修改了深度睡眠无法正常关闭线程问题
This commit is contained in:
@@ -1239,6 +1239,7 @@ namespace HitBotCSharpDemo
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detectionThread.Join(2000); // 等待2秒
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}
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// 关闭网络连接
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try
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{
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@@ -1379,7 +1380,14 @@ namespace HitBotCSharpDemo
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int remainingTimeMs = (dwellTimeMinutes * 60 - 3) * 1000;
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if (remainingTimeMs > 0)
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{
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Thread.Sleep(remainingTimeMs);
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// 分解为多个小的睡眠，每100ms检查一次停止标志
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int sleptTime = 0;
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while (sleptTime < remainingTimeMs && isCycleRunning)
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{
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int sleepDuration = Math.Min(100, remainingTimeMs - sleptTime);
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Thread.Sleep(sleepDuration);
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sleptTime += sleepDuration;
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}
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}
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}
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}
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@@ -1216,3 +1216,801 @@
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2025-06-12 16:22:33.683 trail_number2.182659
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2025-06-12 16:22:33.683 tcp_distance 218.265945
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2025-06-12 16:22:33.684 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
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2025-06-12 16:32:57.099 SDK_VERSION_V2.0.0.29_Release
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2025-06-12 16:32:57.100 robot connected
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2025-06-12 16:32:57.101 26
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2025-06-12 16:32:57.101 current generation=26
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2025-06-12 16:32:57.613 0x1a
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2025-06-12 16:32:58.512 initial joint2 4444931
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2025-06-12 16:32:58.513 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-12 16:32:58.513 robot WritePID
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2025-06-12 16:32:58.821 initial joint1 -1269936
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2025-06-12 16:32:58.868 initial joint2 4444931
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2025-06-12 16:32:58.915 initial joint3 -12992
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2025-06-12 16:32:58.961 initial joint4 -25056188
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2025-06-12 16:32:58.977 initial joint1 -1269936
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2025-06-12 16:32:59.040 initial joint2 4444933
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2025-06-12 16:32:59.101 initial joint3 -12992
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2025-06-12 16:32:59.147 initial joint4 -25056189
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2025-06-12 16:32:59.162 initial joint1 -1269936
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2025-06-12 16:32:59.209 initial joint2 4444935
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2025-06-12 16:32:59.255 initial joint3 -12992
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2025-06-12 16:32:59.302 initial joint4 -25056189
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2025-06-12 16:33:01.446 initial_thread initialized
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2025-06-12 16:33:01.447 servo enable
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2025-06-12 16:33:01.447 brake open
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2025-06-12 16:33:01.448 set_brake_state 0 1
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2025-06-12 16:33:01.661 robot initialized
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2025-06-12 16:33:02.205 get_scara_param -87.199501 152.604706 -4.460400 -1027.920044
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2025-06-12 16:33:02.205 get_scara_real_coor -87.199501 152.604797 -4.460400 -1027.919922
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2025-06-12 16:33:02.205 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
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2025-06-12 16:33:02.206 position -1269934.750000 4444934.500000 -12991.857422 -25056194.000000 -407343.468750 2470064.250000 -219810.953125 -24967582.000000
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2025-06-12 16:33:02.206 speed 59229.441406 67801.789063 71005.695313 3650.702148
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2025-06-12 16:33:02.206 set_first_position_after_initial
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2025-06-12 16:33:02.207 movej_old start_pos: -87.199501 152.604721 -4.460400 -1027.920044 end_pos: -87.199501 152.604721 -4.460400 -1027.920044 org_sp 10.000000 end_sp 10.000000
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2025-06-12 16:33:02.498 J3 Belt Meilage=40.909199km
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2025-06-12 16:33:19.752 30 30 30 30
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2025-06-12 16:33:19.753 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-12 16:33:19.753 goal_angle -67.226128 86.401024
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2025-06-12 16:33:19.754 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-12 16:33:19.755 z1 -4.460400 z2 -75.466103
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2025-06-12 16:33:19.755 angle1_1 -87.199501 angle2_1 152.604721 z1 -4.460400 r1 -1027.920044
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2025-06-12 16:33:19.755 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
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2025-06-12 16:33:19.755 speed 100.000000
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2025-06-12 16:33:19.755 tcp_distance 218.567505
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2025-06-12 16:33:19.756 new_end_speed 100.000000 j1_acc_t 1.092838 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 19.990055
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2025-06-12 16:33:19.756 new_end_speed 100.000000 j2_acc_t 1.092838 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.258987
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2025-06-12 16:33:19.756 new_end_speed 100.000000 j3_acc_t 1.092838 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.065010
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2025-06-12 16:33:19.756 new_end_speed 100.000000 j4_acc_t 1.092838 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.217570
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2025-06-12 16:33:19.757 end_speed 100.000000
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2025-06-12 16:33:19.757 trail_number2.185675
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2025-06-12 16:33:19.757 tcp_distance 218.567505
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2025-06-12 16:33:19.758 angle1_1 = -87.199501 angle2_1 = 152.604721 z1 = -4.460400 r1 = -1027.920044 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
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2025-06-12 16:34:22.212 30 30 30 30
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2025-06-12 16:34:22.213 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-12 16:34:22.213 goal_angle -44.911705 98.661697
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2025-06-12 16:34:22.214 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-12 16:34:22.214 z1 -75.466103 z2 -75.466103
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2025-06-12 16:34:22.214 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
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2025-06-12 16:34:22.214 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
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2025-06-12 16:34:22.215 speed 100.000000
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2025-06-12 16:34:22.215 tcp_distance 144.069748
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2025-06-12 16:34:22.215 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
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2025-06-12 16:34:22.215 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
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2025-06-12 16:34:22.215 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
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2025-06-12 16:34:22.216 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
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2025-06-12 16:34:22.216 end_speed 100.000000
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2025-06-12 16:34:22.216 trail_number1.440697
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2025-06-12 16:34:22.216 tcp_distance 144.069748
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2025-06-12 16:34:22.217 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
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2025-06-12 16:35:24.169 30 30 30 30
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2025-06-12 16:35:24.169 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-12 16:35:24.170 goal_angle -67.226128 86.401024
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2025-06-12 16:35:24.170 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-12 16:35:24.170 z1 -75.466103 z2 -75.466103
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2025-06-12 16:35:24.170 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
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2025-06-12 16:35:24.170 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
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2025-06-12 16:35:24.171 speed 100.000000
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2025-06-12 16:35:24.171 tcp_distance 143.985626
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2025-06-12 16:35:24.171 new_end_speed 100.000000 j1_acc_t 0.719928 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.901131
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2025-06-12 16:35:24.171 new_end_speed 100.000000 j2_acc_t 0.719928 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.626997
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2025-06-12 16:35:24.172 new_end_speed 100.000000 j3_acc_t 0.719928 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
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2025-06-12 16:35:24.172 new_end_speed 100.000000 j4_acc_t 0.719928 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
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2025-06-12 16:35:24.172 end_speed 100.000000
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2025-06-12 16:35:24.172 trail_number1.439856
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2025-06-12 16:35:24.172 tcp_distance 143.985626
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2025-06-12 16:35:24.173 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
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2025-06-12 16:36:25.844 30 30 30 30
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2025-06-12 16:36:25.845 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-12 16:36:25.845 goal_angle -44.911705 98.661697
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2025-06-12 16:36:25.845 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-12 16:36:25.845 z1 -75.466103 z2 -75.466103
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2025-06-12 16:36:25.845 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
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2025-06-12 16:36:25.845 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
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2025-06-12 16:36:25.846 speed 100.000000
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2025-06-12 16:36:25.846 tcp_distance 144.069748
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2025-06-12 16:36:25.846 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
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2025-06-12 16:36:25.846 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
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2025-06-12 16:36:25.846 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
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2025-06-12 16:36:25.846 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
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2025-06-12 16:36:25.847 end_speed 100.000000
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2025-06-12 16:36:25.847 trail_number1.440697
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2025-06-12 16:36:25.847 tcp_distance 144.069748
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2025-06-12 16:36:25.847 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
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2025-06-12 16:37:27.582 30 30 30 30
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2025-06-12 16:37:27.583 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-12 16:37:27.583 goal_angle -67.226128 86.401024
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2025-06-12 16:37:27.583 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-12 16:37:27.584 z1 -75.466103 z2 -75.466103
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2025-06-12 16:37:27.584 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
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2025-06-12 16:37:27.584 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
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2025-06-12 16:37:27.584 speed 100.000000
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2025-06-12 16:37:27.584 tcp_distance 143.985626
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2025-06-12 16:37:27.585 new_end_speed 100.000000 j1_acc_t 0.719928 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.901131
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2025-06-12 16:37:27.585 new_end_speed 100.000000 j2_acc_t 0.719928 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.626997
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2025-06-12 16:37:27.585 new_end_speed 100.000000 j3_acc_t 0.719928 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
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2025-06-12 16:37:27.585 new_end_speed 100.000000 j4_acc_t 0.719928 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
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2025-06-12 16:37:27.585 end_speed 100.000000
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2025-06-12 16:37:27.586 trail_number1.439856
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2025-06-12 16:37:27.586 tcp_distance 143.985626
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2025-06-12 16:37:27.586 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
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2025-06-12 16:38:19.107 30 30 30 30
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2025-06-12 16:38:19.107 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-12 16:38:19.107 goal_angle -67.226128 86.401024
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2025-06-12 16:38:19.107 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-12 16:38:40.423 30 30 30 30
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2025-06-12 16:38:40.423 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
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2025-06-12 16:38:40.424 goal_angle -87.199585 152.604431
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2025-06-12 16:38:40.424 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
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2025-06-12 16:38:40.424 z1 -75.466103 z2 -4.457100
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2025-06-12 16:38:40.424 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
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2025-06-12 16:38:40.424 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
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2025-06-12 16:38:40.425 speed 100.000000
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2025-06-12 16:38:40.425 tcp_distance 218.265945
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2025-06-12 16:38:40.425 new_end_speed 100.000000 j1_acc_t 1.091330 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 20.017746
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2025-06-12 16:38:40.425 new_end_speed 100.000000 j2_acc_t 1.091330 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.350204
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2025-06-12 16:38:40.425 new_end_speed 100.000000 j3_acc_t 1.091330 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.166458
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2025-06-12 16:38:40.425 new_end_speed 100.000000 j4_acc_t 1.091330 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.248268
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2025-06-12 16:38:40.426 end_speed 100.000000
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2025-06-12 16:38:40.426 trail_number2.182659
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2025-06-12 16:38:40.426 tcp_distance 218.265945
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2025-06-12 16:38:40.427 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
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2025-06-12 16:39:19.282 30 30 30 30
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2025-06-12 16:39:19.282 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-12 16:39:19.283 goal_angle -11.002804 84.112190
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2025-06-12 16:39:19.283 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-12 16:39:19.284 z1 -4.457100 z2 -75.466103
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2025-06-12 16:39:19.284 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
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2025-06-12 16:39:19.284 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
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2025-06-12 16:39:19.285 speed 100.000000
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2025-06-12 16:39:19.285 tcp_distance 288.589417
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2025-06-12 16:39:19.285 new_end_speed 100.000000 j1_acc_t 1.442947 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.756939
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2025-06-12 16:39:19.285 new_end_speed 100.000000 j2_acc_t 1.442947 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.916920
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2025-06-12 16:39:19.286 new_end_speed 100.000000 j3_acc_t 1.442947 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.824619
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2025-06-12 16:39:19.286 new_end_speed 100.000000 j4_acc_t 1.442947 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.826810
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2025-06-12 16:39:19.286 end_speed 100.000000
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2025-06-12 16:39:19.286 trail_number2.885894
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2025-06-12 16:39:19.286 tcp_distance 288.589417
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2025-06-12 16:39:19.287 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
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2025-06-12 16:39:30.375 30 30 30 30
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2025-06-12 16:39:30.375 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
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2025-06-12 16:39:30.376 goal_angle -87.199585 152.604431
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2025-06-12 16:39:30.376 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
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2025-06-12 16:39:30.376 z1 -75.466103 z2 -4.457100
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2025-06-12 16:39:30.376 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 16:39:30.376 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-12 16:39:30.377 speed 100.000000
|
||||
2025-06-12 16:39:30.377 tcp_distance 288.737366
|
||||
2025-06-12 16:39:30.377 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
|
||||
2025-06-12 16:39:30.377 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
|
||||
2025-06-12 16:39:30.377 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
|
||||
2025-06-12 16:39:30.377 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
|
||||
2025-06-12 16:39:30.378 end_speed 100.000000
|
||||
2025-06-12 16:39:30.378 trail_number2.887374
|
||||
2025-06-12 16:39:30.378 tcp_distance 288.737366
|
||||
2025-06-12 16:39:30.379 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-12 16:43:55.180 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-12 16:43:55.180 robot connected
|
||||
2025-06-12 16:43:55.180 26
|
||||
2025-06-12 16:43:55.180 current generation=26
|
||||
2025-06-12 16:43:55.695 0x1a
|
||||
2025-06-12 16:43:56.578 initial joint2 4444932
|
||||
2025-06-12 16:43:56.579 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-12 16:43:56.579 robot WritePID
|
||||
2025-06-12 16:43:56.889 initial joint1 -1269935
|
||||
2025-06-12 16:43:56.935 initial joint2 4444933
|
||||
2025-06-12 16:43:56.982 initial joint3 -12993
|
||||
2025-06-12 16:43:57.028 initial joint4 -25056189
|
||||
2025-06-12 16:43:57.043 initial joint1 -1269935
|
||||
2025-06-12 16:43:57.090 initial joint2 4444934
|
||||
2025-06-12 16:43:57.137 initial joint3 -12993
|
||||
2025-06-12 16:43:57.184 initial joint4 -25056188
|
||||
2025-06-12 16:43:57.214 initial joint1 -1269934
|
||||
2025-06-12 16:43:57.262 initial joint2 4444938
|
||||
2025-06-12 16:43:57.308 initial joint3 -12993
|
||||
2025-06-12 16:43:57.354 initial joint4 -25056189
|
||||
2025-06-12 16:43:59.472 initial_thread initialized
|
||||
2025-06-12 16:43:59.472 servo enable
|
||||
2025-06-12 16:43:59.472 brake open
|
||||
2025-06-12 16:43:59.473 set_brake_state 0 1
|
||||
2025-06-12 16:43:59.687 robot initialized
|
||||
2025-06-12 16:44:00.268 get_scara_param -87.199402 152.604904 -4.460700 -1027.919678
|
||||
2025-06-12 16:44:00.268 get_scara_real_coor -87.199402 152.604797 -4.461100 -1027.919800
|
||||
2025-06-12 16:44:00.268 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-12 16:44:00.269 position -1269933.375000 4444940.000000 -12992.730469 -25056188.000000 -232750.437500 2580302.500000 -206296.218750 -25348898.000000
|
||||
2025-06-12 16:44:00.269 speed 71217.703125 64017.250000 66365.484375 12059.281250
|
||||
2025-06-12 16:44:00.269 set_first_position_after_initial
|
||||
2025-06-12 16:44:00.270 movej_old start_pos: -87.199402 152.604904 -4.460700 -1027.919678 end_pos: -87.199402 152.604904 -4.460700 -1027.919678 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-12 16:44:00.560 J3 Belt Meilage=40.909557km
|
||||
2025-06-12 16:44:05.806 30 30 30 30
|
||||
2025-06-12 16:44:05.806 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 16:44:05.807 goal_angle -67.226128 86.401024
|
||||
2025-06-12 16:44:05.807 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 16:44:05.807 z1 -4.460700 z2 -75.466103
|
||||
2025-06-12 16:44:05.807 angle1_1 -87.199402 angle2_1 152.604904 z1 -4.460700 r1 -1027.919678
|
||||
2025-06-12 16:44:05.807 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 16:44:05.808 speed 100.000000
|
||||
2025-06-12 16:44:05.808 tcp_distance 218.568100
|
||||
2025-06-12 16:44:05.808 new_end_speed 100.000000 j1_acc_t 1.092841 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 19.989901
|
||||
2025-06-12 16:44:05.808 new_end_speed 100.000000 j2_acc_t 1.092841 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.258987
|
||||
2025-06-12 16:44:05.808 new_end_speed 100.000000 j3_acc_t 1.092841 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.064507
|
||||
2025-06-12 16:44:05.809 new_end_speed 100.000000 j4_acc_t 1.092841 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.217143
|
||||
2025-06-12 16:44:05.809 end_speed 100.000000
|
||||
2025-06-12 16:44:05.809 trail_number2.185681
|
||||
2025-06-12 16:44:05.809 tcp_distance 218.568100
|
||||
2025-06-12 16:44:05.810 angle1_1 = -87.199402 angle2_1 = 152.604904 z1 = -4.460700 r1 = -1027.919678 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 16:45:08.289 30 30 30 30
|
||||
2025-06-12 16:45:08.290 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 16:45:08.290 goal_angle -44.911705 98.661697
|
||||
2025-06-12 16:45:08.290 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 16:45:08.290 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 16:45:08.291 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 16:45:08.291 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 16:45:08.291 speed 100.000000
|
||||
2025-06-12 16:45:08.292 tcp_distance 144.069748
|
||||
2025-06-12 16:45:08.292 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||||
2025-06-12 16:45:08.292 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||||
2025-06-12 16:45:08.292 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 16:45:08.292 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 16:45:08.292 end_speed 100.000000
|
||||
2025-06-12 16:45:08.293 trail_number1.440697
|
||||
2025-06-12 16:45:08.293 tcp_distance 144.069748
|
||||
2025-06-12 16:45:08.293 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 16:46:10.193 30 30 30 30
|
||||
2025-06-12 16:46:10.193 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 16:46:10.194 goal_angle -67.226128 86.401024
|
||||
2025-06-12 16:46:10.194 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 16:46:10.194 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 16:46:10.194 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 16:46:10.194 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 16:46:10.195 speed 100.000000
|
||||
2025-06-12 16:46:10.195 tcp_distance 143.985626
|
||||
2025-06-12 16:46:10.195 new_end_speed 100.000000 j1_acc_t 0.719928 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.901131
|
||||
2025-06-12 16:46:10.195 new_end_speed 100.000000 j2_acc_t 0.719928 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.626997
|
||||
2025-06-12 16:46:10.195 new_end_speed 100.000000 j3_acc_t 0.719928 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 16:46:10.196 new_end_speed 100.000000 j4_acc_t 0.719928 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 16:46:10.196 end_speed 100.000000
|
||||
2025-06-12 16:46:10.196 trail_number1.439856
|
||||
2025-06-12 16:46:10.196 tcp_distance 143.985626
|
||||
2025-06-12 16:46:10.196 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 16:46:18.856 30 30 30 30
|
||||
2025-06-12 16:46:18.857 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-12 16:46:18.857 goal_angle -87.199585 152.604431
|
||||
2025-06-12 16:46:18.857 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-12 16:46:18.857 z1 -75.466103 z2 -4.457100
|
||||
2025-06-12 16:46:18.857 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 16:46:18.857 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-12 16:46:18.857 speed 100.000000
|
||||
2025-06-12 16:46:18.858 tcp_distance 218.265945
|
||||
2025-06-12 16:46:18.858 new_end_speed 100.000000 j1_acc_t 1.091330 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 20.017746
|
||||
2025-06-12 16:46:18.858 new_end_speed 100.000000 j2_acc_t 1.091330 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.350204
|
||||
2025-06-12 16:46:18.858 new_end_speed 100.000000 j3_acc_t 1.091330 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.166458
|
||||
2025-06-12 16:46:18.858 new_end_speed 100.000000 j4_acc_t 1.091330 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.248268
|
||||
2025-06-12 16:46:18.858 end_speed 100.000000
|
||||
2025-06-12 16:46:18.858 trail_number2.182659
|
||||
2025-06-12 16:46:18.858 tcp_distance 218.265945
|
||||
2025-06-12 16:46:18.860 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-12 16:47:46.544 30 30 30 30
|
||||
2025-06-12 16:47:46.544 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 16:47:46.545 goal_angle -63.500324 35.083988
|
||||
2025-06-12 16:47:46.545 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 16:47:46.545 z1 -4.457100 z2 -75.466103
|
||||
2025-06-12 16:47:46.545 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-12 16:47:46.545 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 16:47:46.545 speed 100.000000
|
||||
2025-06-12 16:47:46.545 tcp_distance 347.514679
|
||||
2025-06-12 16:47:46.547 new_end_speed 100.000000 j1_acc_t 1.737573 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917970
|
||||
2025-06-12 16:47:46.547 new_end_speed 100.000000 j2_acc_t 1.737573 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975578
|
||||
2025-06-12 16:47:46.547 new_end_speed 100.000000 j3_acc_t 1.737573 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.698025
|
||||
2025-06-12 16:47:46.547 new_end_speed 100.000000 j4_acc_t 1.737573 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973623
|
||||
2025-06-12 16:47:46.547 end_speed 100.000000
|
||||
2025-06-12 16:47:46.547 trail_number3.475147
|
||||
2025-06-12 16:47:46.547 tcp_distance 347.514679
|
||||
2025-06-12 16:47:46.548 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 16:49:50.247 30 30 30 30
|
||||
2025-06-12 16:49:50.247 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 16:49:50.247 goal_angle -67.226128 86.401024
|
||||
2025-06-12 16:49:50.248 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 16:49:50.248 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 16:49:50.248 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 16:49:50.249 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 16:49:50.249 speed 100.000000
|
||||
2025-06-12 16:49:50.249 tcp_distance 158.906982
|
||||
2025-06-12 16:49:50.249 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
|
||||
2025-06-12 16:49:50.249 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
|
||||
2025-06-12 16:49:50.250 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 16:49:50.250 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 16:49:50.250 end_speed 100.000000
|
||||
2025-06-12 16:49:50.250 trail_number1.589070
|
||||
2025-06-12 16:49:50.250 tcp_distance 158.906982
|
||||
2025-06-12 16:49:50.251 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 16:51:52.149 30 30 30 30
|
||||
2025-06-12 16:51:52.149 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 16:51:52.149 goal_angle -11.002804 84.112190
|
||||
2025-06-12 16:51:52.149 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 16:51:52.149 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 16:51:52.149 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 16:51:52.149 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 16:51:52.150 speed 100.000000
|
||||
2025-06-12 16:51:52.150 tcp_distance 296.269745
|
||||
2025-06-12 16:51:52.150 new_end_speed 100.000000 j1_acc_t 1.481349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 41.512333
|
||||
2025-06-12 16:51:52.150 new_end_speed 100.000000 j2_acc_t 1.481349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.689954
|
||||
2025-06-12 16:51:52.151 new_end_speed 100.000000 j3_acc_t 1.481349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 16:51:52.151 new_end_speed 100.000000 j4_acc_t 1.481349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 16:51:52.151 end_speed 100.000000
|
||||
2025-06-12 16:51:52.151 trail_number2.962698
|
||||
2025-06-12 16:51:52.151 tcp_distance 296.269745
|
||||
2025-06-12 16:51:52.152 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 16:53:55.394 30 30 30 30
|
||||
2025-06-12 16:53:55.395 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 16:53:55.395 goal_angle -63.500324 35.083988
|
||||
2025-06-12 16:53:55.395 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 16:53:55.396 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 16:53:55.396 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 16:53:55.396 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 16:53:55.396 speed 100.000000
|
||||
2025-06-12 16:53:55.396 tcp_distance 482.199493
|
||||
2025-06-12 16:53:55.397 new_end_speed 100.000000 j1_acc_t 2.410997 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 23.815506
|
||||
2025-06-12 16:53:55.397 new_end_speed 100.000000 j2_acc_t 2.410997 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.241650
|
||||
2025-06-12 16:53:55.397 new_end_speed 100.000000 j3_acc_t 2.410997 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 16:53:55.397 new_end_speed 100.000000 j4_acc_t 2.410997 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 16:53:55.397 end_speed 100.000000
|
||||
2025-06-12 16:53:55.398 trail_number4.821995
|
||||
2025-06-12 16:53:55.398 tcp_distance 482.199493
|
||||
2025-06-12 16:53:55.398 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:03:32.027 30 30 30 30
|
||||
2025-06-12 17:03:32.027 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:03:32.027 goal_angle -67.226128 86.401024
|
||||
2025-06-12 17:03:32.027 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:03:32.028 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 17:03:32.028 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:03:32.028 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:03:32.028 speed 100.000000
|
||||
2025-06-12 17:03:32.030 tcp_distance 158.906982
|
||||
2025-06-12 17:03:32.030 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
|
||||
2025-06-12 17:03:32.030 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
|
||||
2025-06-12 17:03:32.030 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 17:03:32.030 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 17:03:32.030 end_speed 100.000000
|
||||
2025-06-12 17:03:32.031 trail_number1.589070
|
||||
2025-06-12 17:03:32.031 tcp_distance 158.906982
|
||||
2025-06-12 17:03:32.031 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:05:38.928 30 30 30 30
|
||||
2025-06-12 17:05:38.929 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-12 17:05:38.929 goal_angle -87.199585 152.604431
|
||||
2025-06-12 17:05:38.929 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-12 17:05:38.930 z1 -75.466103 z2 -4.457100
|
||||
2025-06-12 17:05:38.930 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:05:38.930 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-12 17:05:38.930 speed 100.000000
|
||||
2025-06-12 17:05:38.930 tcp_distance 218.265945
|
||||
2025-06-12 17:05:38.932 new_end_speed 100.000000 j1_acc_t 1.091330 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 20.017746
|
||||
2025-06-12 17:05:38.932 new_end_speed 100.000000 j2_acc_t 1.091330 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.350204
|
||||
2025-06-12 17:05:38.932 new_end_speed 100.000000 j3_acc_t 1.091330 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.166458
|
||||
2025-06-12 17:05:38.932 new_end_speed 100.000000 j4_acc_t 1.091330 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.248268
|
||||
2025-06-12 17:05:38.932 end_speed 100.000000
|
||||
2025-06-12 17:05:38.932 trail_number2.182659
|
||||
2025-06-12 17:05:38.933 tcp_distance 218.265945
|
||||
2025-06-12 17:05:38.933 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-12 17:10:16.988 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-12 17:10:16.988 robot connected
|
||||
2025-06-12 17:10:16.988 26
|
||||
2025-06-12 17:10:16.988 current generation=26
|
||||
2025-06-12 17:10:17.495 0x1a
|
||||
2025-06-12 17:10:18.394 initial joint2 4444930
|
||||
2025-06-12 17:10:18.394 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-12 17:10:18.395 robot WritePID
|
||||
2025-06-12 17:10:18.706 initial joint1 -1269935
|
||||
2025-06-12 17:10:18.753 initial joint2 4444929
|
||||
2025-06-12 17:10:18.799 initial joint3 -12991
|
||||
2025-06-12 17:10:18.844 initial joint4 -25056188
|
||||
2025-06-12 17:10:18.860 initial joint1 -1269936
|
||||
2025-06-12 17:10:18.923 initial joint2 4444930
|
||||
2025-06-12 17:10:18.971 initial joint3 -12991
|
||||
2025-06-12 17:10:19.016 initial joint4 -25056189
|
||||
2025-06-12 17:10:19.032 initial joint1 -1269936
|
||||
2025-06-12 17:10:19.078 initial joint2 4444931
|
||||
2025-06-12 17:10:19.125 initial joint3 -12991
|
||||
2025-06-12 17:10:19.172 initial joint4 -25056190
|
||||
2025-06-12 17:10:21.329 initial_thread initialized
|
||||
2025-06-12 17:10:21.329 servo enable
|
||||
2025-06-12 17:10:21.329 brake open
|
||||
2025-06-12 17:10:21.330 set_brake_state 0 1
|
||||
2025-06-12 17:10:21.531 robot initialized
|
||||
2025-06-12 17:10:22.091 get_scara_param -87.199501 152.604706 -4.460100 -1027.920044
|
||||
2025-06-12 17:10:22.091 get_scara_real_coor -87.199501 152.604599 -4.460100 -1027.920166
|
||||
2025-06-12 17:10:22.092 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-12 17:10:22.092 position -1269934.750000 4444934.500000 -12990.983398 -25056194.000000 -927603.062500 1099371.250000 -219810.953125 -23415136.000000
|
||||
2025-06-12 17:10:22.092 speed 23506.050781 114860.796875 71006.007813 67609.507813
|
||||
2025-06-12 17:10:22.092 set_first_position_after_initial
|
||||
2025-06-12 17:10:22.093 movej_old start_pos: -87.199501 152.604721 -4.460100 -1027.920044 end_pos: -87.199501 152.604721 -4.460100 -1027.920044 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-12 17:10:22.402 J3 Belt Meilage=40.910042km
|
||||
2025-06-12 17:10:26.875 30 30 30 30
|
||||
2025-06-12 17:10:26.876 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:10:26.877 goal_angle -63.500324 35.083988
|
||||
2025-06-12 17:10:26.877 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:10:26.877 z1 -4.460100 z2 -75.466103
|
||||
2025-06-12 17:10:26.877 angle1_1 -87.199501 angle2_1 152.604721 z1 -4.460100 r1 -1027.920044
|
||||
2025-06-12 17:10:26.877 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:10:26.877 speed 100.000000
|
||||
2025-06-12 17:10:26.879 tcp_distance 347.515656
|
||||
2025-06-12 17:10:26.879 new_end_speed 100.000000 j1_acc_t 1.737578 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917871
|
||||
2025-06-12 17:10:26.879 new_end_speed 100.000000 j2_acc_t 1.737578 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975533
|
||||
2025-06-12 17:10:26.879 new_end_speed 100.000000 j3_acc_t 1.737578 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.695999
|
||||
2025-06-12 17:10:26.879 new_end_speed 100.000000 j4_acc_t 1.737578 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973584
|
||||
2025-06-12 17:10:26.879 end_speed 100.000000
|
||||
2025-06-12 17:10:26.879 trail_number3.475157
|
||||
2025-06-12 17:10:26.879 tcp_distance 347.515656
|
||||
2025-06-12 17:10:26.880 angle1_1 = -87.199501 angle2_1 = 152.604721 z1 = -4.460100 r1 = -1027.920044 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:11:30.619 30 30 30 30
|
||||
2025-06-12 17:11:30.619 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:11:30.619 goal_angle -67.226128 86.401024
|
||||
2025-06-12 17:11:30.619 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:11:30.620 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 17:11:30.620 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:11:30.620 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:11:30.621 speed 100.000000
|
||||
2025-06-12 17:11:30.621 tcp_distance 158.906982
|
||||
2025-06-12 17:11:30.621 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
|
||||
2025-06-12 17:11:30.621 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
|
||||
2025-06-12 17:11:30.621 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 17:11:30.621 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 17:11:30.621 end_speed 100.000000
|
||||
2025-06-12 17:11:30.621 trail_number1.589070
|
||||
2025-06-12 17:11:30.621 tcp_distance 158.906982
|
||||
2025-06-12 17:11:30.623 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:12:32.712 30 30 30 30
|
||||
2025-06-12 17:12:32.713 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:12:32.713 goal_angle -63.500324 35.083988
|
||||
2025-06-12 17:12:32.713 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:12:32.713 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 17:12:32.714 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:12:32.714 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:12:32.714 speed 100.000000
|
||||
2025-06-12 17:12:32.714 tcp_distance 158.969009
|
||||
2025-06-12 17:12:32.714 new_end_speed 100.000000 j1_acc_t 0.794845 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.126908
|
||||
2025-06-12 17:12:32.715 new_end_speed 100.000000 j2_acc_t 0.794845 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.615028
|
||||
2025-06-12 17:12:32.715 new_end_speed 100.000000 j3_acc_t 0.794845 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 17:12:32.715 new_end_speed 100.000000 j4_acc_t 0.794845 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 17:12:32.715 end_speed 100.000000
|
||||
2025-06-12 17:12:32.716 trail_number1.589690
|
||||
2025-06-12 17:12:32.716 tcp_distance 158.969009
|
||||
2025-06-12 17:12:32.716 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:13:37.025 30 30 30 30
|
||||
2025-06-12 17:13:37.025 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-12 17:13:37.025 goal_angle -87.199585 152.604431
|
||||
2025-06-12 17:13:37.026 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-12 17:13:37.026 z1 -75.466103 z2 -4.457100
|
||||
2025-06-12 17:13:37.026 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:13:37.026 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-12 17:13:37.026 speed 100.000000
|
||||
2025-06-12 17:13:37.027 tcp_distance 346.692505
|
||||
2025-06-12 17:13:37.027 new_end_speed 100.000000 j1_acc_t 1.733463 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.953341
|
||||
2025-06-12 17:13:37.027 new_end_speed 100.000000 j2_acc_t 1.733463 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.150970
|
||||
2025-06-12 17:13:37.027 new_end_speed 100.000000 j3_acc_t 1.733463 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.804005
|
||||
2025-06-12 17:13:37.027 new_end_speed 100.000000 j4_acc_t 1.733463 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.006761
|
||||
2025-06-12 17:13:37.027 end_speed 100.000000
|
||||
2025-06-12 17:13:37.028 trail_number3.466925
|
||||
2025-06-12 17:13:37.028 tcp_distance 346.692505
|
||||
2025-06-12 17:13:37.028 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-12 17:13:41.905 30 30 30 30
|
||||
2025-06-12 17:13:41.905 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:13:41.905 goal_angle -44.911705 98.661697
|
||||
2025-06-12 17:13:41.906 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:13:41.906 z1 -4.457100 z2 -75.466103
|
||||
2025-06-12 17:13:41.906 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-12 17:13:41.906 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:13:41.906 speed 100.000000
|
||||
2025-06-12 17:13:41.907 tcp_distance 200.024658
|
||||
2025-06-12 17:13:41.907 new_end_speed 100.000000 j1_acc_t 1.000123 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.246628
|
||||
2025-06-12 17:13:41.907 new_end_speed 100.000000 j2_acc_t 1.000123 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 58.992538
|
||||
2025-06-12 17:13:41.907 new_end_speed 100.000000 j3_acc_t 1.000123 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.656456
|
||||
2025-06-12 17:13:41.907 new_end_speed 100.000000 j4_acc_t 1.000123 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.277203
|
||||
2025-06-12 17:13:41.907 end_speed 100.000000
|
||||
2025-06-12 17:13:41.907 trail_number2.000247
|
||||
2025-06-12 17:13:41.907 tcp_distance 200.024658
|
||||
2025-06-12 17:13:41.909 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:14:44.142 30 30 30 30
|
||||
2025-06-12 17:14:44.142 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:14:44.142 goal_angle -11.002804 84.112190
|
||||
2025-06-12 17:14:44.143 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:14:44.143 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 17:14:44.143 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:14:44.143 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:14:44.143 speed 100.000000
|
||||
2025-06-12 17:14:44.143 tcp_distance 144.322098
|
||||
2025-06-12 17:14:44.144 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||||
2025-06-12 17:14:44.144 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||||
2025-06-12 17:14:44.144 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 17:14:44.144 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 17:14:44.144 end_speed 100.000000
|
||||
2025-06-12 17:14:44.144 trail_number1.443221
|
||||
2025-06-12 17:14:44.146 tcp_distance 144.322098
|
||||
2025-06-12 17:14:44.146 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:15:45.885 30 30 30 30
|
||||
2025-06-12 17:15:45.886 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:15:45.886 goal_angle -44.911705 98.661697
|
||||
2025-06-12 17:15:45.887 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:15:45.888 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 17:15:45.888 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:15:45.888 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:15:45.888 speed 100.000000
|
||||
2025-06-12 17:15:45.889 tcp_distance 144.406967
|
||||
2025-06-12 17:15:45.889 new_end_speed 100.000000 j1_acc_t 0.722035 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.365715
|
||||
2025-06-12 17:15:45.889 new_end_speed 100.000000 j2_acc_t 0.722035 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.039812
|
||||
2025-06-12 17:15:45.890 new_end_speed 100.000000 j3_acc_t 0.722035 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 17:15:45.890 new_end_speed 100.000000 j4_acc_t 0.722035 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 17:15:45.890 end_speed 100.000000
|
||||
2025-06-12 17:15:45.891 trail_number1.444070
|
||||
2025-06-12 17:15:45.891 tcp_distance 144.406967
|
||||
2025-06-12 17:15:45.892 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:16:47.612 30 30 30 30
|
||||
2025-06-12 17:16:47.612 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:16:47.612 goal_angle -11.002804 84.112190
|
||||
2025-06-12 17:16:47.613 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:16:47.613 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 17:16:47.614 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:16:47.614 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:16:47.614 speed 100.000000
|
||||
2025-06-12 17:16:47.614 tcp_distance 144.322098
|
||||
2025-06-12 17:16:47.614 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||||
2025-06-12 17:16:47.615 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||||
2025-06-12 17:16:47.615 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 17:16:47.615 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 17:16:47.615 end_speed 100.000000
|
||||
2025-06-12 17:16:47.615 trail_number1.443221
|
||||
2025-06-12 17:16:47.616 tcp_distance 144.322098
|
||||
2025-06-12 17:16:47.616 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:17:49.400 30 30 30 30
|
||||
2025-06-12 17:17:49.400 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:17:49.400 goal_angle -44.911705 98.661697
|
||||
2025-06-12 17:17:49.400 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:17:49.401 z1 -75.466103 z2 -75.466103
|
||||
2025-06-12 17:17:49.401 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:17:49.401 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:17:49.401 speed 100.000000
|
||||
2025-06-12 17:17:49.401 tcp_distance 144.406967
|
||||
2025-06-12 17:17:49.403 new_end_speed 100.000000 j1_acc_t 0.722035 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.365715
|
||||
2025-06-12 17:17:49.403 new_end_speed 100.000000 j2_acc_t 0.722035 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.039812
|
||||
2025-06-12 17:17:49.403 new_end_speed 100.000000 j3_acc_t 0.722035 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||||
2025-06-12 17:17:49.403 new_end_speed 100.000000 j4_acc_t 0.722035 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||||
2025-06-12 17:17:49.403 end_speed 100.000000
|
||||
2025-06-12 17:17:49.404 trail_number1.444070
|
||||
2025-06-12 17:17:49.404 tcp_distance 144.406967
|
||||
2025-06-12 17:17:49.405 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:18:51.112 30 30 30 30
|
||||
2025-06-12 17:18:51.113 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-12 17:18:51.113 goal_angle -87.199585 152.604431
|
||||
2025-06-12 17:18:51.113 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-12 17:18:51.113 z1 -75.466103 z2 -4.457100
|
||||
2025-06-12 17:18:51.114 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:18:51.115 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-12 17:18:51.115 speed 100.000000
|
||||
2025-06-12 17:18:51.115 tcp_distance 199.889740
|
||||
2025-06-12 17:18:51.115 new_end_speed 100.000000 j1_acc_t 0.999449 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.277863
|
||||
2025-06-12 17:18:51.116 new_end_speed 100.000000 j2_acc_t 0.999449 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 59.032387
|
||||
2025-06-12 17:18:51.116 new_end_speed 100.000000 j3_acc_t 0.999449 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.708908
|
||||
2025-06-12 17:18:51.116 new_end_speed 100.000000 j4_acc_t 0.999449 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.293588
|
||||
2025-06-12 17:18:51.116 end_speed 100.000000
|
||||
2025-06-12 17:18:51.116 trail_number1.998897
|
||||
2025-06-12 17:18:51.117 tcp_distance 199.889740
|
||||
2025-06-12 17:18:51.117 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-12 17:19:10.585 30 30 30 30
|
||||
2025-06-12 17:19:10.586 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:19:10.586 goal_angle -63.500324 35.083988
|
||||
2025-06-12 17:19:10.587 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:19:10.587 z1 -4.457100 z2 -75.466103
|
||||
2025-06-12 17:19:10.587 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-12 17:19:10.587 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:19:10.588 speed 100.000000
|
||||
2025-06-12 17:19:10.588 tcp_distance 347.514679
|
||||
2025-06-12 17:19:10.588 new_end_speed 100.000000 j1_acc_t 1.737573 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917970
|
||||
2025-06-12 17:19:10.588 new_end_speed 100.000000 j2_acc_t 1.737573 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975578
|
||||
2025-06-12 17:19:10.588 new_end_speed 100.000000 j3_acc_t 1.737573 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.698025
|
||||
2025-06-12 17:19:10.589 new_end_speed 100.000000 j4_acc_t 1.737573 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973623
|
||||
2025-06-12 17:19:10.589 end_speed 100.000000
|
||||
2025-06-12 17:19:10.589 trail_number3.475147
|
||||
2025-06-12 17:19:10.589 tcp_distance 347.514679
|
||||
2025-06-12 17:19:10.590 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:19:20.145 30 30 30 30
|
||||
2025-06-12 17:19:20.146 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-12 17:19:20.146 goal_angle -87.199585 152.604431
|
||||
2025-06-12 17:19:20.146 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-12 17:19:20.146 z1 -75.466103 z2 -4.457100
|
||||
2025-06-12 17:19:20.147 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:19:20.147 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-12 17:19:20.147 speed 100.000000
|
||||
2025-06-12 17:19:20.147 tcp_distance 346.692505
|
||||
2025-06-12 17:19:20.147 new_end_speed 100.000000 j1_acc_t 1.733463 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.953341
|
||||
2025-06-12 17:19:20.147 new_end_speed 100.000000 j2_acc_t 1.733463 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.150970
|
||||
2025-06-12 17:19:20.148 new_end_speed 100.000000 j3_acc_t 1.733463 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.804005
|
||||
2025-06-12 17:19:20.148 new_end_speed 100.000000 j4_acc_t 1.733463 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.006761
|
||||
2025-06-12 17:19:20.148 end_speed 100.000000
|
||||
2025-06-12 17:19:20.148 trail_number3.466925
|
||||
2025-06-12 17:19:20.148 tcp_distance 346.692505
|
||||
2025-06-12 17:19:20.149 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-12 17:19:26.540 30 30 30 30
|
||||
2025-06-12 17:19:26.540 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:19:26.540 goal_angle -63.500324 35.083988
|
||||
2025-06-12 17:19:26.540 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:19:26.541 z1 -4.457100 z2 -75.466103
|
||||
2025-06-12 17:19:26.541 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-12 17:19:26.541 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:19:26.541 speed 100.000000
|
||||
2025-06-12 17:19:26.541 tcp_distance 347.514679
|
||||
2025-06-12 17:19:26.541 new_end_speed 100.000000 j1_acc_t 1.737573 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917970
|
||||
2025-06-12 17:19:26.542 new_end_speed 100.000000 j2_acc_t 1.737573 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975578
|
||||
2025-06-12 17:19:26.542 new_end_speed 100.000000 j3_acc_t 1.737573 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.698025
|
||||
2025-06-12 17:19:26.542 new_end_speed 100.000000 j4_acc_t 1.737573 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973623
|
||||
2025-06-12 17:19:26.542 end_speed 100.000000
|
||||
2025-06-12 17:19:26.542 trail_number3.475147
|
||||
2025-06-12 17:19:26.543 tcp_distance 347.514679
|
||||
2025-06-12 17:19:26.543 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:20:36.012 30 30 30 30
|
||||
2025-06-12 17:20:36.012 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-12 17:20:36.012 goal_angle -87.199585 152.604431
|
||||
2025-06-12 17:20:36.012 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-12 17:20:36.013 z1 -75.466103 z2 -4.457100
|
||||
2025-06-12 17:20:36.013 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:20:36.013 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-12 17:20:36.013 speed 100.000000
|
||||
2025-06-12 17:20:36.014 tcp_distance 346.692505
|
||||
2025-06-12 17:20:36.014 new_end_speed 100.000000 j1_acc_t 1.733463 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.953341
|
||||
2025-06-12 17:20:36.014 new_end_speed 100.000000 j2_acc_t 1.733463 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.150970
|
||||
2025-06-12 17:20:36.014 new_end_speed 100.000000 j3_acc_t 1.733463 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.804005
|
||||
2025-06-12 17:20:36.014 new_end_speed 100.000000 j4_acc_t 1.733463 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.006761
|
||||
2025-06-12 17:20:36.015 end_speed 100.000000
|
||||
2025-06-12 17:20:36.015 trail_number3.466925
|
||||
2025-06-12 17:20:36.015 tcp_distance 346.692505
|
||||
2025-06-12 17:20:36.015 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-12 17:24:37.742 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-12 17:24:37.742 robot connected
|
||||
2025-06-12 17:24:37.742 26
|
||||
2025-06-12 17:24:37.743 current generation=26
|
||||
2025-06-12 17:24:38.250 0x1a
|
||||
2025-06-12 17:24:39.155 initial joint2 4444932
|
||||
2025-06-12 17:24:39.155 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-12 17:24:39.155 robot WritePID
|
||||
2025-06-12 17:24:39.462 initial joint1 -1269935
|
||||
2025-06-12 17:24:39.510 initial joint2 4444932
|
||||
2025-06-12 17:24:39.572 initial joint3 -12992
|
||||
2025-06-12 17:24:39.635 initial joint4 -25056188
|
||||
2025-06-12 17:24:39.651 initial joint1 -1269935
|
||||
2025-06-12 17:24:39.714 initial joint2 4444933
|
||||
2025-06-12 17:24:39.761 initial joint3 -12992
|
||||
2025-06-12 17:24:39.805 initial joint4 -25056188
|
||||
2025-06-12 17:24:39.821 initial joint1 -1269935
|
||||
2025-06-12 17:24:39.868 initial joint2 4444934
|
||||
2025-06-12 17:24:39.914 initial joint3 -12992
|
||||
2025-06-12 17:24:39.959 initial joint4 -25056189
|
||||
2025-06-12 17:24:42.155 initial_thread initialized
|
||||
2025-06-12 17:24:42.156 servo enable
|
||||
2025-06-12 17:24:42.156 brake open
|
||||
2025-06-12 17:24:42.156 set_brake_state 0 1
|
||||
2025-06-12 17:24:42.369 robot initialized
|
||||
2025-06-12 17:24:42.944 get_scara_param -87.199501 152.604797 -4.460400 -1027.919922
|
||||
2025-06-12 17:24:42.944 get_scara_real_coor -87.199501 152.604706 -4.460400 -1027.919922
|
||||
2025-06-12 17:24:42.945 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-12 17:24:42.945 position -1269934.750000 4444937.000000 -12991.857422 -25056190.000000 -1232388.125000 4072539.500000 -35482.843750 -24873956.000000
|
||||
2025-06-12 17:24:42.945 speed 2578.122314 12785.253906 7721.667480 7507.809570
|
||||
2025-06-12 17:24:42.945 set_first_position_after_initial
|
||||
2025-06-12 17:24:42.945 movej_old start_pos: -87.199501 152.604797 -4.460400 -1027.919922 end_pos: -87.199501 152.604797 -4.460400 -1027.919922 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-12 17:24:43.237 J3 Belt Meilage=40.910706km
|
||||
2025-06-12 17:24:48.726 30 30 30 30
|
||||
2025-06-12 17:24:48.727 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:24:48.727 goal_angle -63.500324 35.083988
|
||||
2025-06-12 17:24:48.728 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:24:48.728 z1 -4.460400 z2 -75.466103
|
||||
2025-06-12 17:24:48.728 angle1_1 -87.199501 angle2_1 152.604797 z1 -4.460400 r1 -1027.919922
|
||||
2025-06-12 17:24:48.728 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:24:48.728 speed 100.000000
|
||||
2025-06-12 17:24:48.729 tcp_distance 347.515808
|
||||
2025-06-12 17:24:48.729 new_end_speed 100.000000 j1_acc_t 1.737579 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917863
|
||||
2025-06-12 17:24:48.729 new_end_speed 100.000000 j2_acc_t 1.737579 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975540
|
||||
2025-06-12 17:24:48.729 new_end_speed 100.000000 j3_acc_t 1.737579 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.695786
|
||||
2025-06-12 17:24:48.729 new_end_speed 100.000000 j4_acc_t 1.737579 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973501
|
||||
2025-06-12 17:24:48.730 end_speed 100.000000
|
||||
2025-06-12 17:24:48.730 trail_number3.475158
|
||||
2025-06-12 17:24:48.730 tcp_distance 347.515808
|
||||
2025-06-12 17:24:48.731 angle1_1 = -87.199501 angle2_1 = 152.604797 z1 = -4.460400 r1 = -1027.919922 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:33:44.776 SDK_VERSION_V2.0.0.29_Release
|
||||
2025-06-12 17:33:44.776 robot connected
|
||||
2025-06-12 17:33:44.777 26
|
||||
2025-06-12 17:33:44.777 current generation=26
|
||||
2025-06-12 17:33:45.282 0x1a
|
||||
2025-06-12 17:33:46.133 initial joint2 1021899
|
||||
2025-06-12 17:33:46.133 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||||
2025-06-12 17:33:46.134 robot WritePID
|
||||
2025-06-12 17:33:46.441 initial joint1 -924790
|
||||
2025-06-12 17:33:46.487 initial joint2 1021899
|
||||
2025-06-12 17:33:46.533 initial joint3 -219817
|
||||
2025-06-12 17:33:46.580 initial joint4 -23381088
|
||||
2025-06-12 17:33:46.596 initial joint1 -924790
|
||||
2025-06-12 17:33:46.657 initial joint2 1021900
|
||||
2025-06-12 17:33:46.718 initial joint3 -219819
|
||||
2025-06-12 17:33:46.781 initial joint4 -23381089
|
||||
2025-06-12 17:33:46.797 initial joint1 -924791
|
||||
2025-06-12 17:33:46.860 initial joint2 1021902
|
||||
2025-06-12 17:33:46.906 initial joint3 -219820
|
||||
2025-06-12 17:33:46.951 initial joint4 -23381090
|
||||
2025-06-12 17:33:49.126 initial_thread initialized
|
||||
2025-06-12 17:33:49.126 servo enable
|
||||
2025-06-12 17:33:49.127 brake open
|
||||
2025-06-12 17:33:49.127 set_brake_state 0 1
|
||||
2025-06-12 17:33:49.342 robot initialized
|
||||
2025-06-12 17:33:49.897 get_scara_param -63.500301 35.084301 -75.470497 -1005.721130
|
||||
2025-06-12 17:33:49.898 get_scara_real_coor -63.500301 35.084301 -75.470497 -1005.721130
|
||||
2025-06-12 17:33:49.898 <09><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD><EFBFBD>
|
||||
2025-06-12 17:33:49.898 position -924790.125000 1021904.375000 -219823.750000 -23381094.000000 -1232388.125000 4072539.500000 -35482.843750 -24873956.000000
|
||||
2025-06-12 17:33:49.898 speed 21121.078125 104735.242188 63288.429688 61504.023438
|
||||
2025-06-12 17:33:49.898 set_first_position_after_initial
|
||||
2025-06-12 17:33:49.899 movej_old start_pos: -63.500298 35.084301 -75.470497 -1005.721130 end_pos: -63.500298 35.084301 -75.470497 -1005.721130 org_sp 10.000000 end_sp 10.000000
|
||||
2025-06-12 17:33:50.192 J3 Belt Meilage=40.910839km
|
||||
2025-06-12 17:34:12.893 30 30 30 30
|
||||
2025-06-12 17:34:12.894 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:34:12.895 goal_angle -63.500324 35.083988
|
||||
2025-06-12 17:34:12.895 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:34:12.895 z1 -75.470497 z2 -75.466103
|
||||
2025-06-12 17:34:12.896 angle1_1 -63.500298 angle2_1 35.084301 z1 -75.470497 r1 -1005.721130
|
||||
2025-06-12 17:34:12.896 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:34:12.896 speed 100.000000
|
||||
2025-06-12 17:34:12.896 tcp_distance 0.005844
|
||||
2025-06-12 17:34:12.897 new_end_speed 100.000000 j1_acc_t 0.005000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.005841
|
||||
2025-06-12 17:34:12.897 new_end_speed 100.000000 j2_acc_t 0.005000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.068426
|
||||
2025-06-12 17:34:12.897 new_end_speed 100.000000 j3_acc_t 0.005000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.961303
|
||||
2025-06-12 17:34:12.897 new_end_speed 100.000000 j4_acc_t 0.005000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.026703
|
||||
2025-06-12 17:34:12.898 end_speed 100.000000
|
||||
2025-06-12 17:34:12.898 trail_number0.010000
|
||||
2025-06-12 17:34:12.898 tcp_distance 0.005844
|
||||
2025-06-12 17:34:12.899 angle1_1 = -63.500298 angle2_1 = 35.084301 z1 = -75.470497 r1 = -1005.721130 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:34:26.212 30 30 30 30
|
||||
2025-06-12 17:34:26.212 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-12 17:34:26.212 goal_angle -87.199585 152.604431
|
||||
2025-06-12 17:34:26.213 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-12 17:34:26.213 z1 -75.466148 z2 -4.457100
|
||||
2025-06-12 17:34:26.213 angle1_1 -63.500324 angle2_1 35.083992 z1 -75.466148 r1 -1005.721008
|
||||
2025-06-12 17:34:26.213 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-12 17:34:26.213 speed 100.000000
|
||||
2025-06-12 17:34:26.213 tcp_distance 346.692535
|
||||
2025-06-12 17:34:26.214 new_end_speed 100.000000 j1_acc_t 1.733463 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.953342
|
||||
2025-06-12 17:34:26.214 new_end_speed 100.000000 j2_acc_t 1.733463 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.150978
|
||||
2025-06-12 17:34:26.214 new_end_speed 100.000000 j3_acc_t 1.733463 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.804039
|
||||
2025-06-12 17:34:26.214 new_end_speed 100.000000 j4_acc_t 1.733463 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.006760
|
||||
2025-06-12 17:34:26.214 end_speed 100.000000
|
||||
2025-06-12 17:34:26.215 trail_number3.466925
|
||||
2025-06-12 17:34:26.215 tcp_distance 346.692535
|
||||
2025-06-12 17:34:26.215 angle1_1 = -63.500324 angle2_1 = 35.083992 z1 = -75.466148 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
2025-06-12 17:34:34.793 30 30 30 30
|
||||
2025-06-12 17:34:34.793 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||||
2025-06-12 17:34:34.793 goal_angle -44.911705 98.661697
|
||||
2025-06-12 17:34:34.793 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||||
2025-06-12 17:34:34.794 z1 -4.457100 z2 -75.466103
|
||||
2025-06-12 17:34:34.794 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||||
2025-06-12 17:34:34.794 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||||
2025-06-12 17:34:34.794 speed 100.000000
|
||||
2025-06-12 17:34:34.794 tcp_distance 200.024658
|
||||
2025-06-12 17:34:34.795 new_end_speed 100.000000 j1_acc_t 1.000123 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.246628
|
||||
2025-06-12 17:34:34.795 new_end_speed 100.000000 j2_acc_t 1.000123 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 58.992538
|
||||
2025-06-12 17:34:34.795 new_end_speed 100.000000 j3_acc_t 1.000123 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.656456
|
||||
2025-06-12 17:34:34.795 new_end_speed 100.000000 j4_acc_t 1.000123 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.277203
|
||||
2025-06-12 17:34:34.795 end_speed 100.000000
|
||||
2025-06-12 17:34:34.796 trail_number2.000247
|
||||
2025-06-12 17:34:34.796 tcp_distance 200.024658
|
||||
2025-06-12 17:34:34.796 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||||
2025-06-12 17:34:53.146 30 30 30 30
|
||||
2025-06-12 17:34:53.147 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||||
2025-06-12 17:34:53.147 goal_angle -87.199585 152.604431
|
||||
2025-06-12 17:34:53.147 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||||
2025-06-12 17:34:53.147 z1 -75.466103 z2 -4.457100
|
||||
2025-06-12 17:34:53.147 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||||
2025-06-12 17:34:53.148 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||||
2025-06-12 17:34:53.148 speed 100.000000
|
||||
2025-06-12 17:34:53.148 tcp_distance 199.889740
|
||||
2025-06-12 17:34:53.148 new_end_speed 100.000000 j1_acc_t 0.999449 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.277863
|
||||
2025-06-12 17:34:53.148 new_end_speed 100.000000 j2_acc_t 0.999449 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 59.032387
|
||||
2025-06-12 17:34:53.148 new_end_speed 100.000000 j3_acc_t 0.999449 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.708908
|
||||
2025-06-12 17:34:53.150 new_end_speed 100.000000 j4_acc_t 0.999449 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.293588
|
||||
2025-06-12 17:34:53.150 end_speed 100.000000
|
||||
2025-06-12 17:34:53.150 trail_number1.998897
|
||||
2025-06-12 17:34:53.150 tcp_distance 199.889740
|
||||
2025-06-12 17:34:53.151 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||||
|
||||
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Reference in New Issue
Block a user