 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-27 10:43:05.011 angle1_2 -66.002686 angle2_2 60.082100 z2 -97.620598 r2 -1005.581970 +2025-06-27 10:43:05.011 speed 100.000000 +2025-06-27 10:43:05.011 tcp_distance 157.331512 +2025-06-27 10:43:05.012 new_end_speed 100.000000 j1_acc_t 0.786658 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 13.928713 +2025-06-27 10:43:05.012 new_end_speed 100.000000 j2_acc_t 0.786658 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 43.651073 +2025-06-27 10:43:05.012 new_end_speed 100.000000 j3_acc_t 0.786658 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:43:05.012 new_end_speed 100.000000 j4_acc_t 0.786658 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.004243 +2025-06-27 10:43:05.012 end_speed 100.000000 +2025-06-27 10:43:05.012 trail_number1.573315 +2025-06-27 10:43:05.012 tcp_distance 157.331512 +2025-06-27 10:43:05.013 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -97.620598 r2 = -1005.581970 +2025-06-27 10:43:05.025 wait_stop in +2025-06-27 10:43:06.655 wait_stop out_0 +2025-06-27 10:43:06.655 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:43:06.656 goal_angle -66.002686 60.082100 +2025-06-27 10:43:06.656 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-27 10:43:06.656 z1 -97.620598 z2 -119.998100 +2025-06-27 10:43:06.656 angle1_1 -66.002686 angle2_1 60.082100 z1 -97.620598 r1 -1005.581970 +2025-06-27 10:43:06.656 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-27 10:43:06.656 speed 100.000000 +2025-06-27 10:43:06.657 tcp_distance 22.253181 +2025-06-27 10:43:06.657 new_end_speed 100.000000 j1_acc_t 0.111266 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:43:06.657 new_end_speed 100.000000 j2_acc_t 0.111266 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:43:06.657 new_end_speed 100.000000 j3_acc_t 0.111266 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972198 +2025-06-27 10:43:06.657 new_end_speed 100.000000 j4_acc_t 0.111266 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:43:06.657 end_speed 100.000000 +2025-06-27 10:43:06.657 trail_number0.222532 +2025-06-27 10:43:06.659 tcp_distance 22.253181 +2025-06-27 10:43:06.659 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -119.998100 r2 = -1005.581970 +2025-06-27 10:43:24.033 30 30 30 30 +2025-06-27 10:43:24.033 new_movej_xyz_lr 288.405792 -221.614105 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:43:24.034 goal_angle -66.002693 60.082127 +2025-06-27 10:43:24.034 new_movej_angle -66.002693 60.082127 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-27 10:43:24.034 z1 -119.998100 z2 -97.620598 +2025-06-27 10:43:24.034 angle1_1 -66.002686 angle2_1 60.082100 z1 -119.998100 r1 -1005.581970 +2025-06-27 10:43:24.034 angle1_2 -66.002693 angle2_2 60.082127 z2 -97.620598 r2 -1005.581970 +2025-06-27 10:43:24.034 speed 100.000000 +2025-06-27 10:43:24.035 tcp_distance 22.253181 +2025-06-27 10:43:24.035 new_end_speed 100.000000 j1_acc_t 0.111266 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000075 +2025-06-27 10:43:24.035 new_end_speed 100.000000 j2_acc_t 0.111266 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000262 +2025-06-27 10:43:24.035 new_end_speed 100.000000 j3_acc_t 0.111266 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972198 +2025-06-27 10:43:24.035 new_end_speed 100.000000 j4_acc_t 0.111266 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:43:24.035 end_speed 100.000000 +2025-06-27 10:43:24.035 trail_number0.222532 +2025-06-27 10:43:24.036 tcp_distance 22.253181 +2025-06-27 10:43:24.036 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -119.998100 r1 = -1005.581970 angle1_2 = -66.002693 angle2_2 = 60.082127 z2 = -97.620598 r2 = -1005.581970 +2025-06-27 10:43:24.052 wait_stop in +2025-06-27 10:43:24.651 wait_stop out_0 +2025-06-27 10:43:24.651 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:43:24.652 goal_angle -61.881187 31.250517 +2025-06-27 10:43:24.652 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:43:24.652 z1 -97.620598 z2 -97.620598 +2025-06-27 10:43:24.652 angle1_1 -66.002693 angle2_1 60.082127 z1 -97.620598 r1 -1005.581970 +2025-06-27 10:43:24.652 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:43:24.653 speed 100.000000 +2025-06-27 10:43:24.653 tcp_distance 75.744934 +2025-06-27 10:43:24.653 new_end_speed 100.000000 j1_acc_t 0.378725 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 11.902838 +2025-06-27 10:43:24.653 new_end_speed 100.000000 j2_acc_t 0.378725 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 83.265190 +2025-06-27 10:43:24.653 new_end_speed 100.000000 j3_acc_t 0.378725 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:43:24.653 new_end_speed 100.000000 j4_acc_t 0.378725 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.326273 +2025-06-27 10:43:24.654 end_speed 100.000000 +2025-06-27 10:43:24.654 trail_number0.757449 +2025-06-27 10:43:24.654 tcp_distance 75.744934 +2025-06-27 10:43:24.654 angle1_1 = -66.002693 angle2_1 = 60.082127 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:45:15.781 SDK_VERSION_V2.0.0.29_Release +2025-06-27 10:45:15.782 robot connected +2025-06-27 10:45:15.782 26 +2025-06-27 10:45:15.782 current generation=26 +2025-06-27 10:45:16.295 0x1a +2025-06-27 10:45:17.172 initial joint2 910240 +2025-06-27 10:45:17.172 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-27 10:45:17.173 robot WritePID +2025-06-27 10:45:17.477 initial joint1 -901209 +2025-06-27 10:45:17.524 initial joint2 910239 +2025-06-27 10:45:17.584 initial joint3 -284349 +2025-06-27 10:45:17.646 initial joint4 -23358441 +2025-06-27 10:45:17.676 initial joint1 -901209 +2025-06-27 10:45:17.723 initial joint2 910241 +2025-06-27 10:45:17.770 initial joint3 -284352 +2025-06-27 10:45:17.816 initial joint4 -23358442 +2025-06-27 10:45:17.831 initial joint1 -901210 +2025-06-27 10:45:17.878 initial joint2 910243 +2025-06-27 10:45:17.924 initial joint3 -284352 +2025-06-27 10:45:17.986 initial joint4 -23358444 +2025-06-27 10:45:20.232 initial_thread initialized +2025-06-27 10:45:20.232 servo enable +2025-06-27 10:45:20.232 brake open +2025-06-27 10:45:20.232 set_brake_state 0 1 +2025-06-27 10:45:20.446 robot initialized +2025-06-27 10:45:21.033 get_scara_param -61.881100 31.250799 -97.625198 -1005.468994 +2025-06-27 10:45:21.034 get_scara_real_coor -61.881100 31.250700 -97.625801 -1005.469116 +2025-06-27 10:45:21.034 λɢ +2025-06-27 10:45:21.034 position -901208.812500 910245.500000 -284354.000000 -23358448.000000 -955652.875000 1784997.875000 -284340.593750 -23707828.000000 +2025-06-27 10:45:21.034 speed 3738.377197 30032.238281 4.602671 14394.012695 +2025-06-27 10:45:21.034 set_first_position_after_initial +2025-06-27 10:45:21.035 movej_old start_pos: -61.881100 31.250799 -97.625198 -1005.469055 end_pos: -61.881100 31.250799 -97.625198 -1005.469116 org_sp 10.000000 end_sp 10.000000 +2025-06-27 10:45:21.327 J3 Belt Meilage=40.975723km +2025-06-27 10:45:23.929 30 30 30 30 +2025-06-27 10:45:23.930 new_movej_xyz_lr 275.781189 -295.933014 -97.000000 -1005.469116 100.000000 0.000000 1 +2025-06-27 10:45:23.930 goal_angle -61.881092 31.250793 +2025-06-27 10:45:23.930 new_movej_angle -61.881092 31.250793 -97.000000 -1005.469116 0.000000 100.000000 +2025-06-27 10:45:23.930 z1 -97.625198 z2 -97.000000 +2025-06-27 10:45:23.930 angle1_1 -61.881100 angle2_1 31.250799 z1 -97.625198 r1 -1005.469116 +2025-06-27 10:45:23.931 angle1_2 -61.881092 angle2_2 31.250793 z2 -97.000000 r2 -1005.469116 +2025-06-27 10:45:23.931 speed 100.000000 +2025-06-27 10:45:23.931 tcp_distance 0.621731 +2025-06-27 10:45:23.931 new_end_speed 17.482458 j1_acc_t 0.017782 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000469 +2025-06-27 10:45:23.932 new_end_speed 17.482458 j2_acc_t 0.017782 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000352 +2025-06-27 10:45:23.932 new_end_speed 17.482458 j3_acc_t 0.017782 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 38.456127 +2025-06-27 10:45:23.932 new_end_speed 17.482458 j4_acc_t 0.017782 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:45:23.932 end_speed 17.482458 +2025-06-27 10:45:23.932 trail_number0.035563 +2025-06-27 10:45:23.932 tcp_distance 0.621731 +2025-06-27 10:45:23.934 angle1_1 = -61.881100 angle2_1 = 31.250799 z1 = -97.625198 r1 = -1005.469116 angle1_2 = -61.881092 angle2_2 = 31.250793 z2 = -97.000000 r2 = -1005.469116 +2025-06-27 10:45:23.946 wait_stop in +2025-06-27 10:45:24.023 wait_stop out_0 +2025-06-27 10:45:24.024 new_movej_xyz_lr 288.405792 -221.614197 -97.000000 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:45:24.024 goal_angle -66.002686 60.082100 +2025-06-27 10:45:24.024 new_movej_angle -66.002686 60.082100 -97.000000 -1005.581970 0.000000 100.000000 +2025-06-27 10:45:24.024 z1 -97.000008 z2 -97.000000 +2025-06-27 10:45:24.024 angle1_1 -61.881092 angle2_1 31.250793 z1 -97.000008 r1 -1005.469116 +2025-06-27 10:45:24.024 angle1_2 -66.002686 angle2_2 60.082100 z2 -97.000000 r2 -1005.581970 +2025-06-27 10:45:24.024 speed 100.000000 +2025-06-27 10:45:24.024 tcp_distance 75.708298 +2025-06-27 10:45:24.025 new_end_speed 100.000000 j1_acc_t 0.378541 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 11.908841 +2025-06-27 10:45:24.025 new_end_speed 100.000000 j2_acc_t 0.378541 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 83.304543 +2025-06-27 10:45:24.025 new_end_speed 100.000000 j3_acc_t 0.378541 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000022 +2025-06-27 10:45:24.025 new_end_speed 100.000000 j4_acc_t 0.378541 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.326078 +2025-06-27 10:45:24.025 end_speed 100.000000 +2025-06-27 10:45:24.025 trail_number0.757083 +2025-06-27 10:45:24.026 tcp_distance 75.708298 +2025-06-27 10:45:24.026 angle1_1 = -61.881092 angle2_1 = 31.250793 z1 = -97.000008 r1 = -1005.469116 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -97.000000 r2 = -1005.581970 +2025-06-27 10:45:24.038 wait_stop in +2025-06-27 10:45:24.854 wait_stop out_0 +2025-06-27 10:45:24.854 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:45:24.854 goal_angle -66.002686 60.082100 +2025-06-27 10:45:24.855 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-27 10:45:24.855 z1 -97.000000 z2 -119.998100 +2025-06-27 10:45:24.855 angle1_1 -66.002686 angle2_1 60.082100 z1 -97.000000 r1 -1005.581970 +2025-06-27 10:45:24.855 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-27 10:45:24.855 speed 100.000000 +2025-06-27 10:45:24.855 tcp_distance 22.870331 +2025-06-27 10:45:24.856 new_end_speed 100.000000 j1_acc_t 0.114352 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:45:24.856 new_end_speed 100.000000 j2_acc_t 0.114352 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:45:24.856 new_end_speed 100.000000 j3_acc_t 0.114352 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-27 10:45:24.856 new_end_speed 100.000000 j4_acc_t 0.114352 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:45:24.856 end_speed 100.000000 +2025-06-27 10:45:24.856 trail_number0.228703 +2025-06-27 10:45:24.856 tcp_distance 22.870331 +2025-06-27 10:45:24.857 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -97.000000 r1 = -1005.581970 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -119.998100 r2 = -1005.581970 +2025-06-27 10:45:30.195 _new_stop_move_thread_0 +2025-06-27 10:45:30.196 j1_slow_down_t = 0 +2025-06-27 10:45:30.196 j2_slow_down_t = 0 +2025-06-27 10:45:30.196 j3_slow_down_t = 2 +2025-06-27 10:45:30.196 j4_slow_down_t = 0 +2025-06-27 10:45:30.196 tmp_t[3] = 2 +2025-06-27 10:45:30.196 _new_stop_move_thread_1 +2025-06-27 10:45:30.357 _new_stop_move_thread_2 +2025-06-27 10:45:30.388 jog_move_xyzr return 99 ͣ +2025-06-27 10:45:30.388 _new_stop_move_thread_3 +2025-06-27 10:45:30.389 get_scara_param -66.002701 60.082199 -106.195198 -1005.582092 +2025-06-27 10:45:30.389 get_scara_real_coor -66.002701 60.082199 -106.195198 -1005.582092 +2025-06-27 10:45:30.389 _new_stop_move_thread_4 +2025-06-27 10:45:30.590 wait_stop in +2025-06-27 10:45:30.620 wait_stop out_0 +2025-06-27 10:45:40.768 _new_stop_move_thread_0 +2025-06-27 10:45:40.768 j1_slow_down_t = 0 +2025-06-27 10:45:40.768 j2_slow_down_t = 0 +2025-06-27 10:45:40.768 j3_slow_down_t = 2 +2025-06-27 10:45:40.768 j4_slow_down_t = 0 +2025-06-27 10:45:40.768 tmp_t[3] = 2 +2025-06-27 10:45:40.770 _new_stop_move_thread_1 +2025-06-27 10:45:40.939 _new_stop_move_thread_2 +2025-06-27 10:45:40.940 jog_move_xyzr return 99 ͣ +2025-06-27 10:45:40.969 _new_stop_move_thread_3 +2025-06-27 10:45:40.969 get_scara_param -66.002701 60.082401 -100.685204 -1005.581970 +2025-06-27 10:45:40.969 get_scara_real_coor -66.002701 60.082401 -100.685204 -1005.582092 +2025-06-27 10:45:40.969 _new_stop_move_thread_4 +2025-06-27 10:45:41.154 wait_stop in +2025-06-27 10:45:41.185 wait_stop out_0 +2025-06-27 10:45:56.057 SDK_VERSION_V2.0.0.29_Release +2025-06-27 10:45:56.058 robot connected +2025-06-27 10:45:56.058 26 +2025-06-27 10:45:56.058 current generation=26 +2025-06-27 10:45:56.575 0x1a +2025-06-27 10:45:57.478 initial joint2 1750029 +2025-06-27 10:45:57.479 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-27 10:45:57.479 robot WritePID +2025-06-27 10:45:57.784 initial joint1 -961234 +2025-06-27 10:45:57.846 initial joint2 1750030 +2025-06-27 10:45:57.910 initial joint3 -291977 +2025-06-27 10:45:57.955 initial joint4 -23681042 +2025-06-27 10:45:57.970 initial joint1 -961234 +2025-06-27 10:45:58.017 initial joint2 1750031 +2025-06-27 10:45:58.063 initial joint3 -291978 +2025-06-27 10:45:58.110 initial joint4 -23681043 +2025-06-27 10:45:58.125 initial joint1 -961234 +2025-06-27 10:45:58.187 initial joint2 1750032 +2025-06-27 10:45:58.248 initial joint3 -291979 +2025-06-27 10:45:58.294 initial joint4 -23681043 +2025-06-27 10:46:00.626 initial_thread initialized +2025-06-27 10:46:00.626 servo enable +2025-06-27 10:46:00.627 brake open +2025-06-27 10:46:00.627 set_brake_state 0 1 +2025-06-27 10:46:00.840 robot initialized +2025-06-27 10:46:01.411 get_scara_param -66.002602 60.082600 -100.244400 -1005.581970 +2025-06-27 10:46:01.411 get_scara_real_coor -66.002701 60.082600 -100.242996 -1005.582214 +2025-06-27 10:46:01.411 λɢ +2025-06-27 10:46:01.412 position -961232.562500 1750032.500000 -291982.968750 -23681044.000000 -961234.125000 1750023.875000 -303942.968750 -23681040.000000 +2025-06-27 10:46:01.412 speed 0.107288 0.296116 4106.140137 0.164795 +2025-06-27 10:46:01.412 set_first_position_after_initial +2025-06-27 10:46:01.412 movej_old start_pos: -66.002602 60.082596 -100.244400 -1005.582031 end_pos: -66.002602 60.082504 -100.244400 -1005.582031 org_sp 10.000000 end_sp 0.742393 +2025-06-27 10:46:01.702 J3 Belt Meilage=40.975777km +2025-06-27 10:46:04.507 30 30 30 30 +2025-06-27 10:46:04.508 new_movej_xyz_lr 288.406189 -221.612305 -100.000000 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:46:04.508 goal_angle -66.002632 60.082561 +2025-06-27 10:46:04.508 new_movej_angle -66.002632 60.082561 -100.000000 -1005.581970 0.000000 100.000000 +2025-06-27 10:46:04.509 z1 -100.244400 z2 -100.000000 +2025-06-27 10:46:04.509 angle1_1 -66.002602 angle2_1 60.082504 z1 -100.244400 r1 -1005.582031 +2025-06-27 10:46:04.509 angle1_2 -66.002632 angle2_2 60.082561 z2 -100.000000 r2 -1005.581970 +2025-06-27 10:46:04.509 speed 100.000000 +2025-06-27 10:46:04.509 tcp_distance 0.243045 +2025-06-27 10:46:04.509 new_end_speed 11.018309 j1_acc_t 0.011029 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.003026 +2025-06-27 10:46:04.510 new_end_speed 11.018309 j2_acc_t 0.011029 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.005674 +2025-06-27 10:46:04.510 new_end_speed 11.018309 j3_acc_t 0.011029 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 24.236921 +2025-06-27 10:46:04.510 new_end_speed 11.018309 j4_acc_t 0.011029 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.006053 +2025-06-27 10:46:04.510 end_speed 11.018309 +2025-06-27 10:46:04.511 trail_number0.022058 +2025-06-27 10:46:04.511 tcp_distance 0.243045 +2025-06-27 10:46:04.511 angle1_1 = -66.002602 angle2_1 = 60.082504 z1 = -100.244400 r1 = -1005.582031 angle1_2 = -66.002632 angle2_2 = 60.082561 z2 = -100.000000 r2 = -1005.581970 +2025-06-27 10:46:04.526 wait_stop in +2025-06-27 10:46:04.619 wait_stop out_0 +2025-06-27 10:46:04.620 new_movej_xyz_lr 288.405792 -221.614197 -100.000000 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:46:04.620 goal_angle -66.002686 60.082100 +2025-06-27 10:46:04.620 new_movej_angle -66.002686 60.082100 -100.000000 -1005.581970 0.000000 100.000000 +2025-06-27 10:46:04.620 wait_stop in +2025-06-27 10:46:04.651 wait_stop out_0 +2025-06-27 10:46:04.651 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:46:04.651 goal_angle -66.002686 60.082100 +2025-06-27 10:46:04.652 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-27 10:46:04.652 z1 -100.000000 z2 -119.998100 +2025-06-27 10:46:04.652 angle1_1 -66.002632 angle2_1 60.082561 z1 -100.000000 r1 -1005.581970 +2025-06-27 10:46:04.652 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-27 10:46:04.652 speed 100.000000 +2025-06-27 10:46:04.652 tcp_distance 19.887001 +2025-06-27 10:46:04.652 new_end_speed 100.000000 j1_acc_t 0.099435 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000587 +2025-06-27 10:46:04.653 new_end_speed 100.000000 j2_acc_t 0.099435 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.005077 +2025-06-27 10:46:04.653 new_end_speed 100.000000 j3_acc_t 0.099435 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972031 +2025-06-27 10:46:04.653 new_end_speed 100.000000 j4_acc_t 0.099435 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:46:04.653 end_speed 100.000000 +2025-06-27 10:46:04.653 trail_number0.198870 +2025-06-27 10:46:04.653 tcp_distance 19.887001 +2025-06-27 10:46:04.654 angle1_1 = -66.002632 angle2_1 = 60.082561 z1 = -100.000000 r1 = -1005.581970 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -119.998100 r2 = -1005.581970 +2025-06-27 10:46:08.229 30 30 30 30 +2025-06-27 10:46:08.230 new_movej_xyz_lr 288.405792 -221.614105 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-27 10:46:08.230 goal_angle -66.002693 60.082127 +2025-06-27 10:46:08.230 new_movej_angle -66.002693 60.082127 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-27 10:46:08.230 z1 -119.998100 z2 -97.620598 +2025-06-27 10:46:08.231 angle1_1 -66.002686 angle2_1 60.082100 z1 -119.998100 r1 -1005.581970 +2025-06-27 10:46:08.231 angle1_2 -66.002693 angle2_2 60.082127 z2 -97.620598 r2 -1005.581970 +2025-06-27 10:46:08.231 speed 100.000000 +2025-06-27 10:46:08.231 tcp_distance 22.253181 +2025-06-27 10:46:08.231 new_end_speed 100.000000 j1_acc_t 0.111266 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000075 +2025-06-27 10:46:08.231 new_end_speed 100.000000 j2_acc_t 0.111266 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000262 +2025-06-27 10:46:08.232 new_end_speed 100.000000 j3_acc_t 0.111266 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972198 +2025-06-27 10:46:08.232 new_end_speed 100.000000 j4_acc_t 0.111266 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:46:08.232 end_speed 100.000000 +2025-06-27 10:46:08.232 trail_number0.222532 +2025-06-27 10:46:08.232 tcp_distance 22.253181 +2025-06-27 10:46:08.233 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -119.998100 r1 = -1005.581970 angle1_2 = -66.002693 angle2_2 = 60.082127 z2 = -97.620598 r2 = -1005.581970 +2025-06-27 10:46:08.246 wait_stop in +2025-06-27 10:46:08.861 wait_stop out_0 +2025-06-27 10:46:08.861 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:46:08.862 goal_angle -61.881187 31.250517 +2025-06-27 10:46:08.862 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:46:08.862 z1 -97.620598 z2 -97.620598 +2025-06-27 10:46:08.862 angle1_1 -66.002693 angle2_1 60.082127 z1 -97.620598 r1 -1005.581970 +2025-06-27 10:46:08.862 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:46:08.863 speed 100.000000 +2025-06-27 10:46:08.863 tcp_distance 75.744934 +2025-06-27 10:46:08.863 new_end_speed 100.000000 j1_acc_t 0.378725 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 11.902838 +2025-06-27 10:46:08.863 new_end_speed 100.000000 j2_acc_t 0.378725 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 83.265190 +2025-06-27 10:46:08.863 new_end_speed 100.000000 j3_acc_t 0.378725 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:46:08.863 new_end_speed 100.000000 j4_acc_t 0.378725 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.326273 +2025-06-27 10:46:08.864 end_speed 100.000000 +2025-06-27 10:46:08.864 trail_number0.757449 +2025-06-27 10:46:08.864 tcp_distance 75.744934 +2025-06-27 10:46:08.864 angle1_1 = -66.002693 angle2_1 = 60.082127 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:46:11.375 30 30 30 30 +2025-06-27 10:46:11.376 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:46:11.376 goal_angle -55.984741 91.477249 +2025-06-27 10:46:11.376 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-27 10:46:11.376 z1 -97.620598 z2 -97.620598 +2025-06-27 10:46:11.376 angle1_1 -61.881187 angle2_1 31.250517 z1 -97.620598 r1 -1005.468994 +2025-06-27 10:46:11.377 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-27 10:46:11.377 speed 100.000000 +2025-06-27 10:46:11.377 tcp_distance 240.658829 +2025-06-27 10:46:11.377 new_end_speed 100.000000 j1_acc_t 1.203294 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.359652 +2025-06-27 10:46:11.377 new_end_speed 100.000000 j2_acc_t 1.203294 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 54.743870 +2025-06-27 10:46:11.378 new_end_speed 100.000000 j3_acc_t 1.203294 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:46:11.378 new_end_speed 100.000000 j4_acc_t 1.203294 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.105465 +2025-06-27 10:46:11.378 end_speed 100.000000 +2025-06-27 10:46:11.378 trail_number2.406588 +2025-06-27 10:46:11.378 tcp_distance 240.658829 +2025-06-27 10:46:11.380 angle1_1 = -61.881187 angle2_1 = 31.250517 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-27 10:46:11.390 wait_stop in +2025-06-27 10:46:13.858 wait_stop out_0 +2025-06-27 10:46:13.858 new_movej_xyz_lr 285.909302 -66.236198 -119.977501 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:46:13.859 goal_angle -55.984741 91.477249 +2025-06-27 10:46:13.859 new_movej_angle -55.984741 91.477249 -119.977501 -1005.585022 0.000000 100.000000 +2025-06-27 10:46:13.859 z1 -97.620598 z2 -119.977501 +2025-06-27 10:46:13.859 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-27 10:46:13.859 angle1_2 -55.984741 angle2_2 91.477249 z2 -119.977501 r2 -1005.585022 +2025-06-27 10:46:13.859 speed 100.000000 +2025-06-27 10:46:13.861 tcp_distance 22.232697 +2025-06-27 10:46:13.861 new_end_speed 100.000000 j1_acc_t 0.111163 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:46:13.861 new_end_speed 100.000000 j2_acc_t 0.111163 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:46:13.861 new_end_speed 100.000000 j3_acc_t 0.111163 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-27 10:46:13.861 new_end_speed 100.000000 j4_acc_t 0.111163 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:46:13.861 end_speed 100.000000 +2025-06-27 10:46:13.861 trail_number0.222327 +2025-06-27 10:46:13.862 tcp_distance 22.232697 +2025-06-27 10:46:13.862 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -119.977501 r2 = -1005.585022 +2025-06-27 10:46:17.396 30 30 30 30 +2025-06-27 10:46:17.396 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-27 10:46:17.396 goal_angle -55.984741 91.477249 +2025-06-27 10:46:17.396 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-27 10:46:17.398 z1 -119.977501 z2 -97.620598 +2025-06-27 10:46:17.398 angle1_1 -55.984741 angle2_1 91.477249 z1 -119.977501 r1 -1005.585022 +2025-06-27 10:46:17.398 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-27 10:46:17.398 speed 100.000000 +2025-06-27 10:46:17.398 tcp_distance 22.232697 +2025-06-27 10:46:17.398 new_end_speed 100.000000 j1_acc_t 0.111163 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:46:17.399 new_end_speed 100.000000 j2_acc_t 0.111163 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:46:17.399 new_end_speed 100.000000 j3_acc_t 0.111163 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-27 10:46:17.399 new_end_speed 100.000000 j4_acc_t 0.111163 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:46:17.399 end_speed 100.000000 +2025-06-27 10:46:17.399 trail_number0.222327 +2025-06-27 10:46:17.399 tcp_distance 22.232697 +2025-06-27 10:46:17.400 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -119.977501 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-27 10:46:17.406 wait_stop in +2025-06-27 10:46:18.006 wait_stop out_0 +2025-06-27 10:46:18.006 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 10:46:18.006 goal_angle -46.207226 99.506226 +2025-06-27 10:46:18.008 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 10:46:18.008 z1 -97.620598 z2 -97.620598 +2025-06-27 10:46:18.008 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-27 10:46:18.008 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-27 10:46:18.008 speed 100.000000 +2025-06-27 10:46:18.009 tcp_distance 69.087776 +2025-06-27 10:46:18.009 new_end_speed 100.000000 j1_acc_t 0.345439 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 30.958189 +2025-06-27 10:46:18.009 new_end_speed 100.000000 j2_acc_t 0.345439 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.421854 +2025-06-27 10:46:18.009 new_end_speed 100.000000 j3_acc_t 0.345439 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:46:18.009 new_end_speed 100.000000 j4_acc_t 0.345439 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.367375 +2025-06-27 10:46:18.009 end_speed 100.000000 +2025-06-27 10:46:18.010 trail_number0.690878 +2025-06-27 10:46:18.010 tcp_distance 69.087776 +2025-06-27 10:46:18.010 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 10:46:21.402 30 30 30 30 +2025-06-27 10:46:21.402 new_movej_xyz_lr 287.342896 73.423103 -97.620598 -1005.557007 100.000000 0.000000 1 +2025-06-27 10:46:21.403 goal_angle -28.070442 90.288498 +2025-06-27 10:46:21.403 new_movej_angle -28.070442 90.288498 -97.620598 -1005.557007 0.000000 100.000000 +2025-06-27 10:46:21.403 z1 -97.620598 z2 -97.620598 +2025-06-27 10:46:21.403 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-27 10:46:21.403 angle1_2 -28.070442 angle2_2 90.288498 z2 -97.620598 r2 -1005.557007 +2025-06-27 10:46:21.404 speed 100.000000 +2025-06-27 10:46:21.404 tcp_distance 73.383728 +2025-06-27 10:46:21.404 new_end_speed 95.000000 j1_acc_t 0.386230 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.360840 +2025-06-27 10:46:21.404 new_end_speed 95.000000 j2_acc_t 0.386230 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 26.103319 +2025-06-27 10:46:21.404 new_end_speed 95.000000 j3_acc_t 0.386230 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 10:46:21.404 new_end_speed 95.000000 j4_acc_t 0.386230 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.249240 +2025-06-27 10:46:21.405 end_speed 95.000000 +2025-06-27 10:46:21.405 trail_number0.772460 +2025-06-27 10:46:21.405 tcp_distance 73.383728 +2025-06-27 10:46:21.405 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -97.620598 r2 = -1005.557007 +2025-06-27 10:46:21.416 wait_stop in +2025-06-27 10:46:22.261 wait_stop out_0 +2025-06-27 10:46:22.262 new_movej_xyz_lr 287.342896 73.423103 -118.853500 -1005.557007 100.000000 0.000000 1 +2025-06-27 10:46:22.262 goal_angle -28.070442 90.288498 +2025-06-27 10:46:22.262 new_movej_angle -28.070442 90.288498 -118.853500 -1005.557007 0.000000 100.000000 +2025-06-27 10:46:22.262 z1 -97.620598 z2 -118.853500 +2025-06-27 10:46:22.264 angle1_1 -28.070442 angle2_1 90.288498 z1 -97.620598 r1 -1005.557007 +2025-06-27 10:46:22.264 angle1_2 -28.070442 angle2_2 90.288498 z2 -118.853500 r2 -1005.557007 +2025-06-27 10:46:22.265 speed 100.000000 +2025-06-27 10:46:22.265 tcp_distance 21.114937 +2025-06-27 10:46:22.265 new_end_speed 100.000000 j1_acc_t 0.105575 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 10:46:22.265 new_end_speed 100.000000 j2_acc_t 0.105575 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 10:46:22.265 new_end_speed 100.000000 j3_acc_t 0.105575 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972137 +2025-06-27 10:46:22.265 new_end_speed 100.000000 j4_acc_t 0.105575 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 10:46:22.266 end_speed 100.000000 +2025-06-27 10:46:22.266 trail_number0.211149 +2025-06-27 10:46:22.266 tcp_distance 21.114937 +2025-06-27 10:46:22.266 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -97.620598 r1 = -1005.557007 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -118.853500 r2 = -1005.557007 +2025-06-27 11:11:31.158 SDK_VERSION_V2.0.0.29_Release +2025-06-27 11:11:31.159 robot connected +2025-06-27 11:11:31.159 26 +2025-06-27 11:11:31.160 current generation=26 +2025-06-27 11:11:31.670 0x1a +2025-06-27 11:11:32.565 initial joint2 2629848 +2025-06-27 11:11:32.566 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-27 11:11:32.567 robot WritePID +2025-06-27 11:11:32.871 initial joint1 -408806 +2025-06-27 11:11:32.918 initial joint2 2629848 +2025-06-27 11:11:32.963 initial joint3 -346191 +2025-06-27 11:11:33.025 initial joint4 -25041055 +2025-06-27 11:11:33.056 initial joint1 -408806 +2025-06-27 11:11:33.101 initial joint2 2629849 +2025-06-27 11:11:33.147 initial joint3 -346191 +2025-06-27 11:11:33.193 initial joint4 -25041056 +2025-06-27 11:11:33.208 initial joint1 -408806 +2025-06-27 11:11:33.253 initial joint2 2629851 +2025-06-27 11:11:33.299 initial joint3 -346191 +2025-06-27 11:11:33.345 initial joint4 -25041057 +2025-06-27 11:11:35.592 initial_thread initialized +2025-06-27 11:11:35.592 servo enable +2025-06-27 11:11:35.592 brake open +2025-06-27 11:11:35.593 set_brake_state 0 1 +2025-06-27 11:11:35.806 robot initialized +2025-06-27 11:11:36.390 get_scara_param -28.070400 90.288803 -118.855904 -1005.557129 +2025-06-27 11:11:36.390 get_scara_real_coor -28.070400 90.288803 -118.855499 -1005.557129 +2025-06-27 11:11:36.390 λɢ +2025-06-27 11:11:36.391 position -408804.843750 2629852.000000 -346192.906250 -25041062.000000 -815319.812500 2664496.000000 -284340.593750 -24381536.000000 +2025-06-27 11:11:36.391 speed 27913.167969 1189.407349 21235.306641 27171.634766 +2025-06-27 11:11:36.391 set_first_position_after_initial +2025-06-27 11:11:36.392 movej_old start_pos: -28.070400 90.288803 -118.855904 -1005.557129 end_pos: -28.070400 90.288803 -118.855904 -1005.557129 org_sp 10.000000 end_sp 10.000000 +2025-06-27 11:11:36.681 J3 Belt Meilage=40.975910km +2025-06-27 11:12:18.731 SDK_VERSION_V2.0.0.29_Release +2025-06-27 11:12:18.732 robot connected +2025-06-27 11:12:18.733 26 +2025-06-27 11:12:18.734 current generation=26 +2025-06-27 11:12:19.247 0x1a +2025-06-27 11:12:20.072 initial joint2 2629854 +2025-06-27 11:12:20.073 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-27 11:12:20.073 robot WritePID +2025-06-27 11:12:20.381 initial joint1 -408804 +2025-06-27 11:12:20.427 initial joint2 2629856 +2025-06-27 11:12:20.474 initial joint3 -346194 +2025-06-27 11:12:20.521 initial joint4 -25041064 +2025-06-27 11:12:20.535 initial joint1 -408804 +2025-06-27 11:12:20.582 initial joint2 2629857 +2025-06-27 11:12:20.643 initial joint3 -346194 +2025-06-27 11:12:20.705 initial joint4 -25041065 +2025-06-27 11:12:20.737 initial joint1 -408804 +2025-06-27 11:12:20.784 initial joint2 2629859 +2025-06-27 11:12:20.845 initial joint3 -346194 +2025-06-27 11:12:20.906 initial joint4 -25041066 +2025-06-27 11:12:23.112 initial_thread initialized +2025-06-27 11:12:23.112 servo enable +2025-06-27 11:12:23.112 brake open +2025-06-27 11:12:23.113 set_brake_state 0 1 +2025-06-27 11:12:23.325 robot initialized +2025-06-27 11:12:23.896 get_scara_param -28.070299 90.289101 -118.856201 -1005.557129 +2025-06-27 11:12:23.897 get_scara_real_coor -28.070200 90.289101 -118.856201 -1005.557007 +2025-06-27 11:12:23.897 λɢ +2025-06-27 11:12:23.897 position -408803.375000 2629860.500000 -346193.781250 -25041070.000000 -815319.812500 2664496.000000 -284340.593750 -24381536.000000 +2025-06-27 11:12:23.897 speed 27913.269531 1189.115601 21235.607422 27171.964844 +2025-06-27 11:12:23.897 set_first_position_after_initial +2025-06-27 11:12:23.898 movej_old start_pos: -28.070301 90.289093 -118.856201 -1005.557129 end_pos: -28.070301 90.289001 -118.856201 -1005.557129 org_sp 10.000000 end_sp 0.603449 +2025-06-27 11:12:24.203 J3 Belt Meilage=40.975918km +2025-06-27 11:12:34.176 30 30 30 30 +2025-06-27 11:12:34.178 new_movej_xyz_lr 287.341095 73.424599 -97.620598 -1005.557129 100.000000 0.000000 1 +2025-06-27 11:12:34.179 goal_angle -28.070316 90.289032 +2025-06-27 11:12:34.180 new_movej_angle -28.070316 90.289032 -97.620598 -1005.557129 0.000000 100.000000 +2025-06-27 11:12:34.180 z1 -118.856201 z2 -97.620598 +2025-06-27 11:12:34.180 angle1_1 -28.070301 angle2_1 90.289001 z1 -118.856201 r1 -1005.557129 +2025-06-27 11:12:34.180 angle1_2 -28.070316 angle2_2 90.289032 z2 -97.620598 r2 -1005.557129 +2025-06-27 11:12:34.180 speed 100.000000 +2025-06-27 11:12:34.181 tcp_distance 21.117630 +2025-06-27 11:12:34.182 new_end_speed 100.000000 j1_acc_t 0.105588 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000158 +2025-06-27 11:12:34.182 new_end_speed 100.000000 j2_acc_t 0.105588 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000316 +2025-06-27 11:12:34.182 new_end_speed 100.000000 j3_acc_t 0.105588 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972061 +2025-06-27 11:12:34.183 new_end_speed 100.000000 j4_acc_t 0.105588 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:12:34.183 end_speed 100.000000 +2025-06-27 11:12:34.183 trail_number0.211176 +2025-06-27 11:12:34.183 tcp_distance 21.117630 +2025-06-27 11:12:34.184 angle1_1 = -28.070301 angle2_1 = 90.289001 z1 = -118.856201 r1 = -1005.557129 angle1_2 = -28.070316 angle2_2 = 90.289032 z2 = -97.620598 r2 = -1005.557129 +2025-06-27 11:12:34.198 wait_stop in +2025-06-27 11:12:34.786 wait_stop out_0 +2025-06-27 11:12:34.786 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 11:12:34.787 goal_angle -61.881187 31.250517 +2025-06-27 11:12:34.787 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 11:12:34.787 z1 -97.620598 z2 -97.620598 +2025-06-27 11:12:34.787 angle1_1 -28.070316 angle2_1 90.289032 z1 -97.620598 r1 -1005.557129 +2025-06-27 11:12:34.787 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994 +2025-06-27 11:12:34.788 speed 100.000000 +2025-06-27 11:12:34.788 tcp_distance 398.149872 +2025-06-27 11:12:34.788 new_end_speed 100.000000 j1_acc_t 1.990749 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 18.576241 +2025-06-27 11:12:34.788 new_end_speed 100.000000 j2_acc_t 1.990749 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 32.436718 +2025-06-27 11:12:34.788 new_end_speed 100.000000 j3_acc_t 1.990749 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 11:12:34.789 new_end_speed 100.000000 j4_acc_t 1.990749 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.048423 +2025-06-27 11:12:34.789 end_speed 100.000000 +2025-06-27 11:12:34.789 trail_number3.981499 +2025-06-27 11:12:34.789 tcp_distance 398.149872 +2025-06-27 11:12:34.790 angle1_1 = -28.070316 angle2_1 = 90.289032 z1 = -97.620598 r1 = -1005.557129 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 11:13:22.503 30 30 30 30 +2025-06-27 11:13:22.503 new_movej_xyz_lr 288.405792 -221.614197 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-27 11:13:22.504 goal_angle -66.002686 60.082100 +2025-06-27 11:13:22.504 new_movej_angle -66.002686 60.082100 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-27 11:13:22.504 z1 -97.620598 z2 -97.620598 +2025-06-27 11:13:22.506 angle1_1 -61.881187 angle2_1 31.250517 z1 -97.620598 r1 -1005.468994 +2025-06-27 11:13:22.506 angle1_2 -66.002686 angle2_2 60.082100 z2 -97.620598 r2 -1005.581970 +2025-06-27 11:13:22.506 speed 100.000000 +2025-06-27 11:13:22.507 tcp_distance 75.709747 +2025-06-27 11:13:22.507 new_end_speed 100.000000 j1_acc_t 0.378549 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 11.908349 +2025-06-27 11:13:22.507 new_end_speed 100.000000 j2_acc_t 0.378549 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 83.303825 +2025-06-27 11:13:22.507 new_end_speed 100.000000 j3_acc_t 0.378549 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 11:13:22.507 new_end_speed 100.000000 j4_acc_t 0.378549 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.326424 +2025-06-27 11:13:22.508 end_speed 100.000000 +2025-06-27 11:13:22.508 trail_number0.757097 +2025-06-27 11:13:22.509 tcp_distance 75.709747 +2025-06-27 11:13:22.509 angle1_1 = -61.881187 angle2_1 = 31.250517 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -97.620598 r2 = -1005.581970 +2025-06-27 11:13:22.521 wait_stop in +2025-06-27 11:13:23.323 wait_stop out_0 +2025-06-27 11:13:23.323 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-27 11:13:23.323 goal_angle -66.002686 60.082100 +2025-06-27 11:13:23.324 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-27 11:13:23.324 z1 -97.620598 z2 -119.998100 +2025-06-27 11:13:23.324 angle1_1 -66.002686 angle2_1 60.082100 z1 -97.620598 r1 -1005.581970 +2025-06-27 11:13:23.324 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-27 11:13:23.324 speed 100.000000 +2025-06-27 11:13:23.325 tcp_distance 22.253181 +2025-06-27 11:13:23.325 new_end_speed 100.000000 j1_acc_t 0.111266 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 11:13:23.325 new_end_speed 100.000000 j2_acc_t 0.111266 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 11:13:23.325 new_end_speed 100.000000 j3_acc_t 0.111266 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972198 +2025-06-27 11:13:23.325 new_end_speed 100.000000 j4_acc_t 0.111266 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:13:23.325 end_speed 100.000000 +2025-06-27 11:13:23.326 trail_number0.222532 +2025-06-27 11:13:23.326 tcp_distance 22.253181 +2025-06-27 11:13:23.326 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -119.998100 r2 = -1005.581970 +2025-06-27 11:13:46.811 30 30 30 30 +2025-06-27 11:13:46.811 new_movej_xyz_lr 288.405792 -221.614105 -100.000000 -1005.581970 100.000000 0.000000 1 +2025-06-27 11:13:46.811 goal_angle -66.002693 60.082127 +2025-06-27 11:13:46.812 new_movej_angle -66.002693 60.082127 -100.000000 -1005.581970 0.000000 100.000000 +2025-06-27 11:13:46.812 z1 -119.998100 z2 -100.000000 +2025-06-27 11:13:46.813 angle1_1 -66.002686 angle2_1 60.082100 z1 -119.998100 r1 -1005.581970 +2025-06-27 11:13:46.813 angle1_2 -66.002693 angle2_2 60.082127 z2 -100.000000 r2 -1005.581970 +2025-06-27 11:13:46.813 speed 100.000000 +2025-06-27 11:13:46.813 tcp_distance 19.887001 +2025-06-27 11:13:46.814 new_end_speed 100.000000 j1_acc_t 0.099435 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000084 +2025-06-27 11:13:46.814 new_end_speed 100.000000 j2_acc_t 0.099435 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000294 +2025-06-27 11:13:46.814 new_end_speed 100.000000 j3_acc_t 0.099435 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972031 +2025-06-27 11:13:46.814 new_end_speed 100.000000 j4_acc_t 0.099435 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:13:46.814 end_speed 100.000000 +2025-06-27 11:13:46.815 trail_number0.198870 +2025-06-27 11:13:46.815 tcp_distance 19.887001 +2025-06-27 11:13:46.815 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -119.998100 r1 = -1005.581970 angle1_2 = -66.002693 angle2_2 = 60.082127 z2 = -100.000000 r2 = -1005.581970 +2025-06-27 11:13:46.821 wait_stop in +2025-06-27 11:13:47.391 wait_stop out_0 +2025-06-27 11:13:47.392 new_movej_xyz_lr 285.909302 -66.236198 -100.000000 -1005.585022 100.000000 0.000000 1 +2025-06-27 11:13:47.392 goal_angle -55.984741 91.477249 +2025-06-27 11:13:47.392 new_movej_angle -55.984741 91.477249 -100.000000 -1005.585022 0.000000 100.000000 +2025-06-27 11:13:47.392 z1 -100.000000 z2 -100.000000 +2025-06-27 11:13:47.392 angle1_1 -66.002693 angle2_1 60.082127 z1 -100.000000 r1 -1005.581970 +2025-06-27 11:13:47.392 angle1_2 -55.984741 angle2_2 91.477249 z2 -100.000000 r2 -1005.585022 +2025-06-27 11:13:47.392 speed 100.000000 +2025-06-27 11:13:47.392 tcp_distance 157.433716 +2025-06-27 11:13:47.393 new_end_speed 100.000000 j1_acc_t 0.787169 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 13.919678 +2025-06-27 11:13:47.393 new_end_speed 100.000000 j2_acc_t 0.787169 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 43.622688 +2025-06-27 11:13:47.393 new_end_speed 100.000000 j3_acc_t 0.787169 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 11:13:47.393 new_end_speed 100.000000 j4_acc_t 0.787169 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.004240 +2025-06-27 11:13:47.393 end_speed 100.000000 +2025-06-27 11:13:47.393 trail_number1.574337 +2025-06-27 11:13:47.394 tcp_distance 157.433716 +2025-06-27 11:13:47.394 angle1_1 = -66.002693 angle2_1 = 60.082127 z1 = -100.000000 r1 = -1005.581970 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -100.000000 r2 = -1005.585022 +2025-06-27 11:13:47.405 wait_stop in +2025-06-27 11:13:49.017 wait_stop out_0 +2025-06-27 11:13:49.018 new_movej_xyz_lr 285.909302 -66.236198 -119.977501 -1005.585022 100.000000 0.000000 1 +2025-06-27 11:13:49.018 goal_angle -55.984741 91.477249 +2025-06-27 11:13:49.018 new_movej_angle -55.984741 91.477249 -119.977501 -1005.585022 0.000000 100.000000 +2025-06-27 11:13:49.018 z1 -100.000000 z2 -119.977501 +2025-06-27 11:13:49.019 angle1_1 -55.984741 angle2_1 91.477249 z1 -100.000000 r1 -1005.585022 +2025-06-27 11:13:49.019 angle1_2 -55.984741 angle2_2 91.477249 z2 -119.977501 r2 -1005.585022 +2025-06-27 11:13:49.019 speed 100.000000 +2025-06-27 11:13:49.019 tcp_distance 19.866516 +2025-06-27 11:13:49.019 new_end_speed 100.000000 j1_acc_t 0.099333 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 11:13:49.019 new_end_speed 100.000000 j2_acc_t 0.099333 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 11:13:49.020 new_end_speed 100.000000 j3_acc_t 0.099333 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972061 +2025-06-27 11:13:49.020 new_end_speed 100.000000 j4_acc_t 0.099333 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:13:49.020 end_speed 100.000000 +2025-06-27 11:13:49.020 trail_number0.198665 +2025-06-27 11:13:49.021 tcp_distance 19.866516 +2025-06-27 11:13:49.021 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -100.000000 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -119.977501 r2 = -1005.585022 +2025-06-27 11:14:00.151 30 30 30 30 +2025-06-27 11:14:00.151 new_movej_xyz_lr 285.909302 -66.236198 -100.000000 -1005.585022 100.000000 0.000000 1 +2025-06-27 11:14:00.151 goal_angle -55.984741 91.477249 +2025-06-27 11:14:00.152 new_movej_angle -55.984741 91.477249 -100.000000 -1005.585022 0.000000 100.000000 +2025-06-27 11:14:00.152 z1 -119.977501 z2 -100.000000 +2025-06-27 11:14:00.152 angle1_1 -55.984741 angle2_1 91.477249 z1 -119.977501 r1 -1005.585022 +2025-06-27 11:14:00.152 angle1_2 -55.984741 angle2_2 91.477249 z2 -100.000000 r2 -1005.585022 +2025-06-27 11:14:00.152 speed 100.000000 +2025-06-27 11:14:00.152 tcp_distance 19.866516 +2025-06-27 11:14:00.153 new_end_speed 100.000000 j1_acc_t 0.099333 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 11:14:00.153 new_end_speed 100.000000 j2_acc_t 0.099333 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 11:14:00.153 new_end_speed 100.000000 j3_acc_t 0.099333 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972061 +2025-06-27 11:14:00.154 new_end_speed 100.000000 j4_acc_t 0.099333 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:14:00.154 end_speed 100.000000 +2025-06-27 11:14:00.154 trail_number0.198665 +2025-06-27 11:14:00.154 tcp_distance 19.866516 +2025-06-27 11:14:00.155 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -119.977501 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -100.000000 r2 = -1005.585022 +2025-06-27 11:14:00.168 wait_stop in +2025-06-27 11:14:00.721 wait_stop out_0 +2025-06-27 11:14:00.721 new_movej_xyz_lr 287.342896 73.423103 -100.000000 -1005.557007 100.000000 0.000000 1 +2025-06-27 11:14:00.722 goal_angle -28.070442 90.288498 +2025-06-27 11:14:00.722 new_movej_angle -28.070442 90.288498 -100.000000 -1005.557007 0.000000 100.000000 +2025-06-27 11:14:00.722 z1 -100.000000 z2 -100.000000 +2025-06-27 11:14:00.722 angle1_1 -55.984741 angle2_1 91.477249 z1 -100.000000 r1 -1005.585022 +2025-06-27 11:14:00.722 angle1_2 -28.070442 angle2_2 90.288498 z2 -100.000000 r2 -1005.557007 +2025-06-27 11:14:00.722 speed 100.000000 +2025-06-27 11:14:00.722 tcp_distance 140.219284 +2025-06-27 11:14:00.723 new_end_speed 100.000000 j1_acc_t 0.701096 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 43.547913 +2025-06-27 11:14:00.723 new_end_speed 100.000000 j2_acc_t 0.701096 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.854520 +2025-06-27 11:14:00.723 new_end_speed 100.000000 j3_acc_t 0.701096 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 11:14:00.723 new_end_speed 100.000000 j4_acc_t 0.701096 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.043705 +2025-06-27 11:14:00.723 end_speed 100.000000 +2025-06-27 11:14:00.723 trail_number1.402193 +2025-06-27 11:14:00.724 tcp_distance 140.219284 +2025-06-27 11:14:00.724 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -100.000000 r1 = -1005.585022 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -100.000000 r2 = -1005.557007 +2025-06-27 11:14:00.737 wait_stop in +2025-06-27 11:14:02.213 wait_stop out_0 +2025-06-27 11:14:02.213 new_movej_xyz_lr 287.342896 73.423103 -118.853500 -1005.557007 100.000000 0.000000 1 +2025-06-27 11:14:02.213 goal_angle -28.070442 90.288498 +2025-06-27 11:14:02.214 new_movej_angle -28.070442 90.288498 -118.853500 -1005.557007 0.000000 100.000000 +2025-06-27 11:14:02.214 z1 -100.000000 z2 -118.853500 +2025-06-27 11:14:02.214 angle1_1 -28.070442 angle2_1 90.288498 z1 -100.000000 r1 -1005.557007 +2025-06-27 11:14:02.214 angle1_2 -28.070442 angle2_2 90.288498 z2 -118.853500 r2 -1005.557007 +2025-06-27 11:14:02.214 speed 100.000000 +2025-06-27 11:14:02.215 tcp_distance 18.748756 +2025-06-27 11:14:02.215 new_end_speed 95.000000 j1_acc_t 0.098678 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 11:14:02.215 new_end_speed 95.000000 j2_acc_t 0.098678 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 11:14:02.215 new_end_speed 95.000000 j3_acc_t 0.098678 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 208.973373 +2025-06-27 11:14:02.216 new_end_speed 95.000000 j4_acc_t 0.098678 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:14:02.216 end_speed 95.000000 +2025-06-27 11:14:02.216 trail_number0.197355 +2025-06-27 11:14:02.216 tcp_distance 18.748756 +2025-06-27 11:14:02.217 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -100.000000 r1 = -1005.557007 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -118.853500 r2 = -1005.557007 +2025-06-27 11:14:11.524 30 30 30 30 +2025-06-27 11:14:11.524 new_movej_xyz_lr 287.342896 73.422897 -100.000000 -1005.557007 100.000000 0.000000 1 +2025-06-27 11:14:11.525 goal_angle -28.070490 90.288521 +2025-06-27 11:14:11.525 new_movej_angle -28.070490 90.288521 -100.000000 -1005.557007 0.000000 100.000000 +2025-06-27 11:14:11.525 z1 -118.853500 z2 -100.000000 +2025-06-27 11:14:11.525 angle1_1 -28.070442 angle2_1 90.288498 z1 -118.853500 r1 -1005.557007 +2025-06-27 11:14:11.525 angle1_2 -28.070490 angle2_2 90.288521 z2 -100.000000 r2 -1005.557007 +2025-06-27 11:14:11.526 speed 100.000000 +2025-06-27 11:14:11.526 tcp_distance 18.748756 +2025-06-27 11:14:11.526 new_end_speed 95.000000 j1_acc_t 0.098678 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000529 +2025-06-27 11:14:11.526 new_end_speed 95.000000 j2_acc_t 0.098678 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000254 +2025-06-27 11:14:11.526 new_end_speed 95.000000 j3_acc_t 0.098678 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 208.973373 +2025-06-27 11:14:11.527 new_end_speed 95.000000 j4_acc_t 0.098678 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:14:11.527 end_speed 95.000000 +2025-06-27 11:14:11.527 trail_number0.197355 +2025-06-27 11:14:11.527 tcp_distance 18.748756 +2025-06-27 11:14:11.528 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -118.853500 r1 = -1005.557007 angle1_2 = -28.070490 angle2_2 = 90.288521 z2 = -100.000000 r2 = -1005.557007 +2025-06-27 11:14:11.535 wait_stop in +2025-06-27 11:14:12.121 wait_stop out_0 +2025-06-27 11:14:12.122 new_movej_xyz_lr 285.909302 -66.236198 -100.000000 -1005.585022 100.000000 0.000000 1 +2025-06-27 11:14:12.122 goal_angle -55.984741 91.477249 +2025-06-27 11:14:12.122 new_movej_angle -55.984741 91.477249 -100.000000 -1005.585022 0.000000 100.000000 +2025-06-27 11:14:12.123 z1 -100.000000 z2 -100.000000 +2025-06-27 11:14:12.123 angle1_1 -28.070490 angle2_1 90.288521 z1 -100.000000 r1 -1005.557007 +2025-06-27 11:14:12.123 angle1_2 -55.984741 angle2_2 91.477249 z2 -100.000000 r2 -1005.585022 +2025-06-27 11:14:12.123 speed 100.000000 +2025-06-27 11:14:12.123 tcp_distance 140.227173 +2025-06-27 11:14:12.123 new_end_speed 100.000000 j1_acc_t 0.701136 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 43.545345 +2025-06-27 11:14:12.123 new_end_speed 100.000000 j2_acc_t 0.701136 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.854378 +2025-06-27 11:14:12.124 new_end_speed 100.000000 j3_acc_t 0.701136 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 11:14:12.124 new_end_speed 100.000000 j4_acc_t 0.701136 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.043703 +2025-06-27 11:14:12.124 end_speed 100.000000 +2025-06-27 11:14:12.124 trail_number1.402272 +2025-06-27 11:14:12.124 tcp_distance 140.227173 +2025-06-27 11:14:12.124 angle1_1 = -28.070490 angle2_1 = 90.288521 z1 = -100.000000 r1 = -1005.557007 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -100.000000 r2 = -1005.585022 +2025-06-27 11:14:12.137 wait_stop in +2025-06-27 11:14:13.598 wait_stop out_0 +2025-06-27 11:14:13.599 new_movej_xyz_lr 285.909302 -66.236198 -119.977501 -1005.585022 100.000000 0.000000 1 +2025-06-27 11:14:13.599 goal_angle -55.984741 91.477249 +2025-06-27 11:14:13.599 new_movej_angle -55.984741 91.477249 -119.977501 -1005.585022 0.000000 100.000000 +2025-06-27 11:14:13.599 z1 -100.000000 z2 -119.977501 +2025-06-27 11:14:13.599 angle1_1 -55.984741 angle2_1 91.477249 z1 -100.000000 r1 -1005.585022 +2025-06-27 11:14:13.600 angle1_2 -55.984741 angle2_2 91.477249 z2 -119.977501 r2 -1005.585022 +2025-06-27 11:14:13.600 speed 100.000000 +2025-06-27 11:14:13.600 tcp_distance 19.866516 +2025-06-27 11:14:13.600 new_end_speed 100.000000 j1_acc_t 0.099333 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 11:14:13.600 new_end_speed 100.000000 j2_acc_t 0.099333 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 11:14:13.600 new_end_speed 100.000000 j3_acc_t 0.099333 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972061 +2025-06-27 11:14:13.601 new_end_speed 100.000000 j4_acc_t 0.099333 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:14:13.601 end_speed 100.000000 +2025-06-27 11:14:13.601 trail_number0.198665 +2025-06-27 11:14:13.601 tcp_distance 19.866516 +2025-06-27 11:14:13.602 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -100.000000 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -119.977501 r2 = -1005.585022 +2025-06-27 11:14:20.617 30 30 30 30 +2025-06-27 11:14:20.618 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-27 11:14:20.618 goal_angle -55.984741 91.477249 +2025-06-27 11:14:20.618 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-27 11:14:20.618 z1 -119.977501 z2 -97.620598 +2025-06-27 11:14:20.623 angle1_1 -55.984741 angle2_1 91.477249 z1 -119.977501 r1 -1005.585022 +2025-06-27 11:14:20.623 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-27 11:14:20.623 speed 100.000000 +2025-06-27 11:14:20.623 tcp_distance 22.232697 +2025-06-27 11:14:20.623 new_end_speed 100.000000 j1_acc_t 0.111163 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 11:14:20.623 new_end_speed 100.000000 j2_acc_t 0.111163 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 11:14:20.623 new_end_speed 100.000000 j3_acc_t 0.111163 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-27 11:14:20.623 new_end_speed 100.000000 j4_acc_t 0.111163 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:14:20.624 end_speed 100.000000 +2025-06-27 11:14:20.624 trail_number0.222327 +2025-06-27 11:14:20.624 tcp_distance 22.232697 +2025-06-27 11:14:20.624 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -119.977501 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-27 11:14:20.627 wait_stop in +2025-06-27 11:14:21.244 wait_stop out_0 +2025-06-27 11:14:21.244 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 11:14:21.244 goal_angle -46.207226 99.506226 +2025-06-27 11:14:21.244 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 11:14:21.245 z1 -97.620598 z2 -97.620598 +2025-06-27 11:14:21.245 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-27 11:14:21.245 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-27 11:14:21.245 speed 100.000000 +2025-06-27 11:14:21.245 tcp_distance 69.087776 +2025-06-27 11:14:21.245 new_end_speed 100.000000 j1_acc_t 0.345439 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 30.958189 +2025-06-27 11:14:21.245 new_end_speed 100.000000 j2_acc_t 0.345439 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.421854 +2025-06-27 11:14:21.245 new_end_speed 100.000000 j3_acc_t 0.345439 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 11:14:21.245 new_end_speed 100.000000 j4_acc_t 0.345439 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.367375 +2025-06-27 11:14:21.246 end_speed 100.000000 +2025-06-27 11:14:21.246 trail_number0.690878 +2025-06-27 11:14:21.246 tcp_distance 69.087776 +2025-06-27 11:14:21.246 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 11:15:07.963 30 30 30 30 +2025-06-27 11:15:07.963 new_movej_xyz_lr 287.342896 73.423103 -97.620598 -1005.557007 100.000000 0.000000 1 +2025-06-27 11:15:07.963 goal_angle -28.070442 90.288498 +2025-06-27 11:15:07.963 new_movej_angle -28.070442 90.288498 -97.620598 -1005.557007 0.000000 100.000000 +2025-06-27 11:15:07.963 z1 -97.620598 z2 -97.620598 +2025-06-27 11:15:07.963 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-27 11:15:07.964 angle1_2 -28.070442 angle2_2 90.288498 z2 -97.620598 r2 -1005.557007 +2025-06-27 11:15:07.964 speed 100.000000 +2025-06-27 11:15:07.965 tcp_distance 73.383728 +2025-06-27 11:15:07.965 new_end_speed 95.000000 j1_acc_t 0.386230 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.360840 +2025-06-27 11:15:07.965 new_end_speed 95.000000 j2_acc_t 0.386230 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 26.103319 +2025-06-27 11:15:07.965 new_end_speed 95.000000 j3_acc_t 0.386230 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 11:15:07.965 new_end_speed 95.000000 j4_acc_t 0.386230 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.249240 +2025-06-27 11:15:07.965 end_speed 95.000000 +2025-06-27 11:15:07.966 trail_number0.772460 +2025-06-27 11:15:07.966 tcp_distance 73.383728 +2025-06-27 11:15:07.966 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -97.620598 r2 = -1005.557007 +2025-06-27 11:15:07.980 wait_stop in +2025-06-27 11:15:08.798 wait_stop out_0 +2025-06-27 11:15:08.798 new_movej_xyz_lr 287.342896 73.423103 -118.853500 -1005.557007 100.000000 0.000000 1 +2025-06-27 11:15:08.799 goal_angle -28.070442 90.288498 +2025-06-27 11:15:08.799 new_movej_angle -28.070442 90.288498 -118.853500 -1005.557007 0.000000 100.000000 +2025-06-27 11:15:08.799 z1 -97.620598 z2 -118.853500 +2025-06-27 11:15:08.799 angle1_1 -28.070442 angle2_1 90.288498 z1 -97.620598 r1 -1005.557007 +2025-06-27 11:15:08.799 angle1_2 -28.070442 angle2_2 90.288498 z2 -118.853500 r2 -1005.557007 +2025-06-27 11:15:08.799 speed 100.000000 +2025-06-27 11:15:08.800 tcp_distance 21.114937 +2025-06-27 11:15:08.800 new_end_speed 100.000000 j1_acc_t 0.105575 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 11:15:08.800 new_end_speed 100.000000 j2_acc_t 0.105575 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 11:15:08.800 new_end_speed 100.000000 j3_acc_t 0.105575 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972137 +2025-06-27 11:15:08.800 new_end_speed 100.000000 j4_acc_t 0.105575 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:15:08.800 end_speed 100.000000 +2025-06-27 11:15:08.801 trail_number0.211149 +2025-06-27 11:15:08.801 tcp_distance 21.114937 +2025-06-27 11:15:08.801 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -97.620598 r1 = -1005.557007 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -118.853500 r2 = -1005.557007 +2025-06-27 11:15:17.774 30 30 30 30 +2025-06-27 11:15:17.774 new_movej_xyz_lr 287.342896 73.422897 -97.620598 -1005.557007 100.000000 0.000000 1 +2025-06-27 11:15:17.774 goal_angle -28.070490 90.288521 +2025-06-27 11:15:17.775 new_movej_angle -28.070490 90.288521 -97.620598 -1005.557007 0.000000 100.000000 +2025-06-27 11:15:17.775 z1 -118.853500 z2 -97.620598 +2025-06-27 11:15:17.775 angle1_1 -28.070442 angle2_1 90.288498 z1 -118.853500 r1 -1005.557007 +2025-06-27 11:15:17.775 angle1_2 -28.070490 angle2_2 90.288521 z2 -97.620598 r2 -1005.557007 +2025-06-27 11:15:17.775 speed 100.000000 +2025-06-27 11:15:17.775 tcp_distance 21.114944 +2025-06-27 11:15:17.776 new_end_speed 100.000000 j1_acc_t 0.105575 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000494 +2025-06-27 11:15:17.776 new_end_speed 100.000000 j2_acc_t 0.105575 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000237 +2025-06-27 11:15:17.776 new_end_speed 100.000000 j3_acc_t 0.105575 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972076 +2025-06-27 11:15:17.776 new_end_speed 100.000000 j4_acc_t 0.105575 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:15:17.776 end_speed 100.000000 +2025-06-27 11:15:17.776 trail_number0.211149 +2025-06-27 11:15:17.777 tcp_distance 21.114944 +2025-06-27 11:15:17.777 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -118.853500 r1 = -1005.557007 angle1_2 = -28.070490 angle2_2 = 90.288521 z2 = -97.620598 r2 = -1005.557007 +2025-06-27 11:15:17.785 wait_stop in +2025-06-27 11:15:18.370 wait_stop out_0 +2025-06-27 11:15:18.370 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 11:15:18.370 goal_angle -46.207226 99.506226 +2025-06-27 11:15:18.370 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 11:15:18.371 z1 -97.620598 z2 -97.620598 +2025-06-27 11:15:18.371 angle1_1 -28.070490 angle2_1 90.288521 z1 -97.620598 r1 -1005.557007 +2025-06-27 11:15:18.371 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-27 11:15:18.371 speed 100.000000 +2025-06-27 11:15:18.371 tcp_distance 73.409538 +2025-06-27 11:15:18.372 new_end_speed 95.000000 j1_acc_t 0.386366 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.342644 +2025-06-27 11:15:18.372 new_end_speed 95.000000 j2_acc_t 0.386366 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 26.094074 +2025-06-27 11:15:18.372 new_end_speed 95.000000 j3_acc_t 0.386366 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 11:15:18.372 new_end_speed 95.000000 j4_acc_t 0.386366 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.249152 +2025-06-27 11:15:18.372 end_speed 95.000000 +2025-06-27 11:15:18.372 trail_number0.772732 +2025-06-27 11:15:18.372 tcp_distance 73.409538 +2025-06-27 11:15:18.373 angle1_1 = -28.070490 angle2_1 = 90.288521 z1 = -97.620598 r1 = -1005.557007 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-27 11:17:10.494 SDK_VERSION_V2.0.0.29_Release +2025-06-27 11:17:10.494 robot connected +2025-06-27 11:17:10.494 26 +2025-06-27 11:17:10.495 current generation=26 +2025-06-27 11:17:11.002 0x1a +2025-06-27 11:17:11.878 initial joint2 2898335 +2025-06-27 11:17:11.878 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-27 11:17:11.879 robot WritePID +2025-06-27 11:17:12.186 initial joint1 -672941 +2025-06-27 11:17:12.248 initial joint2 2898334 +2025-06-27 11:17:12.309 initial joint3 -284351 +2025-06-27 11:17:12.371 initial joint4 -24732936 +2025-06-27 11:17:12.387 initial joint1 -672940 +2025-06-27 11:17:12.449 initial joint2 2898335 +2025-06-27 11:17:12.509 initial joint3 -284351 +2025-06-27 11:17:12.571 initial joint4 -24732938 +2025-06-27 11:17:12.586 initial joint1 -672940 +2025-06-27 11:17:12.646 initial joint2 2898335 +2025-06-27 11:17:12.707 initial joint3 -284352 +2025-06-27 11:17:12.767 initial joint4 -24732940 +2025-06-27 11:17:14.946 initial_thread initialized +2025-06-27 11:17:14.947 servo enable +2025-06-27 11:17:14.947 brake open +2025-06-27 11:17:14.947 set_brake_state 0 1 +2025-06-27 11:17:15.162 robot initialized +2025-06-27 11:17:15.733 get_scara_param -46.207100 99.506401 -97.625198 -1005.469177 +2025-06-27 11:17:15.733 get_scara_real_coor -46.207100 99.506500 -97.625504 -1005.469116 +2025-06-27 11:17:15.733 λɢ +2025-06-27 11:17:15.733 position -672939.625000 2898334.000000 -284354.000000 -24732942.000000 -414861.500000 2635998.750000 -284340.593750 -25033990.000000 +2025-06-27 11:17:15.733 speed 17720.818359 9006.566406 4.602671 12402.795898 +2025-06-27 11:17:15.733 set_first_position_after_initial +2025-06-27 11:17:15.734 movej_old start_pos: -46.207096 99.506401 -97.625198 -1005.469116 end_pos: -46.207001 99.506401 -97.625198 -1005.469116 org_sp 10.000000 end_sp 0.803090 +2025-06-27 11:17:16.027 J3 Belt Meilage=40.976189km +2025-06-27 11:17:17.510 30 30 30 30 +2025-06-27 11:17:17.511 new_movej_xyz_lr 287.342896 73.423103 -97.625198 -1005.557007 100.000000 0.000000 1 +2025-06-27 11:17:17.511 goal_angle -28.070442 90.288498 +2025-06-27 11:17:17.512 new_movej_angle -28.070442 90.288498 -97.625198 -1005.557007 0.000000 100.000000 +2025-06-27 11:17:17.512 z1 -97.625198 z2 -97.625198 +2025-06-27 11:17:17.512 angle1_1 -46.207001 angle2_1 99.506401 z1 -97.625198 r1 -1005.469116 +2025-06-27 11:17:17.512 angle1_2 -28.070442 angle2_2 90.288498 z2 -97.625198 r2 -1005.557007 +2025-06-27 11:17:17.512 speed 100.000000 +2025-06-27 11:17:17.512 tcp_distance 73.382355 +2025-06-27 11:17:17.513 new_end_speed 95.000000 j1_acc_t 0.386223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.361164 +2025-06-27 11:17:17.513 new_end_speed 95.000000 j2_acc_t 0.386223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 26.104305 +2025-06-27 11:17:17.513 new_end_speed 95.000000 j3_acc_t 0.386223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 11:17:17.513 new_end_speed 95.000000 j4_acc_t 0.386223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.248899 +2025-06-27 11:17:17.513 end_speed 95.000000 +2025-06-27 11:17:17.514 trail_number0.772446 +2025-06-27 11:17:17.514 tcp_distance 73.382355 +2025-06-27 11:17:17.515 angle1_1 = -46.207001 angle2_1 = 99.506401 z1 = -97.625198 r1 = -1005.469116 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -97.625198 r2 = -1005.557007 +2025-06-27 11:17:17.532 wait_stop in +2025-06-27 11:17:18.347 wait_stop out_0 +2025-06-27 11:17:18.347 new_movej_xyz_lr 287.342896 73.423103 -118.853500 -1005.557007 100.000000 0.000000 1 +2025-06-27 11:17:18.347 goal_angle -28.070442 90.288498 +2025-06-27 11:17:18.348 new_movej_angle -28.070442 90.288498 -118.853500 -1005.557007 0.000000 100.000000 +2025-06-27 11:17:18.348 z1 -97.625198 z2 -118.853500 +2025-06-27 11:17:18.348 angle1_1 -28.070442 angle2_1 90.288498 z1 -97.625198 r1 -1005.557007 +2025-06-27 11:17:18.348 angle1_2 -28.070442 angle2_2 90.288498 z2 -118.853500 r2 -1005.557007 +2025-06-27 11:17:18.348 speed 100.000000 +2025-06-27 11:17:18.349 tcp_distance 21.110367 +2025-06-27 11:17:18.349 new_end_speed 100.000000 j1_acc_t 0.105552 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-27 11:17:18.349 new_end_speed 100.000000 j2_acc_t 0.105552 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-27 11:17:18.349 new_end_speed 100.000000 j3_acc_t 0.105552 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972107 +2025-06-27 11:17:18.349 new_end_speed 100.000000 j4_acc_t 0.105552 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:17:18.349 end_speed 100.000000 +2025-06-27 11:17:18.350 trail_number0.211104 +2025-06-27 11:17:18.350 tcp_distance 21.110367 +2025-06-27 11:17:18.350 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -97.625198 r1 = -1005.557007 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -118.853500 r2 = -1005.557007 +2025-06-27 11:17:29.146 30 30 30 30 +2025-06-27 11:17:29.146 new_movej_xyz_lr 287.342896 73.422897 -97.620598 -1005.557007 100.000000 0.000000 1 +2025-06-27 11:17:29.146 goal_angle -28.070490 90.288521 +2025-06-27 11:17:29.147 new_movej_angle -28.070490 90.288521 -97.620598 -1005.557007 0.000000 100.000000 +2025-06-27 11:17:29.147 z1 -118.853500 z2 -97.620598 +2025-06-27 11:17:29.147 angle1_1 -28.070442 angle2_1 90.288498 z1 -118.853500 r1 -1005.557007 +2025-06-27 11:17:29.147 angle1_2 -28.070490 angle2_2 90.288521 z2 -97.620598 r2 -1005.557007 +2025-06-27 11:17:29.147 speed 100.000000 +2025-06-27 11:17:29.147 tcp_distance 21.114944 +2025-06-27 11:17:29.148 new_end_speed 100.000000 j1_acc_t 0.105575 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000494 +2025-06-27 11:17:29.148 new_end_speed 100.000000 j2_acc_t 0.105575 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000237 +2025-06-27 11:17:29.148 new_end_speed 100.000000 j3_acc_t 0.105575 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972076 +2025-06-27 11:17:29.148 new_end_speed 100.000000 j4_acc_t 0.105575 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-27 11:17:29.148 end_speed 100.000000 +2025-06-27 11:17:29.148 trail_number0.211149 +2025-06-27 11:17:29.148 tcp_distance 21.114944 +2025-06-27 11:17:29.149 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -118.853500 r1 = -1005.557007 angle1_2 = -28.070490 angle2_2 = 90.288521 z2 = -97.620598 r2 = -1005.557007 +2025-06-27 11:17:29.161 wait_stop in +2025-06-27 11:17:29.747 wait_stop out_0 +2025-06-27 11:17:29.747 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-27 11:17:29.748 goal_angle -46.207226 99.506226 +2025-06-27 11:17:29.748 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-27 11:17:29.748 z1 -97.620598 z2 -97.620598 +2025-06-27 11:17:29.748 angle1_1 -28.070490 angle2_1 90.288521 z1 -97.620598 r1 -1005.557007 +2025-06-27 11:17:29.748 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-27 11:17:29.748 speed 100.000000 +2025-06-27 11:17:29.749 tcp_distance 73.409538 +2025-06-27 11:17:29.749 new_end_speed 95.000000 j1_acc_t 0.386366 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.342644 +2025-06-27 11:17:29.749 new_end_speed 95.000000 j2_acc_t 0.386366 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 26.094074 +2025-06-27 11:17:29.749 new_end_speed 95.000000 j3_acc_t 0.386366 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-27 11:17:29.749 new_end_speed 95.000000 j4_acc_t 0.386366 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.249152 +2025-06-27 11:17:29.750 end_speed 95.000000 +2025-06-27 11:17:29.750 trail_number0.772732 +2025-06-27 11:17:29.750 tcp_distance 73.409538 +2025-06-27 11:17:29.751 angle1_1 = -28.070490 angle2_1 = 90.288521 z1 = -97.620598 r1 = -1005.557007 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 diff --git a/HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferences.cache b/HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferences.cache index f7c846e..998f1a5 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferences.cache and b/HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferences.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe index 85df3e3..e9b978c 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb index 93e5855..e63cab6 100644 Binary files a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb differ