From 9ab1bac0ad9cdbaa3f5e9a451b959aefb21aad53 Mon Sep 17 00:00:00 2001 From: uu Date: Thu, 26 Jun 2025 10:44:52 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=90=B8=E7=9B=98=E7=82=B9?= =?UTF-8?q?=E4=BD=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HitBotCSharpDemo/CSharpDemo.csproj | 1 + HitBotCSharpDemo/ShowForm.Designer.cs | 324 ++- HitBotCSharpDemo/ShowForm.cs | 197 +- HitBotCSharpDemo/SuctionCupControl.cs | 193 ++ HitBotCSharpDemo/ZoomControl.cs | 6 +- .../bin/x64/Debug/HitBotCSharpDemo.exe | Bin 363520 -> 369152 bytes .../bin/x64/Debug/HitBotCSharpDemo.pdb | Bin 181760 -> 196096 bytes .../x64/Debug/SDK_LOG/id_74_2025-06-25.hilog | 2014 +++++++++++++++++ .../x64/Debug/SDK_LOG/id_74_2025-06-26.hilog | 1321 +++++++++++ .../bin/x64/Debug/SuctionCup_pos.txt | 5 + .../CSharpDemo.csproj.CoreCompileInputs.cache | 2 +- .../CSharpDemo.csproj.GenerateResource.cache | Bin 200 -> 200 bytes .../obj/x64/Debug/HitBotCSharpDemo.exe | Bin 363520 -> 369152 bytes .../obj/x64/Debug/HitBotCSharpDemo.pdb | Bin 181760 -> 196096 bytes 14 files changed, 3951 insertions(+), 112 deletions(-) create mode 100644 HitBotCSharpDemo/SuctionCupControl.cs create mode 100644 HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-26.hilog create mode 100644 HitBotCSharpDemo/bin/x64/Debug/SuctionCup_pos.txt diff --git a/HitBotCSharpDemo/CSharpDemo.csproj b/HitBotCSharpDemo/CSharpDemo.csproj index b89af83..1e58b99 100644 --- a/HitBotCSharpDemo/CSharpDemo.csproj +++ b/HitBotCSharpDemo/CSharpDemo.csproj @@ -118,6 +118,7 @@ + diff --git a/HitBotCSharpDemo/ShowForm.Designer.cs b/HitBotCSharpDemo/ShowForm.Designer.cs index d4bde16..0ec3632 100644 --- a/HitBotCSharpDemo/ShowForm.Designer.cs +++ b/HitBotCSharpDemo/ShowForm.Designer.cs @@ -164,8 +164,9 @@ this.comboBox1 = new System.Windows.Forms.ComboBox(); this.label2 = new System.Windows.Forms.Label(); this.button3 = new System.Windows.Forms.Button(); - this.tabPage1 = new System.Windows.Forms.TabPage(); + this.tab_Zoom = new System.Windows.Forms.TabPage(); this.groupBox6 = new System.Windows.Forms.GroupBox(); + this.label32 = new System.Windows.Forms.Label(); this.button10 = new System.Windows.Forms.Button(); this.button12 = new System.Windows.Forms.Button(); this.cam_zoom = new System.Windows.Forms.PictureBox(); @@ -180,12 +181,21 @@ this.comboBox2 = new System.Windows.Forms.ComboBox(); this.label27 = new System.Windows.Forms.Label(); this.button5 = new System.Windows.Forms.Button(); + this.tab_SuctionCup = new System.Windows.Forms.TabPage(); + this.groupBox8 = new System.Windows.Forms.GroupBox(); + this.button17 = new System.Windows.Forms.Button(); + this.button16 = new System.Windows.Forms.Button(); + this.button15 = new System.Windows.Forms.Button(); + this.button14 = new System.Windows.Forms.Button(); + this.groupBox7 = new System.Windows.Forms.GroupBox(); + this.comboBox3 = new System.Windows.Forms.ComboBox(); + this.label33 = new System.Windows.Forms.Label(); + this.button18 = new System.Windows.Forms.Button(); this.panel1 = new System.Windows.Forms.Panel(); this.cob_Robot_ID = new System.Windows.Forms.ComboBox(); this.lbl_Refresh_ID = new System.Windows.Forms.Label(); this.tim_IO_Refresh = new System.Windows.Forms.Timer(this.components); this.rit_Coord = new System.Windows.Forms.RichTextBox(); - this.label32 = new System.Windows.Forms.Label(); this.tac_MainForm.SuspendLayout(); this.tap_Axis.SuspendLayout(); this.grb_R.SuspendLayout(); @@ -207,11 +217,14 @@ this.groupBox1.SuspendLayout(); this.grb_pos1.SuspendLayout(); this.grb_temport.SuspendLayout(); - this.tabPage1.SuspendLayout(); + this.tab_Zoom.SuspendLayout(); this.groupBox6.SuspendLayout(); ((System.ComponentModel.ISupportInitialize)(this.cam_zoom)).BeginInit(); this.groupBox5.SuspendLayout(); this.groupBox4.SuspendLayout(); + this.tab_SuctionCup.SuspendLayout(); + this.groupBox8.SuspendLayout(); + this.groupBox7.SuspendLayout(); this.panel1.SuspendLayout(); this.SuspendLayout(); // @@ -233,7 +246,8 @@ this.tac_MainForm.Controls.Add(this.tap_Move); this.tac_MainForm.Controls.Add(this.tap_Cam); this.tac_MainForm.Controls.Add(this.tap_tempCtrl); - this.tac_MainForm.Controls.Add(this.tabPage1); + this.tac_MainForm.Controls.Add(this.tab_Zoom); + this.tac_MainForm.Controls.Add(this.tab_SuctionCup); this.tac_MainForm.Dock = System.Windows.Forms.DockStyle.Fill; this.tac_MainForm.Location = new System.Drawing.Point(0, 0); this.tac_MainForm.Name = "tac_MainForm"; @@ -251,7 +265,7 @@ this.tap_Axis.Controls.Add(this.grb_X); this.tap_Axis.Location = new System.Drawing.Point(4, 22); this.tap_Axis.Name = "tap_Axis"; - this.tap_Axis.Padding = new System.Windows.Forms.Padding(3, 3, 3, 3); + this.tap_Axis.Padding = new System.Windows.Forms.Padding(3); this.tap_Axis.Size = new System.Drawing.Size(807, 502); this.tap_Axis.TabIndex = 0; this.tap_Axis.Text = "轴移动"; @@ -466,7 +480,7 @@ this.tap_IO.Controls.Add(this.grb_Input); this.tap_IO.Location = new System.Drawing.Point(4, 22); this.tap_IO.Name = "tap_IO"; - this.tap_IO.Padding = new System.Windows.Forms.Padding(3, 3, 3, 3); + this.tap_IO.Padding = new System.Windows.Forms.Padding(3); this.tap_IO.Size = new System.Drawing.Size(807, 502); this.tap_IO.TabIndex = 1; this.tap_IO.Text = "IO信号显示"; @@ -757,7 +771,7 @@ this.tap_joint.Controls.Add(this.lbl_Joint_Number); this.tap_joint.Location = new System.Drawing.Point(4, 22); this.tap_joint.Name = "tap_joint"; - this.tap_joint.Padding = new System.Windows.Forms.Padding(3, 3, 3, 3); + this.tap_joint.Padding = new System.Windows.Forms.Padding(3); this.tap_joint.Size = new System.Drawing.Size(807, 502); this.tap_joint.TabIndex = 2; this.tap_joint.Text = "关节状态"; @@ -873,7 +887,7 @@ this.tap_Move.Controls.Add(this.btn_Start); this.tap_Move.Location = new System.Drawing.Point(4, 22); this.tap_Move.Name = "tap_Move"; - this.tap_Move.Padding = new System.Windows.Forms.Padding(3, 3, 3, 3); + this.tap_Move.Padding = new System.Windows.Forms.Padding(3); this.tap_Move.Size = new System.Drawing.Size(807, 502); this.tap_Move.TabIndex = 3; this.tap_Move.Text = "点位运动"; @@ -1015,9 +1029,9 @@ this.tap_Cam.Controls.Add(this.cam_btn_2); this.tap_Cam.Controls.Add(this.cam_btn_1); this.tap_Cam.Location = new System.Drawing.Point(4, 22); - this.tap_Cam.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tap_Cam.Margin = new System.Windows.Forms.Padding(2); this.tap_Cam.Name = "tap_Cam"; - this.tap_Cam.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tap_Cam.Padding = new System.Windows.Forms.Padding(2); this.tap_Cam.Size = new System.Drawing.Size(807, 502); this.tap_Cam.TabIndex = 4; this.tap_Cam.Text = "晶体检测"; @@ -1037,7 +1051,7 @@ // textBox1 // this.textBox1.Location = new System.Drawing.Point(682, 49); - this.textBox1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.textBox1.Margin = new System.Windows.Forms.Padding(2); this.textBox1.Name = "textBox1"; this.textBox1.Size = new System.Drawing.Size(68, 21); this.textBox1.TabIndex = 16; @@ -1047,7 +1061,7 @@ // this.checkBox4.AutoSize = true; this.checkBox4.Location = new System.Drawing.Point(476, 53); - this.checkBox4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.checkBox4.Margin = new System.Windows.Forms.Padding(2); this.checkBox4.Name = "checkBox4"; this.checkBox4.Size = new System.Drawing.Size(61, 21); this.checkBox4.TabIndex = 15; @@ -1059,7 +1073,7 @@ // this.checkBox3.AutoSize = true; this.checkBox3.Location = new System.Drawing.Point(411, 53); - this.checkBox3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.checkBox3.Margin = new System.Windows.Forms.Padding(2); this.checkBox3.Name = "checkBox3"; this.checkBox3.Size = new System.Drawing.Size(61, 21); this.checkBox3.TabIndex = 14; @@ -1071,7 +1085,7 @@ // this.checkBox2.AutoSize = true; this.checkBox2.Location = new System.Drawing.Point(345, 53); - this.checkBox2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.checkBox2.Margin = new System.Windows.Forms.Padding(2); this.checkBox2.Name = "checkBox2"; this.checkBox2.Size = new System.Drawing.Size(61, 21); this.checkBox2.TabIndex = 13; @@ -1083,7 +1097,7 @@ // this.checkBox1.AutoSize = true; this.checkBox1.Location = new System.Drawing.Point(281, 53); - this.checkBox1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.checkBox1.Margin = new System.Windows.Forms.Padding(2); this.checkBox1.Name = "checkBox1"; this.checkBox1.Size = new System.Drawing.Size(61, 21); this.checkBox1.TabIndex = 12; @@ -1094,7 +1108,7 @@ // button2 // this.button2.Location = new System.Drawing.Point(653, 328); - this.button2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button2.Margin = new System.Windows.Forms.Padding(2); this.button2.Name = "button2"; this.button2.Size = new System.Drawing.Size(100, 29); this.button2.TabIndex = 11; @@ -1105,7 +1119,7 @@ // pictureBox1 // this.pictureBox1.Location = new System.Drawing.Point(531, 104); - this.pictureBox1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.pictureBox1.Margin = new System.Windows.Forms.Padding(2); this.pictureBox1.Name = "pictureBox1"; this.pictureBox1.Size = new System.Drawing.Size(222, 184); this.pictureBox1.TabIndex = 10; @@ -1115,7 +1129,7 @@ // button1 // this.button1.Location = new System.Drawing.Point(531, 328); - this.button1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button1.Margin = new System.Windows.Forms.Padding(2); this.button1.Name = "button1"; this.button1.Size = new System.Drawing.Size(97, 29); this.button1.TabIndex = 9; @@ -1126,7 +1140,7 @@ // cam_feed // this.cam_feed.Location = new System.Drawing.Point(281, 104); - this.cam_feed.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cam_feed.Margin = new System.Windows.Forms.Padding(2); this.cam_feed.Name = "cam_feed"; this.cam_feed.Size = new System.Drawing.Size(222, 184); this.cam_feed.TabIndex = 8; @@ -1136,7 +1150,7 @@ // cam_shooting // this.cam_shooting.Location = new System.Drawing.Point(351, 328); - this.cam_shooting.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cam_shooting.Margin = new System.Windows.Forms.Padding(2); this.cam_shooting.Name = "cam_shooting"; this.cam_shooting.Size = new System.Drawing.Size(95, 29); this.cam_shooting.TabIndex = 7; @@ -1147,7 +1161,7 @@ // init_pos_btn // this.init_pos_btn.Location = new System.Drawing.Point(81, 328); - this.init_pos_btn.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.init_pos_btn.Margin = new System.Windows.Forms.Padding(2); this.init_pos_btn.Name = "init_pos_btn"; this.init_pos_btn.Size = new System.Drawing.Size(85, 29); this.init_pos_btn.TabIndex = 4; @@ -1158,7 +1172,7 @@ // cam_btn_4 // this.cam_btn_4.Location = new System.Drawing.Point(81, 249); - this.cam_btn_4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cam_btn_4.Margin = new System.Windows.Forms.Padding(2); this.cam_btn_4.Name = "cam_btn_4"; this.cam_btn_4.Size = new System.Drawing.Size(85, 29); this.cam_btn_4.TabIndex = 3; @@ -1169,7 +1183,7 @@ // cam_btn_3 // this.cam_btn_3.Location = new System.Drawing.Point(81, 183); - this.cam_btn_3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cam_btn_3.Margin = new System.Windows.Forms.Padding(2); this.cam_btn_3.Name = "cam_btn_3"; this.cam_btn_3.Size = new System.Drawing.Size(85, 29); this.cam_btn_3.TabIndex = 2; @@ -1180,7 +1194,7 @@ // cam_btn_2 // this.cam_btn_2.Location = new System.Drawing.Point(81, 117); - this.cam_btn_2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cam_btn_2.Margin = new System.Windows.Forms.Padding(2); this.cam_btn_2.Name = "cam_btn_2"; this.cam_btn_2.Size = new System.Drawing.Size(85, 29); this.cam_btn_2.TabIndex = 1; @@ -1191,7 +1205,7 @@ // cam_btn_1 // this.cam_btn_1.Location = new System.Drawing.Point(81, 53); - this.cam_btn_1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cam_btn_1.Margin = new System.Windows.Forms.Padding(2); this.cam_btn_1.Name = "cam_btn_1"; this.cam_btn_1.Size = new System.Drawing.Size(85, 29); this.cam_btn_1.TabIndex = 0; @@ -1207,9 +1221,9 @@ this.tap_tempCtrl.Controls.Add(this.grb_pos1); this.tap_tempCtrl.Controls.Add(this.grb_temport); this.tap_tempCtrl.Location = new System.Drawing.Point(4, 22); - this.tap_tempCtrl.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tap_tempCtrl.Margin = new System.Windows.Forms.Padding(2); this.tap_tempCtrl.Name = "tap_tempCtrl"; - this.tap_tempCtrl.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.tap_tempCtrl.Padding = new System.Windows.Forms.Padding(2); this.tap_tempCtrl.Size = new System.Drawing.Size(807, 502); this.tap_tempCtrl.TabIndex = 5; this.tap_tempCtrl.Text = "温度控制"; @@ -1228,9 +1242,9 @@ this.groupBox3.Controls.Add(this.label21); this.groupBox3.Controls.Add(this.label22); this.groupBox3.Location = new System.Drawing.Point(41, 410); - this.groupBox3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox3.Margin = new System.Windows.Forms.Padding(2); this.groupBox3.Name = "groupBox3"; - this.groupBox3.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox3.Padding = new System.Windows.Forms.Padding(2); this.groupBox3.Size = new System.Drawing.Size(729, 67); this.groupBox3.TabIndex = 11; this.groupBox3.TabStop = false; @@ -1239,7 +1253,7 @@ // textBox9 // this.textBox9.Location = new System.Drawing.Point(487, 26); - this.textBox9.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.textBox9.Margin = new System.Windows.Forms.Padding(2); this.textBox9.Name = "textBox9"; this.textBox9.Size = new System.Drawing.Size(68, 21); this.textBox9.TabIndex = 15; @@ -1268,7 +1282,7 @@ // button11 // this.button11.Location = new System.Drawing.Point(623, 18); - this.button11.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button11.Margin = new System.Windows.Forms.Padding(2); this.button11.Name = "button11"; this.button11.Size = new System.Drawing.Size(75, 27); this.button11.TabIndex = 7; @@ -1279,7 +1293,7 @@ // textBox5 // this.textBox5.Location = new System.Drawing.Point(206, 25); - this.textBox5.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.textBox5.Margin = new System.Windows.Forms.Padding(2); this.textBox5.Name = "textBox5"; this.textBox5.Size = new System.Drawing.Size(68, 21); this.textBox5.TabIndex = 8; @@ -1336,9 +1350,9 @@ this.groupBox2.Controls.Add(this.label16); this.groupBox2.Controls.Add(this.label17); this.groupBox2.Location = new System.Drawing.Point(41, 325); - this.groupBox2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox2.Margin = new System.Windows.Forms.Padding(2); this.groupBox2.Name = "groupBox2"; - this.groupBox2.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox2.Padding = new System.Windows.Forms.Padding(2); this.groupBox2.Size = new System.Drawing.Size(729, 67); this.groupBox2.TabIndex = 10; this.groupBox2.TabStop = false; @@ -1347,7 +1361,7 @@ // textBox8 // this.textBox8.Location = new System.Drawing.Point(487, 25); - this.textBox8.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.textBox8.Margin = new System.Windows.Forms.Padding(2); this.textBox8.Name = "textBox8"; this.textBox8.Size = new System.Drawing.Size(68, 21); this.textBox8.TabIndex = 14; @@ -1375,7 +1389,7 @@ // button9 // this.button9.Location = new System.Drawing.Point(623, 20); - this.button9.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button9.Margin = new System.Windows.Forms.Padding(2); this.button9.Name = "button9"; this.button9.Size = new System.Drawing.Size(75, 27); this.button9.TabIndex = 7; @@ -1386,7 +1400,7 @@ // textBox4 // this.textBox4.Location = new System.Drawing.Point(206, 25); - this.textBox4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.textBox4.Margin = new System.Windows.Forms.Padding(2); this.textBox4.Name = "textBox4"; this.textBox4.Size = new System.Drawing.Size(68, 21); this.textBox4.TabIndex = 8; @@ -1443,9 +1457,9 @@ this.groupBox1.Controls.Add(this.label11); this.groupBox1.Controls.Add(this.label12); this.groupBox1.Location = new System.Drawing.Point(41, 240); - this.groupBox1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox1.Margin = new System.Windows.Forms.Padding(2); this.groupBox1.Name = "groupBox1"; - this.groupBox1.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox1.Padding = new System.Windows.Forms.Padding(2); this.groupBox1.Size = new System.Drawing.Size(729, 67); this.groupBox1.TabIndex = 7; this.groupBox1.TabStop = false; @@ -1455,7 +1469,7 @@ // textBox7 // this.textBox7.Location = new System.Drawing.Point(487, 26); - this.textBox7.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.textBox7.Margin = new System.Windows.Forms.Padding(2); this.textBox7.Name = "textBox7"; this.textBox7.Size = new System.Drawing.Size(68, 21); this.textBox7.TabIndex = 13; @@ -1483,7 +1497,7 @@ // button7 // this.button7.Location = new System.Drawing.Point(623, 21); - this.button7.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button7.Margin = new System.Windows.Forms.Padding(2); this.button7.Name = "button7"; this.button7.Size = new System.Drawing.Size(75, 27); this.button7.TabIndex = 7; @@ -1494,7 +1508,7 @@ // textBox3 // this.textBox3.Location = new System.Drawing.Point(206, 25); - this.textBox3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.textBox3.Margin = new System.Windows.Forms.Padding(2); this.textBox3.Name = "textBox3"; this.textBox3.Size = new System.Drawing.Size(68, 21); this.textBox3.TabIndex = 8; @@ -1551,9 +1565,9 @@ this.grb_pos1.Controls.Add(this.label4); this.grb_pos1.Controls.Add(this.label3); this.grb_pos1.Location = new System.Drawing.Point(41, 151); - this.grb_pos1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.grb_pos1.Margin = new System.Windows.Forms.Padding(2); this.grb_pos1.Name = "grb_pos1"; - this.grb_pos1.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.grb_pos1.Padding = new System.Windows.Forms.Padding(2); this.grb_pos1.Size = new System.Drawing.Size(729, 67); this.grb_pos1.TabIndex = 6; this.grb_pos1.TabStop = false; @@ -1563,7 +1577,7 @@ // textBox6 // this.textBox6.Location = new System.Drawing.Point(487, 26); - this.textBox6.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.textBox6.Margin = new System.Windows.Forms.Padding(2); this.textBox6.Name = "textBox6"; this.textBox6.Size = new System.Drawing.Size(68, 21); this.textBox6.TabIndex = 12; @@ -1591,7 +1605,7 @@ // button4 // this.button4.Location = new System.Drawing.Point(623, 21); - this.button4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button4.Margin = new System.Windows.Forms.Padding(2); this.button4.Name = "button4"; this.button4.Size = new System.Drawing.Size(75, 27); this.button4.TabIndex = 7; @@ -1602,7 +1616,7 @@ // textBox2 // this.textBox2.Location = new System.Drawing.Point(206, 26); - this.textBox2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.textBox2.Margin = new System.Windows.Forms.Padding(2); this.textBox2.Name = "textBox2"; this.textBox2.Size = new System.Drawing.Size(68, 21); this.textBox2.TabIndex = 8; @@ -1657,9 +1671,9 @@ this.grb_temport.Controls.Add(this.label2); this.grb_temport.Controls.Add(this.button3); this.grb_temport.Location = new System.Drawing.Point(41, 20); - this.grb_temport.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.grb_temport.Margin = new System.Windows.Forms.Padding(2); this.grb_temport.Name = "grb_temport"; - this.grb_temport.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.grb_temport.Padding = new System.Windows.Forms.Padding(2); this.grb_temport.Size = new System.Drawing.Size(181, 113); this.grb_temport.TabIndex = 3; this.grb_temport.TabStop = false; @@ -1669,7 +1683,7 @@ // this.comboBox1.FormattingEnabled = true; this.comboBox1.Location = new System.Drawing.Point(72, 31); - this.comboBox1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.comboBox1.Margin = new System.Windows.Forms.Padding(2); this.comboBox1.Name = "comboBox1"; this.comboBox1.Size = new System.Drawing.Size(62, 20); this.comboBox1.TabIndex = 5; @@ -1688,7 +1702,7 @@ // button3 // this.button3.Location = new System.Drawing.Point(29, 67); - this.button3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button3.Margin = new System.Windows.Forms.Padding(2); this.button3.Name = "button3"; this.button3.Size = new System.Drawing.Size(104, 27); this.button3.TabIndex = 0; @@ -1696,21 +1710,21 @@ this.button3.UseVisualStyleBackColor = true; this.button3.Click += new System.EventHandler(this.button3_Click_1); // - // tabPage1 + // tab_Zoom // - this.tabPage1.Controls.Add(this.groupBox6); - this.tabPage1.Controls.Add(this.cam_zoom); - this.tabPage1.Controls.Add(this.groupBox5); - this.tabPage1.Controls.Add(this.groupBox4); - this.tabPage1.Location = new System.Drawing.Point(4, 22); - this.tabPage1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); - this.tabPage1.Name = "tabPage1"; - this.tabPage1.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); - this.tabPage1.Size = new System.Drawing.Size(807, 502); - this.tabPage1.TabIndex = 6; - this.tabPage1.Text = "变倍控制"; - this.tabPage1.UseVisualStyleBackColor = true; - this.tabPage1.Click += new System.EventHandler(this.tabPage1_Click_1); + this.tab_Zoom.Controls.Add(this.groupBox6); + this.tab_Zoom.Controls.Add(this.cam_zoom); + this.tab_Zoom.Controls.Add(this.groupBox5); + this.tab_Zoom.Controls.Add(this.groupBox4); + this.tab_Zoom.Location = new System.Drawing.Point(4, 22); + this.tab_Zoom.Margin = new System.Windows.Forms.Padding(2); + this.tab_Zoom.Name = "tab_Zoom"; + this.tab_Zoom.Padding = new System.Windows.Forms.Padding(2); + this.tab_Zoom.Size = new System.Drawing.Size(807, 502); + this.tab_Zoom.TabIndex = 6; + this.tab_Zoom.Text = "变倍控制"; + this.tab_Zoom.UseVisualStyleBackColor = true; + this.tab_Zoom.Click += new System.EventHandler(this.tabPage1_Click_1); // // groupBox6 // @@ -1718,18 +1732,28 @@ this.groupBox6.Controls.Add(this.button10); this.groupBox6.Controls.Add(this.button12); this.groupBox6.Location = new System.Drawing.Point(45, 321); - this.groupBox6.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox6.Margin = new System.Windows.Forms.Padding(2); this.groupBox6.Name = "groupBox6"; - this.groupBox6.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox6.Padding = new System.Windows.Forms.Padding(2); this.groupBox6.Size = new System.Drawing.Size(192, 108); this.groupBox6.TabIndex = 7; this.groupBox6.TabStop = false; this.groupBox6.Text = "运动控制"; // + // label32 + // + this.label32.AutoSize = true; + this.label32.Location = new System.Drawing.Point(11, 32); + this.label32.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.label32.Name = "label32"; + this.label32.Size = new System.Drawing.Size(65, 12); + this.label32.TabIndex = 10; + this.label32.Text = "倍数选择："; + // // button10 // this.button10.Location = new System.Drawing.Point(100, 56); - this.button10.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button10.Margin = new System.Windows.Forms.Padding(2); this.button10.Name = "button10"; this.button10.Size = new System.Drawing.Size(88, 27); this.button10.TabIndex = 7; @@ -1740,7 +1764,7 @@ // button12 // this.button12.Location = new System.Drawing.Point(4, 56); - this.button12.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button12.Margin = new System.Windows.Forms.Padding(2); this.button12.Name = "button12"; this.button12.Size = new System.Drawing.Size(88, 27); this.button12.TabIndex = 6; @@ -1751,7 +1775,7 @@ // cam_zoom // this.cam_zoom.Location = new System.Drawing.Point(289, 39); - this.cam_zoom.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.cam_zoom.Margin = new System.Windows.Forms.Padding(2); this.cam_zoom.Name = "cam_zoom"; this.cam_zoom.Size = new System.Drawing.Size(481, 390); this.cam_zoom.TabIndex = 6; @@ -1767,9 +1791,9 @@ this.groupBox5.Controls.Add(this.button8); this.groupBox5.Controls.Add(this.button6); this.groupBox5.Location = new System.Drawing.Point(45, 159); - this.groupBox5.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox5.Margin = new System.Windows.Forms.Padding(2); this.groupBox5.Name = "groupBox5"; - this.groupBox5.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox5.Padding = new System.Windows.Forms.Padding(2); this.groupBox5.Size = new System.Drawing.Size(192, 151); this.groupBox5.TabIndex = 5; this.groupBox5.TabStop = false; @@ -1818,7 +1842,7 @@ // button8 // this.button8.Location = new System.Drawing.Point(100, 107); - this.button8.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button8.Margin = new System.Windows.Forms.Padding(2); this.button8.Name = "button8"; this.button8.Size = new System.Drawing.Size(88, 27); this.button8.TabIndex = 7; @@ -1829,7 +1853,7 @@ // button6 // this.button6.Location = new System.Drawing.Point(4, 107); - this.button6.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button6.Margin = new System.Windows.Forms.Padding(2); this.button6.Name = "button6"; this.button6.Size = new System.Drawing.Size(88, 27); this.button6.TabIndex = 6; @@ -1843,19 +1867,20 @@ this.groupBox4.Controls.Add(this.label27); this.groupBox4.Controls.Add(this.button5); this.groupBox4.Location = new System.Drawing.Point(45, 29); - this.groupBox4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox4.Margin = new System.Windows.Forms.Padding(2); this.groupBox4.Name = "groupBox4"; - this.groupBox4.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.groupBox4.Padding = new System.Windows.Forms.Padding(2); this.groupBox4.Size = new System.Drawing.Size(192, 113); this.groupBox4.TabIndex = 4; this.groupBox4.TabStop = false; this.groupBox4.Text = "串口设置"; + this.groupBox4.Enter += new System.EventHandler(this.groupBox4_Enter); // // comboBox2 // this.comboBox2.FormattingEnabled = true; this.comboBox2.Location = new System.Drawing.Point(72, 31); - this.comboBox2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.comboBox2.Margin = new System.Windows.Forms.Padding(2); this.comboBox2.Name = "comboBox2"; this.comboBox2.Size = new System.Drawing.Size(62, 20); this.comboBox2.TabIndex = 5; @@ -1874,7 +1899,7 @@ // button5 // this.button5.Location = new System.Drawing.Point(29, 67); - this.button5.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2); + this.button5.Margin = new System.Windows.Forms.Padding(2); this.button5.Name = "button5"; this.button5.Size = new System.Drawing.Size(104, 27); this.button5.TabIndex = 0; @@ -1882,6 +1907,121 @@ this.button5.UseVisualStyleBackColor = true; this.button5.Click += new System.EventHandler(this.button5_Click); // + // tab_SuctionCup + // + this.tab_SuctionCup.Controls.Add(this.groupBox8); + this.tab_SuctionCup.Controls.Add(this.groupBox7); + this.tab_SuctionCup.Location = new System.Drawing.Point(4, 22); + this.tab_SuctionCup.Name = "tab_SuctionCup"; + this.tab_SuctionCup.Padding = new System.Windows.Forms.Padding(3); + this.tab_SuctionCup.Size = new System.Drawing.Size(807, 502); + this.tab_SuctionCup.TabIndex = 7; + this.tab_SuctionCup.Text = "真空吸盘"; + this.tab_SuctionCup.UseVisualStyleBackColor = true; + this.tab_SuctionCup.Click += new System.EventHandler(this.tab_SuctionCup_Click); + // + // groupBox8 + // + this.groupBox8.Controls.Add(this.button17); + this.groupBox8.Controls.Add(this.button16); + this.groupBox8.Controls.Add(this.button15); + this.groupBox8.Controls.Add(this.button14); + this.groupBox8.Location = new System.Drawing.Point(43, 180); + this.groupBox8.Name = "groupBox8"; + this.groupBox8.Size = new System.Drawing.Size(192, 127); + this.groupBox8.TabIndex = 11; + this.groupBox8.TabStop = false; + this.groupBox8.Text = "吸盘点位"; + // + // button17 + // + this.button17.Location = new System.Drawing.Point(10, 29); + this.button17.Margin = new System.Windows.Forms.Padding(2); + this.button17.Name = "button17"; + this.button17.Size = new System.Drawing.Size(85, 29); + this.button17.TabIndex = 5; + this.button17.Text = "点位1"; + this.button17.UseVisualStyleBackColor = true; + this.button17.Click += new System.EventHandler(this.button17_Click); + // + // button16 + // + this.button16.Location = new System.Drawing.Point(99, 29); + this.button16.Margin = new System.Windows.Forms.Padding(2); + this.button16.Name = "button16"; + this.button16.Size = new System.Drawing.Size(85, 29); + this.button16.TabIndex = 6; + this.button16.Text = "点位2"; + this.button16.UseVisualStyleBackColor = true; + this.button16.Click += new System.EventHandler(this.button16_Click); + // + // button15 + // + this.button15.Location = new System.Drawing.Point(10, 75); + this.button15.Margin = new System.Windows.Forms.Padding(2); + this.button15.Name = "button15"; + this.button15.Size = new System.Drawing.Size(85, 29); + this.button15.TabIndex = 7; + this.button15.Text = "点位3"; + this.button15.UseVisualStyleBackColor = true; + this.button15.Click += new System.EventHandler(this.button15_Click); + // + // button14 + // + this.button14.Location = new System.Drawing.Point(99, 75); + this.button14.Margin = new System.Windows.Forms.Padding(2); + this.button14.Name = "button14"; + this.button14.Size = new System.Drawing.Size(85, 29); + this.button14.TabIndex = 8; + this.button14.Text = "点位4"; + this.button14.UseVisualStyleBackColor = true; + this.button14.Click += new System.EventHandler(this.button14_Click); + // + // groupBox7 + // + this.groupBox7.Controls.Add(this.comboBox3); + this.groupBox7.Controls.Add(this.label33); + this.groupBox7.Controls.Add(this.button18); + this.groupBox7.Location = new System.Drawing.Point(43, 42); + this.groupBox7.Margin = new System.Windows.Forms.Padding(2); + this.groupBox7.Name = "groupBox7"; + this.groupBox7.Padding = new System.Windows.Forms.Padding(2); + this.groupBox7.Size = new System.Drawing.Size(192, 113); + this.groupBox7.TabIndex = 10; + this.groupBox7.TabStop = false; + this.groupBox7.Text = "串口设置"; + // + // comboBox3 + // + this.comboBox3.FormattingEnabled = true; + this.comboBox3.Location = new System.Drawing.Point(72, 31); + this.comboBox3.Margin = new System.Windows.Forms.Padding(2); + this.comboBox3.Name = "comboBox3"; + this.comboBox3.Size = new System.Drawing.Size(62, 20); + this.comboBox3.TabIndex = 5; + this.comboBox3.SelectedIndexChanged += new System.EventHandler(this.comboBox3_SelectedIndexChanged); + // + // label33 + // + this.label33.AutoSize = true; + this.label33.Location = new System.Drawing.Point(27, 33); + this.label33.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); + this.label33.Name = "label33"; + this.label33.Size = new System.Drawing.Size(41, 12); + this.label33.TabIndex = 4; + this.label33.Text = "端口："; + // + // button18 + // + this.button18.Location = new System.Drawing.Point(29, 67); + this.button18.Margin = new System.Windows.Forms.Padding(2); + this.button18.Name = "button18"; + this.button18.Size = new System.Drawing.Size(104, 27); + this.button18.TabIndex = 0; + this.button18.Text = "打开串口"; + this.button18.UseVisualStyleBackColor = true; + this.button18.Click += new System.EventHandler(this.button18_Click); + // // panel1 // this.panel1.Controls.Add(this.tac_MainForm); @@ -1924,16 +2064,6 @@ this.rit_Coord.Text = ""; this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged); // - // label32 - // - this.label32.AutoSize = true; - this.label32.Location = new System.Drawing.Point(11, 32); - this.label32.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); - this.label32.Name = "label32"; - this.label32.Size = new System.Drawing.Size(65, 12); - this.label32.TabIndex = 10; - this.label32.Text = "倍数选择："; - // // ShowForm // this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F); @@ -1986,7 +2116,7 @@ this.grb_pos1.PerformLayout(); this.grb_temport.ResumeLayout(false); this.grb_temport.PerformLayout(); - this.tabPage1.ResumeLayout(false); + this.tab_Zoom.ResumeLayout(false); this.groupBox6.ResumeLayout(false); this.groupBox6.PerformLayout(); ((System.ComponentModel.ISupportInitialize)(this.cam_zoom)).EndInit(); @@ -1994,6 +2124,10 @@ this.groupBox5.PerformLayout(); this.groupBox4.ResumeLayout(false); this.groupBox4.PerformLayout(); + this.tab_SuctionCup.ResumeLayout(false); + this.groupBox8.ResumeLayout(false); + this.groupBox7.ResumeLayout(false); + this.groupBox7.PerformLayout(); this.panel1.ResumeLayout(false); this.ResumeLayout(false); this.PerformLayout(); @@ -2141,7 +2275,7 @@ private System.Windows.Forms.TextBox textBox9; private System.Windows.Forms.TextBox textBox8; private System.Windows.Forms.TextBox textBox7; - private System.Windows.Forms.TabPage tabPage1; + private System.Windows.Forms.TabPage tab_Zoom; private System.Windows.Forms.GroupBox groupBox4; private System.Windows.Forms.ComboBox comboBox2; private System.Windows.Forms.Label label27; @@ -2158,6 +2292,16 @@ private System.Windows.Forms.Button button12; private System.Windows.Forms.PictureBox cam_zoom; private System.Windows.Forms.Label label32; + private System.Windows.Forms.TabPage tab_SuctionCup; + private System.Windows.Forms.Button button14; + private System.Windows.Forms.Button button15; + private System.Windows.Forms.Button button16; + private System.Windows.Forms.Button button17; + private System.Windows.Forms.GroupBox groupBox8; + private System.Windows.Forms.GroupBox groupBox7; + private System.Windows.Forms.ComboBox comboBox3; + private System.Windows.Forms.Label label33; + private System.Windows.Forms.Button button18; } } diff --git a/HitBotCSharpDemo/ShowForm.cs b/HitBotCSharpDemo/ShowForm.cs index 66769ff..a4be832 100644 --- a/HitBotCSharpDemo/ShowForm.cs +++ b/HitBotCSharpDemo/ShowForm.cs @@ -45,6 +45,8 @@ namespace HitBotCSharpDemo Thread thread_PosMove; private float[][] cameraPositions; private string filePath = "Cam_pos_path.txt"; + private float[][] suctionCupPositions; + private string suctionCupFilePath = "SuctionCup_pos.txt"; private TcpClient tcpClient; private NetworkStream networkStream; @@ -71,6 +73,7 @@ namespace HitBotCSharpDemo private CameraManager cameraManager; private tempControl tempControl; private ZoomControl zoomControl; + private SuctionCupControl suctionCupControl; private ControlBeanEx robot; public ShowForm() { @@ -81,23 +84,27 @@ namespace HitBotCSharpDemo //InitializeCamera(); // 初始化相机 Control.CheckForIllegalCrossThreadCalls = false; } - protected override void OnFormClosing(FormClosingEventArgs e) - { - // 停止循环检测 - if (isCycleRunning) - { - StopCycle(); - // 恢复控件状态 - SetControlsEnabled(true); - } - // 停止相机 - cameraManager?.StopCamera(); + //protected override void OnFormClosing(FormClosingEventArgs e) + //{ + // // 停止循环检测 + // if (isCycleRunning) + // { + // StopCycle(); + // // 恢复控件状态 + // SetControlsEnabled(true); + // } - StopDetection(); - // 终结SDK - SDKSystem.Finalize(); - base.OnFormClosing(e); - } + // // 停止相机 + // cameraManager?.StopCamera(); + // StopDetection(); + + // // 添加吸盘控制串口关闭 + // suctionCupControl?.OnFormClosing(); + + // // 终结SDK + // SDKSystem.Finalize(); + // base.OnFormClosing(e); + //} private void LoadCameraPositions() { @@ -161,6 +168,59 @@ namespace HitBotCSharpDemo MessageBox.Show($"加载点位文件时出错：{ex.Message}"); } } + private void LoadSuctionCupPositions() + { + try + { + if (File.Exists(suctionCupFilePath)) + { + string[] lines = File.ReadAllLines(suctionCupFilePath); + suctionCupPositions = new float[4][]; // 存储4个点位 + int positionIndex = 0; + foreach (string line in lines) + { + // 跳过注释行（以#开头）和空行 + if (string.IsNullOrWhiteSpace(line) || line.StartsWith("#")) + continue; + if (positionIndex < 4) + { + string[] coords = line.Split(','); + if (coords.Length == 4) + { + suctionCupPositions[positionIndex] = new float[4]; + for (int i = 0; i < 4; i++) + { + if (float.TryParse(coords[i].Trim(), out float value)) + { + suctionCupPositions[positionIndex][i] = value; + } + else + { + MessageBox.Show($"解析吸盘点位第{positionIndex + 1}行第{i + 1}个坐标时出错：{coords[i]}"); + return; + } + } + positionIndex++; + } + else + { + MessageBox.Show($"吸盘点位第{positionIndex + 1}行坐标格式错误，应该包含4个值(X,Y,Z,R)"); + return; + } + } + } + } + else + { + MessageBox.Show($"未找到文件：{suctionCupFilePath}"); + } + } + catch (Exception ex) + { + MessageBox.Show($"加载吸盘点位文件时出错：{ex.Message}"); + } + } + private void MoveToPosition(int positionIndex) { if (!isInit) @@ -200,6 +260,68 @@ namespace HitBotCSharpDemo MessageBox.Show($"移动到点位{positionIndex + 1}时出错：{ex.Message}"); } } + private void MoveToSuctionCupPosition(int positionIndex) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + if (suctionCupPositions == null || positionIndex >= suctionCupPositions.Length || suctionCupPositions[positionIndex] == null) + { + MessageBox.Show($"吸盘点位{positionIndex + 1}数据未加载或无效"); + return; + } + try + { + // 获取当前位置参数 + robot.get_scara_param(); + int currentHand = robot.get_lr(); // 使用当前手系 + float targetX = suctionCupPositions[positionIndex][0]; + float targetY = suctionCupPositions[positionIndex][1]; + float targetZ = suctionCupPositions[positionIndex][2]; + float targetR = suctionCupPositions[positionIndex][3]; + float safeZ = -97.6206f; // 安全Z轴高度 + robot.new_set_acc(30, 30, 30, 30); // 设置运动参数 + + // 判断当前Z轴高度是否小于安全高度 + if (robot.z < safeZ) + { + // 第一步：先将Z轴移动到安全高度 + int result0 = robot.new_movej_xyz_lr(robot.x, robot.y, safeZ, robot.rotation, 100, 0, currentHand); + if (result0 != 1) + { + MessageBox.Show($"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，保持当前Z轴位置 + int result1 = robot.new_movej_xyz_lr(targetX, targetY, robot.z, targetR, 100, 0, currentHand); + if (result1 != 1) + { + MessageBox.Show($"移动到吸盘点位{positionIndex + 1}的XY位置失败，返回值：{result1}"); + return; + } + robot.wait_stop(); + robot.get_scara_param(); + + // 移动Z轴到目标位置 + int result2 = robot.new_movej_xyz_lr(targetX, targetY, targetZ, targetR, 100, 0, currentHand); + if (result2 != 1) + { + MessageBox.Show($"移动到吸盘点位{positionIndex + 1}的Z位置失败，返回值：{result2}"); + return; + } + } + catch (Exception ex) + { + MessageBox.Show($"移动到吸盘点位{positionIndex + 1}时出错：{ex.Message}"); + } + } private void ShowForm_Load(object sender, EventArgs e) { @@ -207,6 +329,7 @@ namespace HitBotCSharpDemo lbl_Current_Output = new Label[] { lbl_OutputState_0, lbl_OutputState_1, lbl_OutputState_2, lbl_OutputState_3, lbl_OutputState_4, lbl_OutputState_5 };//输出信号数组 LoadCameraPositions(); + LoadSuctionCupPositions(); cameraManager = new CameraManager(cam_feed, cam_zoom); cameraManager.LoadConfiguration(); @@ -221,6 +344,9 @@ namespace HitBotCSharpDemo zoomControl = new ZoomControl(this); zoomControl.LoadAvailablePorts(comboBox2); + suctionCupControl = new SuctionCupControl(); + suctionCupControl.LoadAvailablePorts(comboBox3); + textBox6.Click += TextBox_Click; textBox7.Click += TextBox_Click; textBox8.Click += TextBox_Click; @@ -1697,5 +1823,44 @@ namespace HitBotCSharpDemo cameraManager.SetZoomExposureAndSave(734515f); } + private void groupBox4_Enter(object sender, EventArgs e) + { + + } + + private void tab_SuctionCup_Click(object sender, EventArgs e) + { + + } + + private void comboBox3_SelectedIndexChanged(object sender, EventArgs e) + { + suctionCupControl.OnComboBoxSelectedIndexChanged(comboBox3, button18); + } + + private void button18_Click(object sender, EventArgs e) + { + suctionCupControl.ToggleSerialPort(button18, comboBox3); + } + + private void button17_Click(object sender, EventArgs e) + { + MoveToSuctionCupPosition(0); // 移动到第1个吸盘点位 + } + + private void button16_Click(object sender, EventArgs e) + { + MoveToSuctionCupPosition(1); // 移动到第2个吸盘点位 + } + + private void button15_Click(object sender, EventArgs e) + { + MoveToSuctionCupPosition(2); // 移动到第3个吸盘点位 + } + + private void button14_Click(object sender, EventArgs e) + { + MoveToSuctionCupPosition(3); // 移动到第4个吸盘点位 + } } } diff --git a/HitBotCSharpDemo/SuctionCupControl.cs b/HitBotCSharpDemo/SuctionCupControl.cs new file mode 100644 index 0000000..15cd2df --- /dev/null +++ b/HitBotCSharpDemo/SuctionCupControl.cs @@ -0,0 +1,193 @@ +using System; +using System.Collections.Generic; +using System.IO.Ports; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Forms; + +namespace HitBotCSharpDemo +{ + internal class SuctionCupControl + { + private SerialPort suctioncupport; + + public SuctionCupControl() + { + InitializeSerialPort(); + } + private void InitializeSerialPort() + { + suctioncupport = new SerialPort(); + suctioncupport.BaudRate = 115200; // 波特率 + suctioncupport.DataBits = 8; // 数据位 + suctioncupport.StopBits = StopBits.One; // 停止位 + suctioncupport.Parity = Parity.None; // 奇偶校验 + suctioncupport.DataReceived += SuctioncupPort_DataReceived; + } + + // 数据接收事件处理 + private void SuctioncupPort_DataReceived(object sender, SerialDataReceivedEventArgs e) + { + try + { + string data = suctioncupport.ReadExisting(); + // 处理接收到的数据 + Console.WriteLine($"吸盘控制器返回数据: {data}"); + } + catch (Exception ex) + { + Console.WriteLine($"处理吸盘控制器数据时发生错误: {ex.Message}"); + } + } + + public void LoadAvailablePorts(ComboBox comboBox) + { + try + { + comboBox.Items.Clear(); + string[] ports = SerialPort.GetPortNames(); + if (ports.Length > 0) + { + foreach (string port in ports) + { + comboBox.Items.Add(port); + } + // 默认选择第一个串口 + comboBox.SelectedIndex = 0; + } + else + { + MessageBox.Show("系统中没有找到可用的串口！", "提示", + MessageBoxButtons.OK, MessageBoxIcon.Information); + } + } + catch (Exception ex) + { + MessageBox.Show($"获取串口列表时发生错误: {ex.Message}", "错误", + MessageBoxButtons.OK, MessageBoxIcon.Error); + } + } + public void ToggleSerialPort(Button button, ComboBox comboBox) + { + try + { + if (suctioncupport.IsOpen) + { + // 串口已打开，执行关闭操作 + suctioncupport.Close(); + UpdateUIStatus(false, button, comboBox); + MessageBox.Show("吸盘控制串口已关闭", "提示", + MessageBoxButtons.OK, MessageBoxIcon.Information); + } + else + { + // 串口未打开，执行打开操作 + if (string.IsNullOrEmpty(suctioncupport.PortName)) + { + MessageBox.Show("请先选择一个串口！", "提示", + MessageBoxButtons.OK, MessageBoxIcon.Warning); + return; + } + suctioncupport.Open(); + UpdateUIStatus(true, button, comboBox); + MessageBox.Show($"吸盘控制串口 {suctioncupport.PortName} 已成功打开", "提示", + MessageBoxButtons.OK, MessageBoxIcon.Information); + } + } + catch (UnauthorizedAccessException) + { + MessageBox.Show("串口访问被拒绝，可能已被其他程序占用！", "错误", + MessageBoxButtons.OK, MessageBoxIcon.Error); + } + catch (ArgumentException) + { + MessageBox.Show("串口名称无效！", "错误", + MessageBoxButtons.OK, MessageBoxIcon.Error); + } + catch (InvalidOperationException) + { + MessageBox.Show("串口已经处于打开状态！", "错误", + MessageBoxButtons.OK, MessageBoxIcon.Error); + } + catch (Exception ex) + { + MessageBox.Show($"操作串口时发生错误: {ex.Message}", "错误", + MessageBoxButtons.OK, MessageBoxIcon.Error); + } + } + private void UpdateUIStatus(bool isPortOpen, Button button, ComboBox comboBox) + { + if (isPortOpen) + { + button.Text = "关闭串口"; + comboBox.Enabled = false; // 串口打开时禁用选择框 + } + else + { + button.Text = "打开串口"; + comboBox.Enabled = true; // 串口关闭时启用选择框 + } + } + // ComboBox选择变化处理方法 + public void OnComboBoxSelectedIndexChanged(ComboBox comboBox, Button button) + { + if (suctioncupport != null && suctioncupport.IsOpen) + { + try + { + suctioncupport.Close(); + UpdateUIStatus(false, button, comboBox); + } + catch (Exception ex) + { + MessageBox.Show($"关闭串口时发生错误: {ex.Message}", "错误", + MessageBoxButtons.OK, MessageBoxIcon.Error); + } + } + // 设置新选择的串口名称 + if (comboBox.SelectedItem != null) + { + suctioncupport.PortName = comboBox.SelectedItem.ToString(); + } + } + public void SendCommand(string command) + { + if (suctioncupport != null && suctioncupport.IsOpen) + { + try + { + suctioncupport.Write(command); + } + catch (Exception ex) + { + MessageBox.Show($"发送吸盘控制命令失败: {ex.Message}", "错误", + MessageBoxButtons.OK, MessageBoxIcon.Error); + } + } + else + { + MessageBox.Show("吸盘控制串口未打开", "提示", + MessageBoxButtons.OK, MessageBoxIcon.Warning); + } + } + // 资源释放方法 + public void OnFormClosing() + { + try + { + if (suctioncupport != null && suctioncupport.IsOpen) + { + suctioncupport.Close(); + } + suctioncupport?.Dispose(); + } + catch (Exception ex) + { + MessageBox.Show($"关闭吸盘控制串口时发生错误: {ex.Message}", "错误", + MessageBoxButtons.OK, MessageBoxIcon.Error); + } + } + + } +} diff --git a/HitBotCSharpDemo/ZoomControl.cs b/HitBotCSharpDemo/ZoomControl.cs index 7d92491..6879e59 100644 --- a/HitBotCSharpDemo/ZoomControl.cs +++ b/HitBotCSharpDemo/ZoomControl.cs @@ -92,11 +92,7 @@ namespace HitBotCSharpDemo comboBox.Items.Add(port); } // 默认选择第一个串口 - if (comboBox.Items.Count > 1) - { - comboBox.SelectedIndex = 1; - } - else if 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tcp_distance 1.989091 2025-06-25 11:44:47.747 angle1_1 = -62.489380 angle2_1 = 32.777206 z1 = -97.717201 r1 = -1005.755005 angle1_2 = -61.995823 angle2_2 = 31.328243 z2 = -97.717201 r2 = -1005.755005 +2025-06-25 15:03:32.476 SDK_VERSION_V2.0.0.29_Release +2025-06-25 15:03:32.478 robot connected +2025-06-25 15:03:32.478 26 +2025-06-25 15:03:32.478 current generation=26 +2025-06-25 15:03:32.988 0x1a +2025-06-25 15:03:33.902 initial joint2 912506 +2025-06-25 15:03:33.903 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-25 15:03:33.903 robot WritePID +2025-06-25 15:03:34.212 initial joint1 -902880 +2025-06-25 15:03:34.259 initial joint2 912506 +2025-06-25 15:03:34.306 initial joint3 -284624 +2025-06-25 15:03:34.353 initial joint4 -23363733 +2025-06-25 15:03:34.384 initial joint1 -902880 +2025-06-25 15:03:34.431 initial joint2 912507 +2025-06-25 15:03:34.478 initial joint3 -284628 +2025-06-25 15:03:34.525 initial joint4 -23363735 +2025-06-25 15:03:34.541 initial joint1 -902880 +2025-06-25 15:03:34.587 initial joint2 912507 +2025-06-25 15:03:34.632 initial joint3 -284632 +2025-06-25 15:03:34.677 initial joint4 -23363736 +2025-06-25 15:03:36.842 initial_thread initialized +2025-06-25 15:03:36.842 servo enable +2025-06-25 15:03:36.842 brake open +2025-06-25 15:03:36.843 set_brake_state 0 1 +2025-06-25 15:03:37.055 robot initialized +2025-06-25 15:03:37.629 get_scara_param -61.995800 31.328501 -97.720901 -1005.755127 +2025-06-25 15:03:37.629 get_scara_real_coor -61.995800 31.328400 -97.721298 -1005.755188 +2025-06-25 15:03:37.630 λɢ +2025-06-25 15:03:37.630 position -902879.312500 912508.687500 -284632.750000 -23363738.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-25 15:03:37.630 speed 61995.800781 31328.498047 97720.898438 962556.437500 +2025-06-25 15:03:37.631 set_first_position_after_initial +2025-06-25 15:03:37.632 movej_old start_pos: -61.995804 31.328499 -97.720901 -1005.755066 end_pos: -61.995804 31.328499 -97.720901 -1005.755066 org_sp 10.000000 end_sp 10.000000 +2025-06-25 15:03:37.923 J3 Belt Meilage=40.953625km +2025-06-25 15:03:44.186 wait_stop in +2025-06-25 15:03:44.223 wait_stop out_0 +2025-06-25 15:03:45.143 30 30 30 30 +2025-06-25 15:03:45.145 new_movej_xyz_lr 275.326599 -294.251312 -97.720901 -1005.755127 2.000000 0.000000 1 +2025-06-25 15:03:45.145 goal_angle -62.489384 32.777504 +2025-06-25 15:03:45.146 new_movej_angle -62.489384 32.777504 -97.720901 -1005.755127 0.000000 2.000000 +2025-06-25 15:03:45.146 z1 -97.720901 z2 -97.720901 +2025-06-25 15:03:45.146 angle1_1 -61.995804 angle2_1 31.328499 z1 -97.720901 r1 -1005.755066 +2025-06-25 15:03:45.146 angle1_2 -62.489384 angle2_2 32.777504 z2 -97.720901 r2 -1005.755127 +2025-06-25 15:03:45.146 speed 2.000000 +2025-06-25 15:03:45.147 tcp_distance 1.988886 +2025-06-25 15:03:45.147 new_end_speed 2.000000 j1_acc_t 0.497221 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.085739 +2025-06-25 15:03:45.147 new_end_speed 2.000000 j2_acc_t 0.497221 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 3.187410 +2025-06-25 15:03:45.147 new_end_speed 2.000000 j3_acc_t 0.497221 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-25 15:03:45.147 new_end_speed 2.000000 j4_acc_t 0.497221 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000134 +2025-06-25 15:03:45.148 end_speed 2.000000 +2025-06-25 15:03:45.148 trail_number0.994443 +2025-06-25 15:03:45.148 tcp_distance 1.988886 +2025-06-25 15:03:45.148 angle1_1 = -61.995804 angle2_1 = 31.328499 z1 = -97.720901 r1 = -1005.755066 angle1_2 = -62.489384 angle2_2 = 32.777504 z2 = -97.720901 r2 = -1005.755127 +2025-06-25 15:03:48.025 wait_stop in +2025-06-25 15:03:48.052 wait_stop out_0 +2025-06-25 15:03:49.513 30 30 30 30 +2025-06-25 15:03:49.513 new_movej_xyz_lr 275.326599 -292.251312 -97.720901 -1005.755127 2.000000 0.000000 1 +2025-06-25 15:03:49.513 goal_angle -62.950874 34.162365 +2025-06-25 15:03:49.513 new_movej_angle -62.950874 34.162365 -97.720901 -1005.755127 0.000000 2.000000 +2025-06-25 15:03:49.514 z1 -97.720901 z2 -97.720901 +2025-06-25 15:03:49.514 angle1_1 -62.489384 angle2_1 32.777504 z1 -97.720901 r1 -1005.755127 +2025-06-25 15:03:49.514 angle1_2 -62.950874 angle2_2 34.162365 z2 -97.720901 r2 -1005.755127 +2025-06-25 15:03:49.514 speed 2.000000 +2025-06-25 15:03:49.514 tcp_distance 1.988873 +2025-06-25 15:03:49.514 new_end_speed 2.000000 j1_acc_t 0.497218 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 1.015159 +2025-06-25 15:03:49.515 new_end_speed 2.000000 j2_acc_t 0.497218 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 3.046332 +2025-06-25 15:03:49.515 new_end_speed 2.000000 j3_acc_t 0.497218 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-25 15:03:49.515 new_end_speed 2.000000 j4_acc_t 0.497218 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 15:03:49.515 end_speed 2.000000 +2025-06-25 15:03:49.515 trail_number0.994437 +2025-06-25 15:03:49.515 tcp_distance 1.988873 +2025-06-25 15:03:49.516 angle1_1 = -62.489384 angle2_1 = 32.777504 z1 = -97.720901 r1 = -1005.755127 angle1_2 = -62.950874 angle2_2 = 34.162365 z2 = -97.720901 r2 = -1005.755127 +2025-06-25 15:03:58.366 _new_stop_move_thread_0 +2025-06-25 15:03:58.366 j1_slow_down_t = 0 +2025-06-25 15:03:58.366 j2_slow_down_t = 2 +2025-06-25 15:03:58.367 j3_slow_down_t = 0 +2025-06-25 15:03:58.367 j4_slow_down_t = 0 +2025-06-25 15:03:58.367 tmp_t[3] = 2 +2025-06-25 15:03:58.367 _new_stop_move_thread_1 +2025-06-25 15:03:58.475 jog_move_xyzr return 99 ͣ +2025-06-25 15:03:58.506 _new_stop_move_thread_2 +2025-06-25 15:03:58.537 _new_stop_move_thread_3 +2025-06-25 15:03:58.537 get_scara_param -69.217499 59.775700 -97.721298 -1005.793213 +2025-06-25 15:03:58.539 get_scara_real_coor -69.217499 59.775700 -97.721298 -1005.793091 +2025-06-25 15:03:58.539 _new_stop_move_thread_4 +2025-06-25 15:03:58.678 wait_stop in +2025-06-25 15:03:58.710 wait_stop out_0 +2025-06-25 15:07:40.028 SDK_VERSION_V2.0.0.29_Release +2025-06-25 15:07:40.028 robot connected +2025-06-25 15:07:40.028 26 +2025-06-25 15:07:40.028 current generation=26 +2025-06-25 15:07:40.542 0x1a +2025-06-25 15:07:41.294 initial joint2 1741539 +2025-06-25 15:07:41.294 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-25 15:07:41.294 robot WritePID +2025-06-25 15:07:41.605 initial joint1 -1008176 +2025-06-25 15:07:41.654 initial joint2 1741539 +2025-06-25 15:07:41.681 initial joint3 -284637 +2025-06-25 15:07:41.728 initial joint4 -23602809 +2025-06-25 15:07:41.744 initial joint1 -1008176 +2025-06-25 15:07:41.780 initial joint2 1741540 +2025-06-25 15:07:41.832 initial joint3 -284639 +2025-06-25 15:07:41.876 initial joint4 -23602810 +2025-06-25 15:07:41.905 initial joint1 -1008176 +2025-06-25 15:07:41.950 initial joint2 1741540 +2025-06-25 15:07:41.998 initial joint3 -284639 +2025-06-25 15:07:42.047 initial joint4 -23602811 +2025-06-25 15:07:44.203 initial_thread initialized +2025-06-25 15:07:44.203 servo enable +2025-06-25 15:07:44.203 brake open +2025-06-25 15:07:44.203 set_brake_state 0 1 +2025-06-25 15:07:44.415 robot initialized +2025-06-25 15:07:44.963 get_scara_param -69.225899 59.791100 -97.723701 -1005.757324 +2025-06-25 15:07:44.963 get_scara_real_coor -69.225899 59.791100 -97.724403 -1005.757324 +2025-06-25 15:07:44.963 set_first_position_after_initial +2025-06-25 15:07:44.964 movej_old start_pos: -69.225899 59.791100 -97.723701 -1005.757263 end_pos: -69.225899 59.791100 -97.723701 -1005.757263 org_sp 10.000000 end_sp 10.000000 +2025-06-25 15:07:45.269 J3 Belt Meilage=40.953674km +2025-06-25 15:07:48.827 30 30 30 30 +2025-06-25 15:07:48.827 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 15:07:48.827 goal_angle -61.881187 31.250517 +2025-06-25 15:07:48.829 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 15:07:48.829 z1 -97.723701 z2 -97.620598 +2025-06-25 15:07:48.829 angle1_1 -69.225899 angle2_1 59.791100 z1 -97.723701 r1 -1005.757263 +2025-06-25 15:07:48.829 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994 +2025-06-25 15:07:48.829 speed 100.000000 +2025-06-25 15:07:48.829 tcp_distance 57.696365 +2025-06-25 15:07:48.830 new_end_speed 100.000000 j1_acc_t 0.288482 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 27.846727 +2025-06-25 15:07:48.830 new_end_speed 100.000000 j2_acc_t 0.288482 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 108.208725 +2025-06-25 15:07:48.830 new_end_speed 100.000000 j3_acc_t 0.288482 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.390907 +2025-06-25 15:07:48.830 new_end_speed 100.000000 j4_acc_t 0.288482 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 1.092943 +2025-06-25 15:07:48.830 end_speed 100.000000 +2025-06-25 15:07:48.830 trail_number0.576964 +2025-06-25 15:07:48.830 tcp_distance 57.696365 +2025-06-25 15:07:48.830 angle1_1 = -69.225899 angle2_1 = 59.791100 z1 = -97.723701 r1 = -1005.757263 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 15:18:09.228 SDK_VERSION_V2.0.0.29_Release +2025-06-25 15:18:09.228 robot connected +2025-06-25 15:18:09.228 26 +2025-06-25 15:18:09.228 current generation=26 +2025-06-25 15:18:09.739 0x1a +2025-06-25 15:18:10.619 initial joint2 910242 +2025-06-25 15:18:10.619 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-25 15:18:10.619 robot WritePID +2025-06-25 15:18:10.929 initial joint1 -901210 +2025-06-25 15:18:10.975 initial joint2 910241 +2025-06-25 15:18:11.021 initial joint3 -284351 +2025-06-25 15:18:11.068 initial joint4 -23358442 +2025-06-25 15:18:11.084 initial joint1 -901210 +2025-06-25 15:18:11.146 initial joint2 910242 +2025-06-25 15:18:11.207 initial joint3 -284350 +2025-06-25 15:18:11.254 initial joint4 -23358443 +2025-06-25 15:18:11.270 initial joint1 -901210 +2025-06-25 15:18:11.316 initial joint2 910242 +2025-06-25 15:18:11.364 initial joint3 -284354 +2025-06-25 15:18:11.425 initial joint4 -23358445 +2025-06-25 15:18:13.576 initial_thread initialized +2025-06-25 15:18:13.576 servo enable +2025-06-25 15:18:13.576 brake open +2025-06-25 15:18:13.578 set_brake_state 0 1 +2025-06-25 15:18:13.793 robot initialized +2025-06-25 15:18:14.352 get_scara_param -61.881100 31.250700 -97.626198 -1005.469116 +2025-06-25 15:18:14.352 get_scara_real_coor -61.881199 31.250799 -97.626503 -1005.469116 +2025-06-25 15:18:14.352 λɢ +2025-06-25 15:18:14.352 position -901208.812500 910242.562500 -284356.906250 -23358448.000000 -1005914.937500 1710058.625000 -284632.750000 -23590786.000000 +2025-06-25 15:18:14.353 speed 7189.599121 27459.505859 94.703438 9572.031250 +2025-06-25 15:18:14.353 set_first_position_after_initial +2025-06-25 15:18:14.354 movej_old start_pos: -61.881100 31.250698 -97.626198 -1005.469116 end_pos: -61.881100 31.250603 -97.626198 -1005.469116 org_sp 10.000000 end_sp 0.768450 +2025-06-25 15:18:14.647 J3 Belt Meilage=40.953777km +2025-06-25 15:18:16.104 30 30 30 30 +2025-06-25 15:18:16.105 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 15:18:16.105 goal_angle -66.454506 86.491570 +2025-06-25 15:18:16.107 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-25 15:18:16.107 z1 -97.626198 z2 -99.620598 +2025-06-25 15:18:16.107 angle1_1 -61.881100 angle2_1 31.250603 z1 -97.626198 r1 -1005.469116 +2025-06-25 15:18:16.107 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-25 15:18:16.107 speed 100.000000 +2025-06-25 15:18:16.108 tcp_distance 167.797348 +2025-06-25 15:18:16.108 new_end_speed 100.000000 j1_acc_t 0.838987 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.962150 +2025-06-25 15:18:16.108 new_end_speed 100.000000 j2_acc_t 0.838987 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 72.015236 +2025-06-25 15:18:16.108 new_end_speed 100.000000 j3_acc_t 0.838987 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 2.600012 +2025-06-25 15:18:16.108 new_end_speed 100.000000 j4_acc_t 0.838987 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000159 +2025-06-25 15:18:16.108 end_speed 100.000000 +2025-06-25 15:18:16.109 trail_number1.677974 +2025-06-25 15:18:16.109 tcp_distance 167.797348 +2025-06-25 15:18:16.109 angle1_1 = -61.881100 angle2_1 = 31.250603 z1 = -97.626198 r1 = -1005.469116 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-25 15:18:34.560 30 30 30 30 +2025-06-25 15:18:34.560 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 15:18:34.560 goal_angle -46.207226 99.506226 +2025-06-25 15:18:34.561 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 15:18:34.561 z1 -99.620598 z2 -97.620598 +2025-06-25 15:18:34.561 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-25 15:18:34.561 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-25 15:18:34.561 speed 100.000000 +2025-06-25 15:18:34.561 tcp_distance 135.547607 +2025-06-25 15:18:34.562 new_end_speed 100.000000 j1_acc_t 0.677738 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.675541 +2025-06-25 15:18:34.562 new_end_speed 100.000000 j2_acc_t 0.677738 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.003363 +2025-06-25 15:18:34.562 new_end_speed 100.000000 j3_acc_t 0.677738 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 3.227648 +2025-06-25 15:18:34.562 new_end_speed 100.000000 j4_acc_t 0.677738 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 15:18:34.562 end_speed 100.000000 +2025-06-25 15:18:34.562 trail_number1.355476 +2025-06-25 15:18:34.563 tcp_distance 135.547607 +2025-06-25 15:18:34.563 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 15:19:05.700 30 30 30 30 +2025-06-25 15:19:05.700 new_movej_xyz_lr 271.779297 149.383698 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 15:19:05.700 goal_angle -11.173326 84.928253 +2025-06-25 15:19:05.700 new_movej_angle -11.173326 84.928253 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 15:19:05.703 z1 -97.620598 z2 -97.620598 +2025-06-25 15:19:05.703 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-25 15:19:05.703 angle1_2 -11.173326 angle2_2 84.928253 z2 -97.620598 r2 -1005.468994 +2025-06-25 15:19:05.703 speed 100.000000 +2025-06-25 15:19:05.703 tcp_distance 148.893738 +2025-06-25 15:19:05.703 new_end_speed 100.000000 j1_acc_t 0.744469 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.470680 +2025-06-25 15:19:05.703 new_end_speed 100.000000 j2_acc_t 0.744469 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.417490 +2025-06-25 15:19:05.703 new_end_speed 100.000000 j3_acc_t 0.744469 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-25 15:19:05.703 new_end_speed 100.000000 j4_acc_t 0.744469 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 15:19:05.705 end_speed 100.000000 +2025-06-25 15:19:05.705 trail_number1.488937 +2025-06-25 15:19:05.705 tcp_distance 148.893738 +2025-06-25 15:19:05.705 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -11.173326 angle2_2 = 84.928253 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 15:19:16.215 30 30 30 30 +2025-06-25 15:19:16.215 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 15:19:16.215 goal_angle -66.454506 86.491570 +2025-06-25 15:19:16.215 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-25 15:19:16.215 z1 -97.620598 z2 -99.620598 +2025-06-25 15:19:16.215 angle1_1 -11.173326 angle2_1 84.928253 z1 -97.620598 r1 -1005.468994 +2025-06-25 15:19:16.215 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-25 15:19:16.215 speed 100.000000 +2025-06-25 15:19:16.217 tcp_distance 291.932892 +2025-06-25 15:19:16.217 new_end_speed 100.000000 j1_acc_t 1.459664 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 41.423069 +2025-06-25 15:19:16.217 new_end_speed 100.000000 j2_acc_t 1.459664 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.171418 +2025-06-25 15:19:16.217 new_end_speed 100.000000 j3_acc_t 1.459664 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 1.498632 +2025-06-25 15:19:16.217 new_end_speed 100.000000 j4_acc_t 1.459664 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 15:19:16.217 end_speed 100.000000 +2025-06-25 15:19:16.217 trail_number2.919329 +2025-06-25 15:19:16.217 tcp_distance 291.932892 +2025-06-25 15:19:16.218 angle1_1 = -11.173326 angle2_1 = 84.928253 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-25 15:19:18.919 30 30 30 30 +2025-06-25 15:19:18.920 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 15:19:18.920 goal_angle -46.207226 99.506226 +2025-06-25 15:19:18.920 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 15:19:18.920 z1 -99.620598 z2 -97.620598 +2025-06-25 15:19:18.920 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-25 15:19:18.920 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-25 15:19:18.922 speed 100.000000 +2025-06-25 15:19:18.922 tcp_distance 135.547607 +2025-06-25 15:19:18.922 new_end_speed 100.000000 j1_acc_t 0.677738 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.675541 +2025-06-25 15:19:18.922 new_end_speed 100.000000 j2_acc_t 0.677738 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.003363 +2025-06-25 15:19:18.922 new_end_speed 100.000000 j3_acc_t 0.677738 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 3.227648 +2025-06-25 15:19:18.922 new_end_speed 100.000000 j4_acc_t 0.677738 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 15:19:18.922 end_speed 100.000000 +2025-06-25 15:19:18.922 trail_number1.355476 +2025-06-25 15:19:18.922 tcp_distance 135.547607 +2025-06-25 15:19:19.167 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 15:19:59.530 30 30 30 30 +2025-06-25 15:19:59.530 new_movej_xyz_lr 271.779297 149.383698 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 15:19:59.530 goal_angle -11.173326 84.928253 +2025-06-25 15:19:59.530 new_movej_angle -11.173326 84.928253 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 15:19:59.530 z1 -97.620598 z2 -97.620598 +2025-06-25 15:19:59.531 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-25 15:19:59.531 angle1_2 -11.173326 angle2_2 84.928253 z2 -97.620598 r2 -1005.468994 +2025-06-25 15:19:59.531 speed 100.000000 +2025-06-25 15:19:59.531 tcp_distance 148.893738 +2025-06-25 15:19:59.531 new_end_speed 100.000000 j1_acc_t 0.744469 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.470680 +2025-06-25 15:19:59.531 new_end_speed 100.000000 j2_acc_t 0.744469 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.417490 +2025-06-25 15:19:59.531 new_end_speed 100.000000 j3_acc_t 0.744469 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-25 15:19:59.531 new_end_speed 100.000000 j4_acc_t 0.744469 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 15:19:59.531 end_speed 100.000000 +2025-06-25 15:19:59.534 trail_number1.488937 +2025-06-25 15:19:59.534 tcp_distance 148.893738 +2025-06-25 15:19:59.534 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -11.173326 angle2_2 = 84.928253 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 15:21:01.416 30 30 30 30 +2025-06-25 15:21:01.416 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 15:21:01.416 goal_angle -46.207226 99.506226 +2025-06-25 15:21:01.416 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 15:21:01.417 z1 -97.620598 z2 -97.620598 +2025-06-25 15:21:01.417 angle1_1 -11.173326 angle2_1 84.928253 z1 -97.620598 r1 -1005.468994 +2025-06-25 15:21:01.417 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-25 15:21:01.417 speed 100.000000 +2025-06-25 15:21:01.417 tcp_distance 148.983566 +2025-06-25 15:21:01.417 new_end_speed 100.000000 j1_acc_t 0.744918 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.439697 +2025-06-25 15:21:01.417 new_end_speed 100.000000 j2_acc_t 0.744918 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.404598 +2025-06-25 15:21:01.417 new_end_speed 100.000000 j3_acc_t 0.744918 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-25 15:21:01.417 new_end_speed 100.000000 j4_acc_t 0.744918 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 15:21:01.417 end_speed 100.000000 +2025-06-25 15:21:01.417 trail_number1.489836 +2025-06-25 15:21:01.417 tcp_distance 148.983566 +2025-06-25 15:21:01.417 angle1_1 = -11.173326 angle2_1 = 84.928253 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 15:21:08.447 wait_stop in +2025-06-25 15:21:08.483 wait_stop out_0 +2025-06-25 15:21:10.610 30 30 30 30 +2025-06-25 15:21:10.610 new_movej_xyz_lr 271.779297 3.546500 -97.620598 -1005.468994 2.000000 0.000000 1 +2025-06-25 15:21:10.610 goal_angle -45.782665 99.499504 +2025-06-25 15:21:10.610 new_movej_angle -45.782665 99.499504 -97.620598 -1005.468994 0.000000 2.000000 +2025-06-25 15:21:10.610 z1 -97.620598 z2 -97.620598 +2025-06-25 15:21:10.610 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-25 15:21:10.610 angle1_2 -45.782665 angle2_2 99.499504 z2 -97.620598 r2 -1005.468994 +2025-06-25 15:21:10.612 speed 2.000000 +2025-06-25 15:21:10.612 tcp_distance 1.988919 +2025-06-25 15:21:10.612 new_end_speed 2.000000 j1_acc_t 0.497230 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.933900 +2025-06-25 15:21:10.612 new_end_speed 2.000000 j2_acc_t 0.497230 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.014785 +2025-06-25 15:21:10.612 new_end_speed 2.000000 j3_acc_t 0.497230 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-25 15:21:10.612 new_end_speed 2.000000 j4_acc_t 0.497230 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 15:21:10.612 end_speed 2.000000 +2025-06-25 15:21:10.612 trail_number0.994459 +2025-06-25 15:21:10.612 tcp_distance 1.988919 +2025-06-25 15:21:10.612 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -45.782665 angle2_2 = 99.499504 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 15:21:21.230 _new_stop_move_thread_0 +2025-06-25 15:21:21.231 j1_slow_down_t = 3 +2025-06-25 15:21:21.231 j2_slow_down_t = 0 +2025-06-25 15:21:21.231 j3_slow_down_t = 0 +2025-06-25 15:21:21.231 j4_slow_down_t = 0 +2025-06-25 15:21:21.231 tmp_t[3] = 3 +2025-06-25 15:21:21.231 _new_stop_move_thread_1 +2025-06-25 15:21:21.338 jog_move_xyzr return 99 ͣ +2025-06-25 15:21:21.383 _new_stop_move_thread_2 +2025-06-25 15:21:21.415 _new_stop_move_thread_3 +2025-06-25 15:21:21.415 get_scara_param -29.830700 95.950104 -97.625198 -1005.542725 +2025-06-25 15:21:21.415 get_scara_real_coor -29.830700 95.950104 -97.625198 -1005.542603 +2025-06-25 15:21:21.415 _new_stop_move_thread_4 +2025-06-25 15:21:21.552 wait_stop in +2025-06-25 15:21:21.583 wait_stop out_0 +2025-06-25 15:21:34.829 _new_stop_move_thread_0 +2025-06-25 15:21:34.829 j1_slow_down_t = 0 +2025-06-25 15:21:34.829 j2_slow_down_t = 1 +2025-06-25 15:21:34.829 j3_slow_down_t = 0 +2025-06-25 15:21:34.829 j4_slow_down_t = 0 +2025-06-25 15:21:34.829 tmp_t[3] = 1 +2025-06-25 15:21:34.829 _new_stop_move_thread_1 +2025-06-25 15:21:34.939 jog_move_xyzr return 99 ͣ +2025-06-25 15:21:34.986 _new_stop_move_thread_2 +2025-06-25 15:21:35.018 _new_stop_move_thread_3 +2025-06-25 15:21:35.019 get_scara_param -30.198999 97.219200 -97.625504 -1005.550720 +2025-06-25 15:21:35.019 get_scara_real_coor -30.198999 97.219200 -97.625504 -1005.550598 +2025-06-25 15:21:35.019 _new_stop_move_thread_4 +2025-06-25 15:21:35.158 wait_stop in +2025-06-25 15:21:35.189 wait_stop out_0 +2025-06-25 15:21:41.691 _new_stop_move_thread_0 +2025-06-25 15:21:41.691 j1_slow_down_t = 1 +2025-06-25 15:21:41.691 j2_slow_down_t = 2 +2025-06-25 15:21:41.694 j3_slow_down_t = 0 +2025-06-25 15:21:41.694 j4_slow_down_t = 0 +2025-06-25 15:21:41.694 tmp_t[3] = 2 +2025-06-25 15:21:41.694 _new_stop_move_thread_1 +2025-06-25 15:21:41.742 jog_move_xyzr return 99 ͣ +2025-06-25 15:21:41.858 _new_stop_move_thread_2 +2025-06-25 15:21:41.881 _new_stop_move_thread_3 +2025-06-25 15:21:41.881 get_scara_param -28.070000 90.283798 -97.626198 -1005.556885 +2025-06-25 15:21:41.881 get_scara_real_coor -28.070000 90.283798 -97.626198 -1005.556885 +2025-06-25 15:21:41.882 _new_stop_move_thread_4 +2025-06-25 15:21:41.954 wait_stop in +2025-06-25 15:21:41.992 wait_stop out_0 +2025-06-25 15:21:59.188 _new_stop_move_thread_0 +2025-06-25 15:21:59.188 j1_slow_down_t = 0 +2025-06-25 15:21:59.188 j2_slow_down_t = 0 +2025-06-25 15:21:59.188 j3_slow_down_t = 2 +2025-06-25 15:21:59.188 j4_slow_down_t = 0 +2025-06-25 15:21:59.188 tmp_t[3] = 2 +2025-06-25 15:21:59.188 _new_stop_move_thread_1 +2025-06-25 15:21:59.242 jog_move_xyzr return 99 ͣ +2025-06-25 15:21:59.357 _new_stop_move_thread_2 +2025-06-25 15:21:59.378 _new_stop_move_thread_3 +2025-06-25 15:21:59.378 get_scara_param -28.070000 90.283997 -112.467697 -1005.556824 +2025-06-25 15:21:59.378 get_scara_real_coor -28.070000 90.283997 -112.467697 -1005.556824 +2025-06-25 15:21:59.380 _new_stop_move_thread_4 +2025-06-25 15:21:59.448 wait_stop in +2025-06-25 15:21:59.484 wait_stop out_0 +2025-06-25 15:22:00.723 _new_stop_move_thread_0 +2025-06-25 15:22:00.723 j1_slow_down_t = 0 +2025-06-25 15:22:00.724 j2_slow_down_t = 0 +2025-06-25 15:22:00.724 j3_slow_down_t = 1 +2025-06-25 15:22:00.724 j4_slow_down_t = 0 +2025-06-25 15:22:00.724 tmp_t[3] = 1 +2025-06-25 15:22:00.724 _new_stop_move_thread_1 +2025-06-25 15:22:00.755 jog_move_xyzr return 99 ͣ +2025-06-25 15:22:00.863 _new_stop_move_thread_2 +2025-06-25 15:22:00.886 _new_stop_move_thread_3 +2025-06-25 15:22:00.886 get_scara_param -28.070000 90.284302 -116.178299 -1005.556824 +2025-06-25 15:22:00.886 get_scara_real_coor -28.070000 90.284302 -116.178299 -1005.556702 +2025-06-25 15:22:00.886 _new_stop_move_thread_4 +2025-06-25 15:22:00.968 wait_stop in +2025-06-25 15:22:00.999 wait_stop out_0 +2025-06-25 15:22:01.803 _new_stop_move_thread_0 +2025-06-25 15:22:01.803 j1_slow_down_t = 0 +2025-06-25 15:22:01.803 j2_slow_down_t = 0 +2025-06-25 15:22:01.803 j3_slow_down_t = 1 +2025-06-25 15:22:01.803 j4_slow_down_t = 0 +2025-06-25 15:22:01.808 tmp_t[3] = 1 +2025-06-25 15:22:01.808 _new_stop_move_thread_1 +2025-06-25 15:22:01.971 _new_stop_move_thread_2 +2025-06-25 15:22:01.980 jog_move_xyzr return 99 ͣ +2025-06-25 15:22:01.999 _new_stop_move_thread_3 +2025-06-25 15:22:01.999 get_scara_param -28.070101 90.284500 -118.069000 -1005.556824 +2025-06-25 15:22:01.999 get_scara_real_coor -28.070101 90.284500 -118.069000 -1005.556824 +2025-06-25 15:22:01.999 _new_stop_move_thread_4 +2025-06-25 15:22:02.192 wait_stop in +2025-06-25 15:22:02.237 wait_stop out_0 +2025-06-25 15:22:02.524 _new_stop_move_thread_0 +2025-06-25 15:22:02.524 j1_slow_down_t = 0 +2025-06-25 15:22:02.524 j2_slow_down_t = 0 +2025-06-25 15:22:02.524 j3_slow_down_t = 0 +2025-06-25 15:22:02.524 j4_slow_down_t = 0 +2025-06-25 15:22:02.525 tmp_t[3] = 0 +2025-06-25 15:22:02.525 _new_stop_move_thread_1 +2025-06-25 15:22:02.674 _new_stop_move_thread_2 +2025-06-25 15:22:02.690 jog_move_xyzr return 99 ͣ +2025-06-25 15:22:02.706 _new_stop_move_thread_3 +2025-06-25 15:22:02.706 get_scara_param -28.070101 90.284599 -118.575104 -1005.556885 +2025-06-25 15:22:02.706 get_scara_real_coor -28.070101 90.284599 -118.575104 -1005.557007 +2025-06-25 15:22:02.707 _new_stop_move_thread_4 +2025-06-25 15:22:02.918 _new_stop_move_thread_0 +2025-06-25 15:22:02.918 j1_slow_down_t = 0 +2025-06-25 15:22:02.928 j2_slow_down_t = 0 +2025-06-25 15:22:02.928 j3_slow_down_t = 0 +2025-06-25 15:22:02.928 j4_slow_down_t = 0 +2025-06-25 15:22:02.928 tmp_t[3] = 0 +2025-06-25 15:22:02.928 _new_stop_move_thread_1 +2025-06-25 15:22:03.035 jog_move_xyzr return 99 ͣ +2025-06-25 15:22:03.082 _new_stop_move_thread_2 +2025-06-25 15:22:03.108 jog_move_xyzr return 99 ͣ +2025-06-25 15:22:03.108 _new_stop_move_thread_3 +2025-06-25 15:22:03.108 get_scara_param -28.070200 90.284698 -118.839401 -1005.556885 +2025-06-25 15:22:03.108 get_scara_real_coor -28.070200 90.284698 -118.839401 -1005.556885 +2025-06-25 15:22:03.108 _new_stop_move_thread_4 +2025-06-25 15:22:03.245 wait_stop in +2025-06-25 15:22:03.278 wait_stop out_0 +2025-06-25 15:22:03.310 wait_stop in +2025-06-25 15:22:03.349 wait_stop out_0 +2025-06-25 15:22:10.139 _new_stop_move_thread_0 +2025-06-25 15:22:10.139 j1_slow_down_t = 0 +2025-06-25 15:22:10.139 j2_slow_down_t = 0 +2025-06-25 15:22:10.139 j3_slow_down_t = 0 +2025-06-25 15:22:10.139 j4_slow_down_t = 0 +2025-06-25 15:22:10.139 tmp_t[3] = 0 +2025-06-25 15:22:10.139 _new_stop_move_thread_1 +2025-06-25 15:22:10.268 jog_move_xyzr return 99 ͣ +2025-06-25 15:22:10.283 _new_stop_move_thread_2 +2025-06-25 15:22:10.304 _new_stop_move_thread_3 +2025-06-25 15:22:10.304 get_scara_param -28.070200 90.284897 -118.643700 -1005.556824 +2025-06-25 15:22:10.305 get_scara_real_coor -28.070200 90.284897 -118.643700 -1005.556824 +2025-06-25 15:22:10.305 _new_stop_move_thread_4 +2025-06-25 15:22:10.476 wait_stop in +2025-06-25 15:22:10.508 wait_stop out_0 +2025-06-25 15:22:12.289 _new_stop_move_thread_0 +2025-06-25 15:22:12.294 j1_slow_down_t = 0 +2025-06-25 15:22:12.294 j2_slow_down_t = 0 +2025-06-25 15:22:12.294 j3_slow_down_t = 1 +2025-06-25 15:22:12.294 j4_slow_down_t = 0 +2025-06-25 15:22:12.294 tmp_t[3] = 1 +2025-06-25 15:22:12.294 _new_stop_move_thread_1 +2025-06-25 15:22:12.428 _new_stop_move_thread_2 +2025-06-25 15:22:12.428 jog_move_xyzr return 99 ͣ +2025-06-25 15:22:12.458 _new_stop_move_thread_3 +2025-06-25 15:22:12.458 get_scara_param -28.070101 90.284897 -117.512802 -1005.556824 +2025-06-25 15:22:12.458 get_scara_real_coor -28.070101 90.284897 -117.512802 -1005.556824 +2025-06-25 15:22:12.458 _new_stop_move_thread_4 +2025-06-25 15:22:12.639 wait_stop in +2025-06-25 15:22:12.672 wait_stop out_0 +2025-06-25 15:22:42.681 _new_stop_move_thread_0 +2025-06-25 15:22:42.681 j1_slow_down_t = 0 +2025-06-25 15:22:42.681 j2_slow_down_t = 0 +2025-06-25 15:22:42.681 j3_slow_down_t = 0 +2025-06-25 15:22:42.681 j4_slow_down_t = 0 +2025-06-25 15:22:42.681 tmp_t[3] = 0 +2025-06-25 15:22:42.681 _new_stop_move_thread_1 +2025-06-25 15:22:42.797 jog_move_xyzr return 99 ͣ +2025-06-25 15:22:42.845 _new_stop_move_thread_2 +2025-06-25 15:22:42.879 _new_stop_move_thread_3 +2025-06-25 15:22:42.879 get_scara_param -28.070101 90.285103 -118.166801 -1005.556824 +2025-06-25 15:22:42.879 get_scara_real_coor -28.070101 90.285103 -118.166801 -1005.556824 +2025-06-25 15:22:42.879 _new_stop_move_thread_4 +2025-06-25 15:22:43.005 wait_stop in +2025-06-25 15:22:43.037 wait_stop out_0 +2025-06-25 15:29:36.029 _new_stop_move_thread_0 +2025-06-25 15:29:36.029 j1_slow_down_t = 0 +2025-06-25 15:29:36.029 j2_slow_down_t = 0 +2025-06-25 15:29:36.029 j3_slow_down_t = 2 +2025-06-25 15:29:36.029 j4_slow_down_t = 0 +2025-06-25 15:29:36.034 tmp_t[3] = 2 +2025-06-25 15:29:36.034 _new_stop_move_thread_1 +2025-06-25 15:29:36.177 _new_stop_move_thread_2 +2025-06-25 15:29:36.200 _new_stop_move_thread_3 +2025-06-25 15:29:36.200 get_scara_param -28.070101 90.285301 -95.213303 -1005.556580 +2025-06-25 15:29:36.200 get_scara_real_coor -28.070101 90.285301 -95.213303 -1005.556824 +2025-06-25 15:29:36.200 _new_stop_move_thread_4 +2025-06-25 15:29:36.215 wait_stop in +2025-06-25 15:29:36.241 wait_stop out_0 +2025-06-25 20:44:44.101 SDK_VERSION_V2.0.0.29_Release +2025-06-25 20:44:44.101 robot connected +2025-06-25 20:44:44.104 26 +2025-06-25 20:44:44.104 current generation=26 +2025-06-25 20:44:44.616 0x1a +2025-06-25 20:44:45.421 initial joint2 2629748 +2025-06-25 20:44:45.421 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-25 20:44:45.421 robot WritePID +2025-06-25 20:44:45.723 initial joint1 -408800 +2025-06-25 20:44:45.764 initial joint2 2629749 +2025-06-25 20:44:45.802 initial joint3 -275190 +2025-06-25 20:44:45.859 initial joint4 -25041009 +2025-06-25 20:44:45.875 initial joint1 -408800 +2025-06-25 20:44:45.917 initial joint2 2629751 +2025-06-25 20:44:45.962 initial joint3 -275190 +2025-06-25 20:44:46.005 initial joint4 -25041009 +2025-06-25 20:44:46.020 initial joint1 -408801 +2025-06-25 20:44:46.075 initial joint2 2629754 +2025-06-25 20:44:46.137 initial joint3 -275190 +2025-06-25 20:44:46.182 initial joint4 -25041009 +2025-06-25 20:44:48.421 initial_thread initialized +2025-06-25 20:44:48.421 servo enable +2025-06-25 20:44:48.421 brake open +2025-06-25 20:44:48.421 set_brake_state 0 1 +2025-06-25 20:44:48.629 robot initialized +2025-06-25 20:44:49.221 get_scara_param -28.070200 90.285500 -94.479301 -1005.556824 +2025-06-25 20:44:49.222 get_scara_real_coor -28.070101 90.285500 -94.478897 -1005.556580 +2025-06-25 20:44:49.222 λɢ +2025-06-25 20:44:49.222 position -408801.906250 2629755.750000 -275190.906250 -25041012.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-25 20:44:49.222 speed 28070.199219 90285.492188 94479.304688 1031657.937500 +2025-06-25 20:44:49.222 set_first_position_after_initial +2025-06-25 20:44:49.225 movej_old start_pos: -28.070200 90.285500 -94.479301 -1005.556824 end_pos: -28.070200 90.285500 -94.479301 -1005.556824 org_sp 10.000000 end_sp 10.000000 +2025-06-25 20:44:49.507 J3 Belt Meilage=40.956001km +2025-06-25 20:45:36.492 _new_stop_move_thread_0 +2025-06-25 20:45:36.493 j1_slow_down_t = 0 +2025-06-25 20:45:36.493 j2_slow_down_t = 0 +2025-06-25 20:45:36.494 j3_slow_down_t = 1 +2025-06-25 20:45:36.494 j4_slow_down_t = 0 +2025-06-25 20:45:36.494 tmp_t[3] = 1 +2025-06-25 20:45:36.494 _new_stop_move_thread_1 +2025-06-25 20:45:36.625 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:36.655 _new_stop_move_thread_2 +2025-06-25 20:45:36.686 _new_stop_move_thread_3 +2025-06-25 20:45:36.686 get_scara_param -28.070200 90.285599 -95.694603 -1005.556824 +2025-06-25 20:45:36.686 get_scara_real_coor -28.070200 90.285599 -95.694603 -1005.556824 +2025-06-25 20:45:36.686 _new_stop_move_thread_4 +2025-06-25 20:45:36.839 wait_stop in +2025-06-25 20:45:36.869 wait_stop out_0 +2025-06-25 20:45:38.272 _new_stop_move_thread_0 +2025-06-25 20:45:38.272 j1_slow_down_t = 0 +2025-06-25 20:45:38.272 j2_slow_down_t = 0 +2025-06-25 20:45:38.272 j3_slow_down_t = 1 +2025-06-25 20:45:38.273 j4_slow_down_t = 0 +2025-06-25 20:45:38.273 tmp_t[3] = 1 +2025-06-25 20:45:38.273 _new_stop_move_thread_1 +2025-06-25 20:45:38.337 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:38.430 _new_stop_move_thread_2 +2025-06-25 20:45:38.461 _new_stop_move_thread_3 +2025-06-25 20:45:38.461 get_scara_param -28.070200 90.285698 -99.395699 -1005.556824 +2025-06-25 20:45:38.461 get_scara_real_coor -28.070200 90.285698 -99.395699 -1005.556824 +2025-06-25 20:45:38.461 _new_stop_move_thread_4 +2025-06-25 20:45:39.496 _new_stop_move_thread_0 +2025-06-25 20:45:39.496 j1_slow_down_t = 0 +2025-06-25 20:45:39.496 j2_slow_down_t = 0 +2025-06-25 20:45:39.496 j3_slow_down_t = 3 +2025-06-25 20:45:39.497 j4_slow_down_t = 0 +2025-06-25 20:45:39.497 tmp_t[3] = 3 +2025-06-25 20:45:39.497 _new_stop_move_thread_1 +2025-06-25 20:45:39.553 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:39.569 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:39.645 _new_stop_move_thread_2 +2025-06-25 20:45:39.677 _new_stop_move_thread_3 +2025-06-25 20:45:39.677 get_scara_param -28.070200 90.285797 -106.467102 -1005.556885 +2025-06-25 20:45:39.677 get_scara_real_coor -28.070200 90.285797 -106.467102 -1005.556885 +2025-06-25 20:45:39.677 _new_stop_move_thread_4 +2025-06-25 20:45:39.769 wait_stop in +2025-06-25 20:45:39.784 wait_stop in +2025-06-25 20:45:39.800 wait_stop out_0 +2025-06-25 20:45:39.815 wait_stop out_0 +2025-06-25 20:45:43.174 _new_stop_move_thread_0 +2025-06-25 20:45:43.174 j1_slow_down_t = 0 +2025-06-25 20:45:43.174 j2_slow_down_t = 0 +2025-06-25 20:45:43.174 j3_slow_down_t = 1 +2025-06-25 20:45:43.175 j4_slow_down_t = 0 +2025-06-25 20:45:43.175 tmp_t[3] = 1 +2025-06-25 20:45:43.175 _new_stop_move_thread_1 +2025-06-25 20:45:43.181 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:43.337 _new_stop_move_thread_2 +2025-06-25 20:45:43.368 _new_stop_move_thread_3 +2025-06-25 20:45:43.369 get_scara_param -28.070200 90.286102 -108.124001 -1005.557007 +2025-06-25 20:45:43.369 get_scara_real_coor -28.070200 90.286102 -108.124001 -1005.556885 +2025-06-25 20:45:43.369 _new_stop_move_thread_4 +2025-06-25 20:45:43.383 wait_stop in +2025-06-25 20:45:43.413 wait_stop out_0 +2025-06-25 20:45:43.747 _new_stop_move_thread_0 +2025-06-25 20:45:43.747 j1_slow_down_t = 0 +2025-06-25 20:45:43.747 j2_slow_down_t = 0 +2025-06-25 20:45:43.747 j3_slow_down_t = 1 +2025-06-25 20:45:43.747 j4_slow_down_t = 0 +2025-06-25 20:45:43.748 tmp_t[3] = 1 +2025-06-25 20:45:43.748 _new_stop_move_thread_1 +2025-06-25 20:45:43.889 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:43.905 _new_stop_move_thread_2 +2025-06-25 20:45:43.935 _new_stop_move_thread_3 +2025-06-25 20:45:43.935 get_scara_param -28.070200 90.286201 -108.714500 -1005.556885 +2025-06-25 20:45:43.935 get_scara_real_coor -28.070200 90.286201 -108.714500 -1005.556885 +2025-06-25 20:45:43.937 _new_stop_move_thread_4 +2025-06-25 20:45:44.104 wait_stop in +2025-06-25 20:45:44.135 wait_stop out_0 +2025-06-25 20:45:45.236 _new_stop_move_thread_0 +2025-06-25 20:45:45.236 j1_slow_down_t = 0 +2025-06-25 20:45:45.237 j2_slow_down_t = 0 +2025-06-25 20:45:45.237 j3_slow_down_t = 1 +2025-06-25 20:45:45.237 j4_slow_down_t = 0 +2025-06-25 20:45:45.237 tmp_t[3] = 1 +2025-06-25 20:45:45.237 _new_stop_move_thread_1 +2025-06-25 20:45:45.248 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:45.418 _new_stop_move_thread_2 +2025-06-25 20:45:45.449 _new_stop_move_thread_3 +2025-06-25 20:45:45.449 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:45.449 get_scara_param -28.070200 90.286499 -111.555099 -1005.556885 +2025-06-25 20:45:45.450 get_scara_real_coor -28.070200 90.286499 -111.555099 -1005.556824 +2025-06-25 20:45:45.450 _new_stop_move_thread_4 +2025-06-25 20:45:45.650 wait_stop in +2025-06-25 20:45:45.682 wait_stop out_0 +2025-06-25 20:45:47.794 _new_stop_move_thread_0 +2025-06-25 20:45:47.794 j1_slow_down_t = 0 +2025-06-25 20:45:47.795 j2_slow_down_t = 0 +2025-06-25 20:45:47.795 j3_slow_down_t = 2 +2025-06-25 20:45:47.795 j4_slow_down_t = 0 +2025-06-25 20:45:47.795 tmp_t[3] = 2 +2025-06-25 20:45:47.796 _new_stop_move_thread_1 +2025-06-25 20:45:47.923 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:47.954 _new_stop_move_thread_2 +2025-06-25 20:45:47.985 _new_stop_move_thread_3 +2025-06-25 20:45:47.985 get_scara_param -28.070200 90.286598 -116.070503 -1005.557129 +2025-06-25 20:45:47.985 get_scara_real_coor -28.070200 90.286598 -116.070503 -1005.557129 +2025-06-25 20:45:47.986 _new_stop_move_thread_4 +2025-06-25 20:45:48.138 wait_stop in +2025-06-25 20:45:48.169 wait_stop out_0 +2025-06-25 20:45:49.250 _new_stop_move_thread_0 +2025-06-25 20:45:49.250 j1_slow_down_t = 0 +2025-06-25 20:45:49.250 j2_slow_down_t = 0 +2025-06-25 20:45:49.250 j3_slow_down_t = 2 +2025-06-25 20:45:49.250 j4_slow_down_t = 0 +2025-06-25 20:45:49.251 tmp_t[3] = 2 +2025-06-25 20:45:49.251 _new_stop_move_thread_1 +2025-06-25 20:45:49.383 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:49.413 _new_stop_move_thread_2 +2025-06-25 20:45:49.444 _new_stop_move_thread_3 +2025-06-25 20:45:49.444 get_scara_param -28.070299 90.286797 -119.324203 -1005.557129 +2025-06-25 20:45:49.446 get_scara_real_coor -28.070299 90.286797 -119.324203 -1005.557129 +2025-06-25 20:45:49.446 _new_stop_move_thread_4 +2025-06-25 20:45:49.597 wait_stop in +2025-06-25 20:45:49.627 wait_stop out_0 +2025-06-25 20:45:51.865 _new_stop_move_thread_0 +2025-06-25 20:45:51.865 j1_slow_down_t = 0 +2025-06-25 20:45:51.865 j2_slow_down_t = 0 +2025-06-25 20:45:51.866 j3_slow_down_t = 0 +2025-06-25 20:45:51.866 j4_slow_down_t = 0 +2025-06-25 20:45:51.866 tmp_t[3] = 0 +2025-06-25 20:45:51.866 _new_stop_move_thread_1 +2025-06-25 20:45:51.984 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:52.015 _new_stop_move_thread_2 +2025-06-25 20:45:52.047 _new_stop_move_thread_3 +2025-06-25 20:45:52.047 get_scara_param -28.070200 90.286903 -119.114403 -1005.557129 +2025-06-25 20:45:52.047 get_scara_real_coor -28.070200 90.286903 -119.114403 -1005.557129 +2025-06-25 20:45:52.047 _new_stop_move_thread_4 +2025-06-25 20:45:52.186 wait_stop in +2025-06-25 20:45:52.216 wait_stop out_0 +2025-06-25 20:45:52.299 _new_stop_move_thread_0 +2025-06-25 20:45:52.299 j1_slow_down_t = 0 +2025-06-25 20:45:52.300 j2_slow_down_t = 0 +2025-06-25 20:45:52.300 j3_slow_down_t = 0 +2025-06-25 20:45:52.300 j4_slow_down_t = 0 +2025-06-25 20:45:52.300 tmp_t[3] = 0 +2025-06-25 20:45:52.300 _new_stop_move_thread_1 +2025-06-25 20:45:52.421 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:52.452 _new_stop_move_thread_2 +2025-06-25 20:45:52.482 _new_stop_move_thread_3 +2025-06-25 20:45:52.482 get_scara_param -28.070200 90.287003 -118.887497 -1005.557129 +2025-06-25 20:45:52.483 get_scara_real_coor -28.070200 90.287003 -118.887497 -1005.557129 +2025-06-25 20:45:52.483 _new_stop_move_thread_4 +2025-06-25 20:45:52.492 _new_stop_move_thread_0 +2025-06-25 20:45:52.492 j1_slow_down_t = 0 +2025-06-25 20:45:52.492 j2_slow_down_t = 0 +2025-06-25 20:45:52.492 j3_slow_down_t = 0 +2025-06-25 20:45:52.492 j4_slow_down_t = 0 +2025-06-25 20:45:52.494 tmp_t[3] = 0 +2025-06-25 20:45:52.494 _new_stop_move_thread_1 +2025-06-25 20:45:52.575 _new_stop_move_thread_2 +2025-06-25 20:45:52.605 _new_stop_move_thread_3 +2025-06-25 20:45:52.606 get_scara_param -28.070200 90.287003 -118.852097 -1005.557129 +2025-06-25 20:45:52.606 get_scara_real_coor -28.070200 90.287003 -118.852097 -1005.557190 +2025-06-25 20:45:52.606 _new_stop_move_thread_4 +2025-06-25 20:45:52.729 _new_stop_move_thread_0 +2025-06-25 20:45:52.730 j1_slow_down_t = 0 +2025-06-25 20:45:52.730 j2_slow_down_t = 0 +2025-06-25 20:45:52.730 j3_slow_down_t = 1 +2025-06-25 20:45:52.730 j4_slow_down_t = 0 +2025-06-25 20:45:52.730 tmp_t[3] = 1 +2025-06-25 20:45:52.730 _new_stop_move_thread_1 +2025-06-25 20:45:52.824 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:52.825 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:52.870 _new_stop_move_thread_2 +2025-06-25 20:45:52.900 _new_stop_move_thread_3 +2025-06-25 20:45:52.900 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:52.901 get_scara_param -28.070200 90.287102 -118.392403 -1005.557312 +2025-06-25 20:45:52.901 get_scara_real_coor -28.070200 90.287102 -118.392403 -1005.557312 +2025-06-25 20:45:52.902 _new_stop_move_thread_4 +2025-06-25 20:45:53.043 _new_stop_move_thread_0 +2025-06-25 20:45:53.043 j1_slow_down_t = 0 +2025-06-25 20:45:53.043 j2_slow_down_t = 0 +2025-06-25 20:45:53.043 j3_slow_down_t = 0 +2025-06-25 20:45:53.044 j4_slow_down_t = 0 +2025-06-25 20:45:53.044 tmp_t[3] = 0 +2025-06-25 20:45:53.045 _new_stop_move_thread_1 +2025-06-25 20:45:53.116 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:53.146 jog_move_xyzr return 99 ͣ +2025-06-25 20:45:53.194 _new_stop_move_thread_2 +2025-06-25 20:45:53.224 _new_stop_move_thread_3 +2025-06-25 20:45:53.224 get_scara_param -28.070200 90.287201 -118.130096 -1005.557129 +2025-06-25 20:45:53.225 get_scara_real_coor -28.070200 90.287201 -118.130096 -1005.557312 +2025-06-25 20:45:53.225 _new_stop_move_thread_4 +2025-06-25 20:45:53.253 wait_stop in +2025-06-25 20:45:53.253 wait_stop in +2025-06-25 20:45:53.284 wait_stop out_0 +2025-06-25 20:45:53.285 wait_stop out_0 +2025-06-25 20:45:53.331 wait_stop in +2025-06-25 20:45:53.362 wait_stop in +2025-06-25 20:45:53.362 wait_stop out_0 +2025-06-25 20:45:53.392 wait_stop out_0 +2025-06-25 20:46:06.307 _new_stop_move_thread_0 +2025-06-25 20:46:06.307 j1_slow_down_t = 0 +2025-06-25 20:46:06.307 j2_slow_down_t = 0 +2025-06-25 20:46:06.307 j3_slow_down_t = 0 +2025-06-25 20:46:06.307 j4_slow_down_t = 0 +2025-06-25 20:46:06.308 tmp_t[3] = 0 +2025-06-25 20:46:06.308 _new_stop_move_thread_1 +2025-06-25 20:46:06.451 jog_move_xyzr return 99 ͣ +2025-06-25 20:46:06.466 _new_stop_move_thread_2 +2025-06-25 20:46:06.499 _new_stop_move_thread_3 +2025-06-25 20:46:06.499 get_scara_param -28.070299 90.287399 -118.338501 -1005.557312 +2025-06-25 20:46:06.499 get_scara_real_coor -28.070299 90.287399 -118.338501 -1005.557312 +2025-06-25 20:46:06.500 _new_stop_move_thread_4 +2025-06-25 20:46:06.654 wait_stop in +2025-06-25 20:46:06.685 wait_stop out_0 +2025-06-25 20:46:07.021 _new_stop_move_thread_0 +2025-06-25 20:46:07.021 j1_slow_down_t = 0 +2025-06-25 20:46:07.021 j2_slow_down_t = 0 +2025-06-25 20:46:07.021 j3_slow_down_t = 0 +2025-06-25 20:46:07.021 j4_slow_down_t = 0 +2025-06-25 20:46:07.021 tmp_t[3] = 0 +2025-06-25 20:46:07.022 _new_stop_move_thread_1 +2025-06-25 20:46:07.151 jog_move_xyzr return 99 ͣ +2025-06-25 20:46:07.166 _new_stop_move_thread_2 +2025-06-25 20:46:07.197 _new_stop_move_thread_3 +2025-06-25 20:46:07.197 get_scara_param -28.070299 90.287598 -118.567200 -1005.557312 +2025-06-25 20:46:07.198 get_scara_real_coor -28.070299 90.287598 -118.567200 -1005.557190 +2025-06-25 20:46:07.198 _new_stop_move_thread_4 +2025-06-25 20:46:07.365 wait_stop in +2025-06-25 20:46:07.396 wait_stop out_0 +2025-06-25 20:46:07.926 _new_stop_move_thread_0 +2025-06-25 20:46:07.926 j1_slow_down_t = 0 +2025-06-25 20:46:07.926 j2_slow_down_t = 0 +2025-06-25 20:46:07.926 j3_slow_down_t = 0 +2025-06-25 20:46:07.926 j4_slow_down_t = 0 +2025-06-25 20:46:07.926 tmp_t[3] = 0 +2025-06-25 20:46:07.926 _new_stop_move_thread_1 +2025-06-25 20:46:08.031 jog_move_xyzr return 99 ͣ +2025-06-25 20:46:08.076 _new_stop_move_thread_2 +2025-06-25 20:46:08.108 _new_stop_move_thread_3 +2025-06-25 20:46:08.108 get_scara_param -28.070299 90.287697 -118.831200 -1005.557129 +2025-06-25 20:46:08.108 get_scara_real_coor -28.070299 90.287697 -118.831200 -1005.557129 +2025-06-25 20:46:08.108 _new_stop_move_thread_4 +2025-06-25 20:46:08.245 wait_stop in +2025-06-25 20:46:08.276 wait_stop out_0 +2025-06-25 20:46:15.925 _new_stop_move_thread_0 +2025-06-25 20:46:15.926 j1_slow_down_t = 0 +2025-06-25 20:46:15.926 j2_slow_down_t = 0 +2025-06-25 20:46:15.926 j3_slow_down_t = 0 +2025-06-25 20:46:15.926 j4_slow_down_t = 0 +2025-06-25 20:46:15.927 tmp_t[3] = 0 +2025-06-25 20:46:15.927 _new_stop_move_thread_1 +2025-06-25 20:46:16.048 jog_move_xyzr return 99 ͣ +2025-06-25 20:46:16.064 _new_stop_move_thread_2 +2025-06-25 20:46:16.093 _new_stop_move_thread_3 +2025-06-25 20:46:16.093 get_scara_param -28.070400 90.287697 -118.633797 -1005.557312 +2025-06-25 20:46:16.094 get_scara_real_coor -28.070400 90.287697 -118.633797 -1005.557312 +2025-06-25 20:46:16.094 _new_stop_move_thread_4 +2025-06-25 20:46:16.262 wait_stop in +2025-06-25 20:46:16.294 wait_stop out_0 +2025-06-25 20:46:16.654 _new_stop_move_thread_0 +2025-06-25 20:46:16.654 j1_slow_down_t = 0 +2025-06-25 20:46:16.654 j2_slow_down_t = 0 +2025-06-25 20:46:16.655 j3_slow_down_t = 0 +2025-06-25 20:46:16.655 j4_slow_down_t = 0 +2025-06-25 20:46:16.655 tmp_t[3] = 0 +2025-06-25 20:46:16.655 _new_stop_move_thread_1 +2025-06-25 20:46:16.753 jog_move_xyzr return 99 ͣ +2025-06-25 20:46:16.830 _new_stop_move_thread_2 +2025-06-25 20:46:16.861 _new_stop_move_thread_3 +2025-06-25 20:46:16.861 get_scara_param -28.070400 90.287804 -118.317902 -1005.557129 +2025-06-25 20:46:16.862 get_scara_real_coor -28.070400 90.287804 -118.317902 -1005.557129 +2025-06-25 20:46:16.862 _new_stop_move_thread_4 +2025-06-25 20:46:16.968 wait_stop in +2025-06-25 20:46:16.999 wait_stop out_0 +2025-06-25 20:46:17.499 _new_stop_move_thread_0 +2025-06-25 20:46:17.500 j1_slow_down_t = 0 +2025-06-25 20:46:17.500 j2_slow_down_t = 0 +2025-06-25 20:46:17.500 j3_slow_down_t = 0 +2025-06-25 20:46:17.500 j4_slow_down_t = 0 +2025-06-25 20:46:17.500 tmp_t[3] = 0 +2025-06-25 20:46:17.501 _new_stop_move_thread_1 +2025-06-25 20:46:17.618 jog_move_xyzr return 99 ͣ +2025-06-25 20:46:17.650 _new_stop_move_thread_2 +2025-06-25 20:46:17.679 _new_stop_move_thread_3 +2025-06-25 20:46:17.679 get_scara_param -28.070400 90.287903 -118.053497 -1005.557129 +2025-06-25 20:46:17.680 get_scara_real_coor -28.070400 90.287903 -118.053497 -1005.557129 +2025-06-25 20:46:17.680 _new_stop_move_thread_4 +2025-06-25 20:46:17.819 wait_stop in +2025-06-25 20:46:17.849 wait_stop out_0 +2025-06-25 20:48:30.608 _new_stop_move_thread_0 +2025-06-25 20:48:30.608 j1_slow_down_t = 0 +2025-06-25 20:48:30.608 j2_slow_down_t = 0 +2025-06-25 20:48:30.608 j3_slow_down_t = 0 +2025-06-25 20:48:30.608 j4_slow_down_t = 0 +2025-06-25 20:48:30.611 tmp_t[3] = 0 +2025-06-25 20:48:30.611 _new_stop_move_thread_1 +2025-06-25 20:48:30.720 jog_move_xyzr return 99 ͣ +2025-06-25 20:48:30.751 _new_stop_move_thread_2 +2025-06-25 20:48:30.796 _new_stop_move_thread_3 +2025-06-25 20:48:30.796 get_scara_param -28.070400 90.288002 -118.320702 -1005.557312 +2025-06-25 20:48:30.796 get_scara_real_coor -28.070400 90.288002 -118.320702 -1005.557129 +2025-06-25 20:48:30.796 _new_stop_move_thread_4 +2025-06-25 20:48:30.932 wait_stop in +2025-06-25 20:48:30.964 wait_stop out_0 +2025-06-25 20:48:33.082 _new_stop_move_thread_0 +2025-06-25 20:48:33.082 j1_slow_down_t = 0 +2025-06-25 20:48:33.082 j2_slow_down_t = 0 +2025-06-25 20:48:33.082 j3_slow_down_t = 0 +2025-06-25 20:48:33.084 j4_slow_down_t = 0 +2025-06-25 20:48:33.084 tmp_t[3] = 0 +2025-06-25 20:48:33.084 _new_stop_move_thread_1 +2025-06-25 20:48:33.172 jog_move_xyzr return 99 ͣ +2025-06-25 20:48:33.243 _new_stop_move_thread_2 +2025-06-25 20:48:33.272 _new_stop_move_thread_3 +2025-06-25 20:48:33.272 get_scara_param -28.070400 90.288002 -118.624100 -1005.557312 +2025-06-25 20:48:33.272 get_scara_real_coor -28.070400 90.288002 -118.624100 -1005.557312 +2025-06-25 20:48:33.272 _new_stop_move_thread_4 +2025-06-25 20:48:33.384 wait_stop in +2025-06-25 20:48:33.416 wait_stop out_0 +2025-06-25 20:48:33.833 _new_stop_move_thread_0 +2025-06-25 20:48:33.843 j1_slow_down_t = 0 +2025-06-25 20:48:33.843 j2_slow_down_t = 0 +2025-06-25 20:48:33.843 j3_slow_down_t = 0 +2025-06-25 20:48:33.843 j4_slow_down_t = 0 +2025-06-25 20:48:33.843 tmp_t[3] = 0 +2025-06-25 20:48:33.843 _new_stop_move_thread_1 +2025-06-25 20:48:33.978 jog_move_xyzr return 99 ͣ +2025-06-25 20:48:33.983 _new_stop_move_thread_2 +2025-06-25 20:48:34.024 _new_stop_move_thread_3 +2025-06-25 20:48:34.024 get_scara_param -28.070400 90.288399 -118.853500 -1005.557007 +2025-06-25 20:48:34.024 get_scara_real_coor -28.070400 90.288399 -118.853500 -1005.557007 +2025-06-25 20:48:34.024 _new_stop_move_thread_4 +2025-06-25 20:48:34.191 wait_stop in +2025-06-25 20:48:34.215 wait_stop out_0 +2025-06-25 20:50:24.783 _new_stop_move_thread_0 +2025-06-25 20:50:24.783 j1_slow_down_t = 0 +2025-06-25 20:50:24.783 j2_slow_down_t = 0 +2025-06-25 20:50:24.783 j3_slow_down_t = 2 +2025-06-25 20:50:24.783 j4_slow_down_t = 0 +2025-06-25 20:50:24.783 tmp_t[3] = 2 +2025-06-25 20:50:24.783 _new_stop_move_thread_1 +2025-06-25 20:50:24.853 jog_move_xyzr return 99 ͣ +2025-06-25 20:50:24.934 _new_stop_move_thread_2 +2025-06-25 20:50:24.964 _new_stop_move_thread_3 +2025-06-25 20:50:24.964 get_scara_param -28.070400 90.288597 -100.545097 -1005.557129 +2025-06-25 20:50:24.964 get_scara_real_coor -28.070400 90.288597 -100.545097 -1005.557129 +2025-06-25 20:50:24.965 _new_stop_move_thread_4 +2025-06-25 20:50:25.055 wait_stop in +2025-06-25 20:50:25.089 wait_stop out_0 +2025-06-25 20:50:26.352 _new_stop_move_thread_0 +2025-06-25 20:50:26.352 j1_slow_down_t = 0 +2025-06-25 20:50:26.352 j2_slow_down_t = 0 +2025-06-25 20:50:26.352 j3_slow_down_t = 2 +2025-06-25 20:50:26.352 j4_slow_down_t = 0 +2025-06-25 20:50:26.352 tmp_t[3] = 2 +2025-06-25 20:50:26.352 _new_stop_move_thread_1 +2025-06-25 20:50:26.487 jog_move_xyzr return 99 ͣ +2025-06-25 20:50:26.503 _new_stop_move_thread_2 +2025-06-25 20:50:26.525 _new_stop_move_thread_3 +2025-06-25 20:50:26.525 get_scara_param -28.070299 90.288597 -97.452499 -1005.557312 +2025-06-25 20:50:26.525 get_scara_real_coor -28.070299 90.288597 -97.452499 -1005.557190 +2025-06-25 20:50:26.525 _new_stop_move_thread_4 +2025-06-25 20:50:26.700 wait_stop in +2025-06-25 20:50:26.731 wait_stop out_0 +2025-06-25 20:50:31.528 _new_stop_move_thread_0 +2025-06-25 20:50:31.528 j1_slow_down_t = 2 +2025-06-25 20:50:31.528 j2_slow_down_t = 0 +2025-06-25 20:50:31.528 j3_slow_down_t = 0 +2025-06-25 20:50:31.528 j4_slow_down_t = 0 +2025-06-25 20:50:31.528 tmp_t[3] = 2 +2025-06-25 20:50:31.528 _new_stop_move_thread_1 +2025-06-25 20:50:31.591 jog_move_xyzr return 99 ͣ +2025-06-25 20:50:31.672 _new_stop_move_thread_2 +2025-06-25 20:50:31.704 _new_stop_move_thread_3 +2025-06-25 20:50:31.704 get_scara_param -35.405201 92.719398 -97.452797 -1005.498718 +2025-06-25 20:50:31.704 get_scara_real_coor -35.405201 92.719398 -97.452797 -1005.498718 +2025-06-25 20:50:31.704 _new_stop_move_thread_4 +2025-06-25 20:50:31.807 wait_stop in +2025-06-25 20:50:31.847 wait_stop out_0 +2025-06-25 20:50:36.356 30 30 30 30 +2025-06-25 20:50:36.358 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 20:50:36.358 goal_angle -66.454506 86.491570 +2025-06-25 20:50:36.358 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-25 20:50:36.358 z1 -97.452850 z2 -99.620598 +2025-06-25 20:50:36.361 angle1_1 -35.405296 angle2_1 92.719421 z1 -97.452850 r1 -1005.498718 +2025-06-25 20:50:36.361 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-25 20:50:36.361 speed 100.000000 +2025-06-25 20:50:36.361 tcp_distance 176.065689 +2025-06-25 20:50:36.363 new_end_speed 100.000000 j1_acc_t 0.880328 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 38.576603 +2025-06-25 20:50:36.363 new_end_speed 100.000000 j2_acc_t 0.880328 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 7.737697 +2025-06-25 20:50:36.363 new_end_speed 100.000000 j3_acc_t 0.880328 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 2.693284 +2025-06-25 20:50:36.363 new_end_speed 100.000000 j4_acc_t 0.880328 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.036930 +2025-06-25 20:50:36.363 end_speed 100.000000 +2025-06-25 20:50:36.363 trail_number1.760657 +2025-06-25 20:50:36.363 tcp_distance 176.065689 +2025-06-25 20:50:36.364 angle1_1 = -35.405296 angle2_1 = 92.719421 z1 = -97.452850 r1 = -1005.498718 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-25 20:50:50.944 _new_stop_move_thread_0 +2025-06-25 20:50:50.945 j1_slow_down_t = 1 +2025-06-25 20:50:50.945 j2_slow_down_t = 0 +2025-06-25 20:50:50.945 j3_slow_down_t = 0 +2025-06-25 20:50:50.945 j4_slow_down_t = 0 +2025-06-25 20:50:50.945 tmp_t[3] = 1 +2025-06-25 20:50:50.945 _new_stop_move_thread_1 +2025-06-25 20:50:51.097 jog_move_xyzr return 99 ͣ +2025-06-25 20:50:51.110 _new_stop_move_thread_2 +2025-06-25 20:50:51.132 _new_stop_move_thread_3 +2025-06-25 20:50:51.132 get_scara_param -58.359100 95.063301 -99.621597 -1005.539673 +2025-06-25 20:50:51.132 get_scara_real_coor -58.359100 95.063301 -99.621597 -1005.539795 +2025-06-25 20:50:51.132 _new_stop_move_thread_4 +2025-06-25 20:50:51.298 wait_stop in +2025-06-25 20:50:51.336 wait_stop out_0 +2025-06-25 20:50:54.158 _new_stop_move_thread_0 +2025-06-25 20:50:54.158 j1_slow_down_t = 2 +2025-06-25 20:50:54.160 j2_slow_down_t = 1 +2025-06-25 20:50:54.160 j3_slow_down_t = 0 +2025-06-25 20:50:54.160 j4_slow_down_t = 0 +2025-06-25 20:50:54.160 tmp_t[3] = 2 +2025-06-25 20:50:54.160 _new_stop_move_thread_1 +2025-06-25 20:50:54.163 jog_move_xyzr return 99 ͣ +2025-06-25 20:50:54.332 _new_stop_move_thread_2 +2025-06-25 20:50:54.365 _new_stop_move_thread_3 +2025-06-25 20:50:54.365 jog_move_xyzr return 99 ͣ +2025-06-25 20:50:54.365 get_scara_param -56.515099 91.844200 -99.621902 -1005.552429 +2025-06-25 20:50:54.365 get_scara_real_coor -56.515099 91.844200 -99.621902 -1005.552490 +2025-06-25 20:50:54.365 _new_stop_move_thread_4 +2025-06-25 20:50:54.572 wait_stop in +2025-06-25 20:50:54.601 wait_stop out_0 +2025-06-25 20:50:56.731 _new_stop_move_thread_0 +2025-06-25 20:50:56.731 j1_slow_down_t = 0 +2025-06-25 20:50:56.731 j2_slow_down_t = 0 +2025-06-25 20:50:56.731 j3_slow_down_t = 0 +2025-06-25 20:50:56.731 j4_slow_down_t = 0 +2025-06-25 20:50:56.731 tmp_t[3] = 0 +2025-06-25 20:50:56.731 _new_stop_move_thread_1 +2025-06-25 20:50:56.893 _new_stop_move_thread_2 +2025-06-25 20:50:56.931 _new_stop_move_thread_3 +2025-06-25 20:50:56.931 jog_move_xyzr return 99 ͣ +2025-06-25 20:50:56.931 get_scara_param -56.341099 91.947998 -99.622299 -1005.567871 +2025-06-25 20:50:56.931 get_scara_real_coor -56.341099 91.947998 -99.622299 -1005.567993 +2025-06-25 20:50:56.931 _new_stop_move_thread_4 +2025-06-25 20:50:57.149 _new_stop_move_thread_0 +2025-06-25 20:50:57.149 j1_slow_down_t = 0 +2025-06-25 20:50:57.149 j2_slow_down_t = 0 +2025-06-25 20:50:57.149 j3_slow_down_t = 0 +2025-06-25 20:50:57.149 j4_slow_down_t = 0 +2025-06-25 20:50:57.149 tmp_t[3] = 0 +2025-06-25 20:50:57.149 _new_stop_move_thread_1 +2025-06-25 20:50:57.154 jog_move_xyzr return 99 ͣ +2025-06-25 20:50:57.297 _new_stop_move_thread_2 +2025-06-25 20:50:57.328 _new_stop_move_thread_3 +2025-06-25 20:50:57.329 get_scara_param -56.268799 91.991203 -99.621902 -1005.572327 +2025-06-25 20:50:57.329 get_scara_real_coor -56.268799 91.991203 -99.621902 -1005.572327 +2025-06-25 20:50:57.329 _new_stop_move_thread_4 +2025-06-25 20:50:57.343 wait_stop in +2025-06-25 20:50:57.359 wait_stop in +2025-06-25 20:50:57.385 wait_stop out_0 +2025-06-25 20:50:57.400 wait_stop out_0 +2025-06-25 20:51:03.278 _new_stop_move_thread_0 +2025-06-25 20:51:03.278 j1_slow_down_t = 0 +2025-06-25 20:51:03.278 j2_slow_down_t = 0 +2025-06-25 20:51:03.278 j3_slow_down_t = 2 +2025-06-25 20:51:03.278 j4_slow_down_t = 0 +2025-06-25 20:51:03.278 tmp_t[3] = 2 +2025-06-25 20:51:03.278 _new_stop_move_thread_1 +2025-06-25 20:51:03.402 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:03.425 _new_stop_move_thread_2 +2025-06-25 20:51:03.453 _new_stop_move_thread_3 +2025-06-25 20:51:03.453 get_scara_param -56.268700 91.991501 -115.461800 -1005.572205 +2025-06-25 20:51:03.453 get_scara_real_coor -56.268700 91.991501 -115.461800 -1005.572205 +2025-06-25 20:51:03.453 _new_stop_move_thread_4 +2025-06-25 20:51:03.607 wait_stop in +2025-06-25 20:51:03.647 wait_stop out_0 +2025-06-25 20:51:04.355 _new_stop_move_thread_0 +2025-06-25 20:51:04.355 j1_slow_down_t = 0 +2025-06-25 20:51:04.355 j2_slow_down_t = 0 +2025-06-25 20:51:04.355 j3_slow_down_t = 1 +2025-06-25 20:51:04.355 j4_slow_down_t = 0 +2025-06-25 20:51:04.355 tmp_t[3] = 1 +2025-06-25 20:51:04.355 _new_stop_move_thread_1 +2025-06-25 20:51:04.528 _new_stop_move_thread_2 +2025-06-25 20:51:04.559 _new_stop_move_thread_3 +2025-06-25 20:51:04.559 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:04.559 get_scara_param -56.268600 91.991699 -117.254303 -1005.572083 +2025-06-25 20:51:04.561 get_scara_real_coor -56.268600 91.991699 -117.254303 -1005.572083 +2025-06-25 20:51:04.561 _new_stop_move_thread_4 +2025-06-25 20:51:04.776 wait_stop in +2025-06-25 20:51:04.808 wait_stop out_0 +2025-06-25 20:51:06.187 _new_stop_move_thread_0 +2025-06-25 20:51:06.187 j1_slow_down_t = 0 +2025-06-25 20:51:06.187 j2_slow_down_t = 0 +2025-06-25 20:51:06.187 j3_slow_down_t = 0 +2025-06-25 20:51:06.187 j4_slow_down_t = 0 +2025-06-25 20:51:06.187 tmp_t[3] = 0 +2025-06-25 20:51:06.187 _new_stop_move_thread_1 +2025-06-25 20:51:06.269 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:06.356 _new_stop_move_thread_2 +2025-06-25 20:51:06.382 _new_stop_move_thread_3 +2025-06-25 20:51:06.382 get_scara_param -56.268600 91.991699 -118.013397 -1005.572021 +2025-06-25 20:51:06.382 get_scara_real_coor -56.268600 91.991699 -118.013397 -1005.572021 +2025-06-25 20:51:06.382 _new_stop_move_thread_4 +2025-06-25 20:51:06.480 wait_stop in +2025-06-25 20:51:06.529 wait_stop out_0 +2025-06-25 20:51:07.281 _new_stop_move_thread_0 +2025-06-25 20:51:07.281 j1_slow_down_t = 0 +2025-06-25 20:51:07.281 j2_slow_down_t = 0 +2025-06-25 20:51:07.281 j3_slow_down_t = 0 +2025-06-25 20:51:07.281 j4_slow_down_t = 0 +2025-06-25 20:51:07.281 tmp_t[3] = 0 +2025-06-25 20:51:07.281 _new_stop_move_thread_1 +2025-06-25 20:51:07.362 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:07.450 _new_stop_move_thread_2 +2025-06-25 20:51:07.481 _new_stop_move_thread_3 +2025-06-25 20:51:07.481 get_scara_param -56.268600 91.991798 -118.790298 -1005.572083 +2025-06-25 20:51:07.481 get_scara_real_coor -56.268600 91.991798 -118.790298 -1005.572083 +2025-06-25 20:51:07.481 _new_stop_move_thread_4 +2025-06-25 20:51:07.576 wait_stop in +2025-06-25 20:51:07.609 wait_stop out_0 +2025-06-25 20:51:08.614 _new_stop_move_thread_0 +2025-06-25 20:51:08.614 j1_slow_down_t = 0 +2025-06-25 20:51:08.614 j2_slow_down_t = 0 +2025-06-25 20:51:08.614 j3_slow_down_t = 0 +2025-06-25 20:51:08.614 j4_slow_down_t = 0 +2025-06-25 20:51:08.614 tmp_t[3] = 0 +2025-06-25 20:51:08.614 _new_stop_move_thread_1 +2025-06-25 20:51:08.645 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:08.775 _new_stop_move_thread_2 +2025-06-25 20:51:08.808 _new_stop_move_thread_3 +2025-06-25 20:51:08.808 get_scara_param -56.268700 91.991898 -118.395798 -1005.572083 +2025-06-25 20:51:08.808 get_scara_real_coor -56.268700 91.991898 -118.395798 -1005.572083 +2025-06-25 20:51:08.808 _new_stop_move_thread_4 +2025-06-25 20:51:08.859 wait_stop in +2025-06-25 20:51:08.889 wait_stop out_0 +2025-06-25 20:51:11.008 _new_stop_move_thread_0 +2025-06-25 20:51:11.008 j1_slow_down_t = 0 +2025-06-25 20:51:11.008 j2_slow_down_t = 0 +2025-06-25 20:51:11.008 j3_slow_down_t = 0 +2025-06-25 20:51:11.008 j4_slow_down_t = 0 +2025-06-25 20:51:11.008 tmp_t[3] = 0 +2025-06-25 20:51:11.008 _new_stop_move_thread_1 +2025-06-25 20:51:11.134 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:11.166 _new_stop_move_thread_2 +2025-06-25 20:51:11.201 _new_stop_move_thread_3 +2025-06-25 20:51:11.201 get_scara_param -56.268600 91.991997 -118.613503 -1005.571899 +2025-06-25 20:51:11.201 get_scara_real_coor -56.268600 91.991997 -118.613503 -1005.572021 +2025-06-25 20:51:11.201 _new_stop_move_thread_4 +2025-06-25 20:51:11.349 wait_stop in +2025-06-25 20:51:11.383 wait_stop out_0 +2025-06-25 20:51:11.987 _new_stop_move_thread_0 +2025-06-25 20:51:11.987 j1_slow_down_t = 0 +2025-06-25 20:51:11.987 j2_slow_down_t = 0 +2025-06-25 20:51:11.987 j3_slow_down_t = 0 +2025-06-25 20:51:11.987 j4_slow_down_t = 0 +2025-06-25 20:51:11.987 tmp_t[3] = 0 +2025-06-25 20:51:11.987 _new_stop_move_thread_1 +2025-06-25 20:51:12.117 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:12.136 _new_stop_move_thread_2 +2025-06-25 20:51:12.168 _new_stop_move_thread_3 +2025-06-25 20:51:12.168 get_scara_param -56.268501 91.991997 -118.840103 -1005.571899 +2025-06-25 20:51:12.168 get_scara_real_coor -56.268501 91.991997 -118.840103 -1005.572021 +2025-06-25 20:51:12.168 _new_stop_move_thread_4 +2025-06-25 20:51:12.329 wait_stop in +2025-06-25 20:51:12.364 wait_stop out_0 +2025-06-25 20:51:12.529 _new_stop_move_thread_0 +2025-06-25 20:51:12.529 j1_slow_down_t = 0 +2025-06-25 20:51:12.529 j2_slow_down_t = 0 +2025-06-25 20:51:12.529 j3_slow_down_t = 0 +2025-06-25 20:51:12.529 j4_slow_down_t = 0 +2025-06-25 20:51:12.529 tmp_t[3] = 0 +2025-06-25 20:51:12.529 _new_stop_move_thread_1 +2025-06-25 20:51:12.643 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:12.675 _new_stop_move_thread_2 +2025-06-25 20:51:12.713 _new_stop_move_thread_3 +2025-06-25 20:51:12.713 get_scara_param -56.268501 91.992104 -119.104797 -1005.571899 +2025-06-25 20:51:12.713 get_scara_real_coor -56.268501 91.992104 -119.104797 -1005.571899 +2025-06-25 20:51:12.713 _new_stop_move_thread_4 +2025-06-25 20:51:12.849 wait_stop in +2025-06-25 20:51:12.881 wait_stop out_0 +2025-06-25 20:51:14.025 _new_stop_move_thread_0 +2025-06-25 20:51:14.025 j1_slow_down_t = 0 +2025-06-25 20:51:14.025 j2_slow_down_t = 0 +2025-06-25 20:51:14.025 j3_slow_down_t = 0 +2025-06-25 20:51:14.026 j4_slow_down_t = 0 +2025-06-25 20:51:14.026 tmp_t[3] = 0 +2025-06-25 20:51:14.026 _new_stop_move_thread_1 +2025-06-25 20:51:14.138 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:14.172 _new_stop_move_thread_2 +2025-06-25 20:51:14.206 _new_stop_move_thread_3 +2025-06-25 20:51:14.207 get_scara_param -56.268501 91.992104 -118.865799 -1005.572083 +2025-06-25 20:51:14.207 get_scara_real_coor -56.268501 91.992104 -118.865799 -1005.572021 +2025-06-25 20:51:14.207 _new_stop_move_thread_4 +2025-06-25 20:51:14.352 wait_stop in +2025-06-25 20:51:14.384 wait_stop out_0 +2025-06-25 20:51:15.218 _new_stop_move_thread_0 +2025-06-25 20:51:15.225 j1_slow_down_t = 0 +2025-06-25 20:51:15.225 j2_slow_down_t = 0 +2025-06-25 20:51:15.225 j3_slow_down_t = 0 +2025-06-25 20:51:15.225 j4_slow_down_t = 0 +2025-06-25 20:51:15.225 tmp_t[3] = 0 +2025-06-25 20:51:15.225 _new_stop_move_thread_1 +2025-06-25 20:51:15.336 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:15.368 _new_stop_move_thread_2 +2025-06-25 20:51:15.402 _new_stop_move_thread_3 +2025-06-25 20:51:15.402 get_scara_param -56.268398 91.992104 -118.602898 -1005.572083 +2025-06-25 20:51:15.402 get_scara_real_coor -56.268398 91.992104 -118.602898 -1005.572021 +2025-06-25 20:51:15.402 _new_stop_move_thread_4 +2025-06-25 20:51:15.555 wait_stop in +2025-06-25 20:51:15.581 wait_stop out_0 +2025-06-25 20:51:17.020 _new_stop_move_thread_0 +2025-06-25 20:51:17.020 j1_slow_down_t = 0 +2025-06-25 20:51:17.023 j2_slow_down_t = 0 +2025-06-25 20:51:17.023 j3_slow_down_t = 0 +2025-06-25 20:51:17.023 j4_slow_down_t = 0 +2025-06-25 20:51:17.023 tmp_t[3] = 0 +2025-06-25 20:51:17.023 _new_stop_move_thread_1 +2025-06-25 20:51:17.132 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:17.172 _new_stop_move_thread_2 +2025-06-25 20:51:17.194 _new_stop_move_thread_3 +2025-06-25 20:51:17.194 get_scara_param -56.268398 91.992203 -118.828400 -1005.572083 +2025-06-25 20:51:17.194 get_scara_real_coor -56.268398 91.992203 -118.828400 -1005.572083 +2025-06-25 20:51:17.194 _new_stop_move_thread_4 +2025-06-25 20:51:17.335 wait_stop in +2025-06-25 20:51:17.366 wait_stop out_0 +2025-06-25 20:51:27.232 _new_stop_move_thread_0 +2025-06-25 20:51:27.232 j1_slow_down_t = 0 +2025-06-25 20:51:27.232 j2_slow_down_t = 0 +2025-06-25 20:51:27.232 j3_slow_down_t = 0 +2025-06-25 20:51:27.232 j4_slow_down_t = 0 +2025-06-25 20:51:27.232 tmp_t[3] = 0 +2025-06-25 20:51:27.232 _new_stop_move_thread_1 +2025-06-25 20:51:27.297 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:27.389 _new_stop_move_thread_2 +2025-06-25 20:51:27.423 _new_stop_move_thread_3 +2025-06-25 20:51:27.423 get_scara_param -56.268398 91.992302 -118.032898 -1005.572083 +2025-06-25 20:51:27.423 get_scara_real_coor -56.268398 91.992302 -118.032898 -1005.572083 +2025-06-25 20:51:27.423 _new_stop_move_thread_4 +2025-06-25 20:51:27.508 wait_stop in +2025-06-25 20:51:27.551 wait_stop out_0 +2025-06-25 20:51:29.632 _new_stop_move_thread_0 +2025-06-25 20:51:29.632 j1_slow_down_t = 0 +2025-06-25 20:51:29.632 j2_slow_down_t = 0 +2025-06-25 20:51:29.632 j3_slow_down_t = 0 +2025-06-25 20:51:29.632 j4_slow_down_t = 0 +2025-06-25 20:51:29.632 tmp_t[3] = 0 +2025-06-25 20:51:29.632 _new_stop_move_thread_1 +2025-06-25 20:51:29.640 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:29.772 _new_stop_move_thread_2 +2025-06-25 20:51:29.796 _new_stop_move_thread_3 +2025-06-25 20:51:29.796 get_scara_param -56.054501 91.604401 -118.033600 -1005.579285 +2025-06-25 20:51:29.796 get_scara_real_coor -56.054501 91.604401 -118.033600 -1005.579285 +2025-06-25 20:51:29.796 _new_stop_move_thread_4 +2025-06-25 20:51:29.848 wait_stop in +2025-06-25 20:51:29.880 wait_stop out_0 +2025-06-25 20:51:30.340 _new_stop_move_thread_0 +2025-06-25 20:51:30.340 j1_slow_down_t = 0 +2025-06-25 20:51:30.340 j2_slow_down_t = 0 +2025-06-25 20:51:30.340 j3_slow_down_t = 0 +2025-06-25 20:51:30.340 j4_slow_down_t = 0 +2025-06-25 20:51:30.340 tmp_t[3] = 0 +2025-06-25 20:51:30.340 _new_stop_move_thread_1 +2025-06-25 20:51:30.468 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:30.499 _new_stop_move_thread_2 +2025-06-25 20:51:30.531 _new_stop_move_thread_3 +2025-06-25 20:51:30.531 get_scara_param -55.985500 91.476097 -118.034302 -1005.583374 +2025-06-25 20:51:30.531 get_scara_real_coor -55.985500 91.476097 -118.034302 -1005.583374 +2025-06-25 20:51:30.531 _new_stop_move_thread_4 +2025-06-25 20:51:30.686 wait_stop in +2025-06-25 20:51:30.717 wait_stop out_0 +2025-06-25 20:51:31.972 _new_stop_move_thread_0 +2025-06-25 20:51:31.972 j1_slow_down_t = 0 +2025-06-25 20:51:31.972 j2_slow_down_t = 0 +2025-06-25 20:51:31.972 j3_slow_down_t = 0 +2025-06-25 20:51:31.972 j4_slow_down_t = 0 +2025-06-25 20:51:31.972 tmp_t[3] = 0 +2025-06-25 20:51:31.987 _new_stop_move_thread_1 +2025-06-25 20:51:32.080 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:32.135 _new_stop_move_thread_2 +2025-06-25 20:51:32.169 _new_stop_move_thread_3 +2025-06-25 20:51:32.169 get_scara_param -55.985500 91.476196 -118.729202 -1005.583679 +2025-06-25 20:51:32.169 get_scara_real_coor -55.985500 91.476196 -118.729202 -1005.583679 +2025-06-25 20:51:32.169 _new_stop_move_thread_4 +2025-06-25 20:51:32.283 wait_stop in +2025-06-25 20:51:32.319 wait_stop out_0 +2025-06-25 20:51:33.437 _new_stop_move_thread_0 +2025-06-25 20:51:33.437 j1_slow_down_t = 0 +2025-06-25 20:51:33.437 j2_slow_down_t = 0 +2025-06-25 20:51:33.437 j3_slow_down_t = 0 +2025-06-25 20:51:33.437 j4_slow_down_t = 0 +2025-06-25 20:51:33.437 tmp_t[3] = 0 +2025-06-25 20:51:33.437 _new_stop_move_thread_1 +2025-06-25 20:51:33.551 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:33.601 _new_stop_move_thread_2 +2025-06-25 20:51:33.633 _new_stop_move_thread_3 +2025-06-25 20:51:33.633 get_scara_param -55.985401 91.476196 -118.498100 -1005.583923 +2025-06-25 20:51:33.633 get_scara_real_coor -55.985401 91.476196 -118.498100 -1005.583923 +2025-06-25 20:51:33.633 _new_stop_move_thread_4 +2025-06-25 20:51:33.764 wait_stop in +2025-06-25 20:51:33.809 wait_stop out_0 +2025-06-25 20:51:34.431 _new_stop_move_thread_0 +2025-06-25 20:51:34.431 j1_slow_down_t = 0 +2025-06-25 20:51:34.431 j2_slow_down_t = 0 +2025-06-25 20:51:34.431 j3_slow_down_t = 0 +2025-06-25 20:51:34.432 j4_slow_down_t = 0 +2025-06-25 20:51:34.432 tmp_t[3] = 0 +2025-06-25 20:51:34.432 _new_stop_move_thread_1 +2025-06-25 20:51:34.548 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:34.582 _new_stop_move_thread_2 +2025-06-25 20:51:34.611 _new_stop_move_thread_3 +2025-06-25 20:51:34.611 get_scara_param -55.985401 91.476303 -118.699699 -1005.583984 +2025-06-25 20:51:34.611 get_scara_real_coor -55.985401 91.476303 -118.699699 -1005.583923 +2025-06-25 20:51:34.611 _new_stop_move_thread_4 +2025-06-25 20:51:34.757 wait_stop in +2025-06-25 20:51:34.791 wait_stop out_0 +2025-06-25 20:51:36.325 _new_stop_move_thread_0 +2025-06-25 20:51:36.325 j1_slow_down_t = 0 +2025-06-25 20:51:36.325 j2_slow_down_t = 0 +2025-06-25 20:51:36.325 j3_slow_down_t = 0 +2025-06-25 20:51:36.325 j4_slow_down_t = 0 +2025-06-25 20:51:36.325 tmp_t[3] = 0 +2025-06-25 20:51:36.325 _new_stop_move_thread_1 +2025-06-25 20:51:36.459 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:36.460 _new_stop_move_thread_2 +2025-06-25 20:51:36.492 _new_stop_move_thread_3 +2025-06-25 20:51:36.492 get_scara_param -55.985298 91.476303 -118.916000 -1005.584229 +2025-06-25 20:51:36.492 get_scara_real_coor -55.985298 91.476303 -118.916000 -1005.584106 +2025-06-25 20:51:36.492 _new_stop_move_thread_4 +2025-06-25 20:51:36.675 wait_stop in +2025-06-25 20:51:36.710 wait_stop out_0 +2025-06-25 20:51:37.681 _new_stop_move_thread_0 +2025-06-25 20:51:37.681 j1_slow_down_t = 0 +2025-06-25 20:51:37.681 j2_slow_down_t = 0 +2025-06-25 20:51:37.681 j3_slow_down_t = 0 +2025-06-25 20:51:37.681 j4_slow_down_t = 0 +2025-06-25 20:51:37.681 tmp_t[3] = 0 +2025-06-25 20:51:37.681 _new_stop_move_thread_1 +2025-06-25 20:51:37.825 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:37.858 _new_stop_move_thread_2 +2025-06-25 20:51:37.890 _new_stop_move_thread_3 +2025-06-25 20:51:37.890 get_scara_param -55.985298 91.476501 -118.717903 -1005.584229 +2025-06-25 20:51:37.890 get_scara_real_coor -55.985298 91.476501 -118.717903 -1005.584290 +2025-06-25 20:51:37.890 _new_stop_move_thread_4 +2025-06-25 20:51:38.037 wait_stop in +2025-06-25 20:51:38.064 wait_stop out_0 +2025-06-25 20:51:38.844 _new_stop_move_thread_0 +2025-06-25 20:51:38.844 j1_slow_down_t = 0 +2025-06-25 20:51:38.844 j2_slow_down_t = 0 +2025-06-25 20:51:38.844 j3_slow_down_t = 0 +2025-06-25 20:51:38.845 j4_slow_down_t = 0 +2025-06-25 20:51:38.845 tmp_t[3] = 0 +2025-06-25 20:51:38.845 _new_stop_move_thread_1 +2025-06-25 20:51:38.980 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:39.012 _new_stop_move_thread_2 +2025-06-25 20:51:39.044 _new_stop_move_thread_3 +2025-06-25 20:51:39.044 get_scara_param -55.985298 91.476601 -118.935501 -1005.584595 +2025-06-25 20:51:39.044 get_scara_real_coor -55.985298 91.476601 -118.935501 -1005.584473 +2025-06-25 20:51:39.045 _new_stop_move_thread_4 +2025-06-25 20:51:39.194 wait_stop in +2025-06-25 20:51:39.226 wait_stop out_0 +2025-06-25 20:51:40.423 _new_stop_move_thread_0 +2025-06-25 20:51:40.423 j1_slow_down_t = 0 +2025-06-25 20:51:40.423 j2_slow_down_t = 0 +2025-06-25 20:51:40.423 j3_slow_down_t = 0 +2025-06-25 20:51:40.423 j4_slow_down_t = 0 +2025-06-25 20:51:40.423 tmp_t[3] = 0 +2025-06-25 20:51:40.423 _new_stop_move_thread_1 +2025-06-25 20:51:40.550 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:40.570 _new_stop_move_thread_2 +2025-06-25 20:51:40.605 _new_stop_move_thread_3 +2025-06-25 20:51:40.605 get_scara_param -55.985199 91.476601 -118.736397 -1005.584717 +2025-06-25 20:51:40.606 get_scara_real_coor -55.985199 91.476601 -118.736397 -1005.584717 +2025-06-25 20:51:40.606 _new_stop_move_thread_4 +2025-06-25 20:51:40.757 wait_stop in +2025-06-25 20:51:40.789 wait_stop out_0 +2025-06-25 20:51:55.008 _new_stop_move_thread_0 +2025-06-25 20:51:55.008 j1_slow_down_t = 0 +2025-06-25 20:51:55.008 j2_slow_down_t = 0 +2025-06-25 20:51:55.008 j3_slow_down_t = 0 +2025-06-25 20:51:55.008 j4_slow_down_t = 0 +2025-06-25 20:51:55.008 tmp_t[3] = 0 +2025-06-25 20:51:55.008 _new_stop_move_thread_1 +2025-06-25 20:51:55.136 jog_move_xyzr return 99 ͣ +2025-06-25 20:51:55.152 _new_stop_move_thread_2 +2025-06-25 20:51:55.184 _new_stop_move_thread_3 +2025-06-25 20:51:55.184 get_scara_param -55.985199 91.476700 -118.939301 -1005.584778 +2025-06-25 20:51:55.184 get_scara_real_coor -55.985199 91.476700 -118.939301 -1005.584778 +2025-06-25 20:51:55.184 _new_stop_move_thread_4 +2025-06-25 20:51:55.339 wait_stop in +2025-06-25 20:51:55.371 wait_stop out_0 +2025-06-25 20:52:21.091 _new_stop_move_thread_0 +2025-06-25 20:52:21.091 j1_slow_down_t = 0 +2025-06-25 20:52:21.091 j2_slow_down_t = 0 +2025-06-25 20:52:21.091 j3_slow_down_t = 0 +2025-06-25 20:52:21.092 j4_slow_down_t = 0 +2025-06-25 20:52:21.092 tmp_t[3] = 0 +2025-06-25 20:52:21.092 _new_stop_move_thread_1 +2025-06-25 20:52:21.125 jog_move_xyzr return 99 ͣ +2025-06-25 20:52:21.244 _new_stop_move_thread_2 +2025-06-25 20:52:21.264 _new_stop_move_thread_3 +2025-06-25 20:52:21.264 get_scara_param -55.985100 91.476700 -119.332802 -1005.584778 +2025-06-25 20:52:21.266 get_scara_real_coor -55.985100 91.476700 -119.332802 -1005.584900 +2025-06-25 20:52:21.266 _new_stop_move_thread_4 +2025-06-25 20:52:21.336 wait_stop in +2025-06-25 20:52:21.380 wait_stop out_0 +2025-06-25 20:52:21.743 _new_stop_move_thread_0 +2025-06-25 20:52:21.743 j1_slow_down_t = 0 +2025-06-25 20:52:21.743 j2_slow_down_t = 0 +2025-06-25 20:52:21.743 j3_slow_down_t = 1 +2025-06-25 20:52:21.743 j4_slow_down_t = 0 +2025-06-25 20:52:21.743 tmp_t[3] = 1 +2025-06-25 20:52:21.743 _new_stop_move_thread_1 +2025-06-25 20:52:21.873 jog_move_xyzr return 99 ͣ +2025-06-25 20:52:21.914 _new_stop_move_thread_2 +2025-06-25 20:52:21.946 _new_stop_move_thread_3 +2025-06-25 20:52:21.946 get_scara_param -55.985100 91.476700 -119.962097 -1005.584778 +2025-06-25 20:52:21.946 get_scara_real_coor -55.985100 91.476700 -119.962097 -1005.584778 +2025-06-25 20:52:21.946 _new_stop_move_thread_4 +2025-06-25 20:52:22.085 wait_stop in +2025-06-25 20:52:22.119 wait_stop out_0 +2025-06-25 20:52:22.395 _new_stop_move_thread_0 +2025-06-25 20:52:22.395 j1_slow_down_t = 0 +2025-06-25 20:52:22.395 j2_slow_down_t = 0 +2025-06-25 20:52:22.396 j3_slow_down_t = 1 +2025-06-25 20:52:22.396 j4_slow_down_t = 0 +2025-06-25 20:52:22.396 tmp_t[3] = 1 +2025-06-25 20:52:22.396 _new_stop_move_thread_1 +2025-06-25 20:52:22.548 jog_move_xyzr return 99 ͣ +2025-06-25 20:52:22.548 _new_stop_move_thread_2 +2025-06-25 20:52:22.574 _new_stop_move_thread_3 +2025-06-25 20:52:22.575 get_scara_param -55.985001 91.476799 -120.498299 -1005.584900 +2025-06-25 20:52:22.575 get_scara_real_coor -55.985001 91.476799 -120.498299 -1005.584900 +2025-06-25 20:52:22.575 _new_stop_move_thread_4 +2025-06-25 20:52:22.764 wait_stop in +2025-06-25 20:52:22.793 wait_stop out_0 +2025-06-25 20:52:29.349 _new_stop_move_thread_0 +2025-06-25 20:52:29.349 j1_slow_down_t = 0 +2025-06-25 20:52:29.349 j2_slow_down_t = 0 +2025-06-25 20:52:29.349 j3_slow_down_t = 0 +2025-06-25 20:52:29.350 j4_slow_down_t = 0 +2025-06-25 20:52:29.350 tmp_t[3] = 0 +2025-06-25 20:52:29.350 _new_stop_move_thread_1 +2025-06-25 20:52:29.428 jog_move_xyzr return 99 ͣ +2025-06-25 20:52:29.522 _new_stop_move_thread_2 +2025-06-25 20:52:29.551 _new_stop_move_thread_3 +2025-06-25 20:52:29.551 get_scara_param -55.985001 91.476997 -120.196899 -1005.585022 +2025-06-25 20:52:29.552 get_scara_real_coor -55.985001 91.476997 -120.196899 -1005.584900 +2025-06-25 20:52:29.552 _new_stop_move_thread_4 +2025-06-25 20:52:29.640 wait_stop in +2025-06-25 20:52:29.667 wait_stop out_0 +2025-06-25 20:52:29.773 _new_stop_move_thread_0 +2025-06-25 20:52:29.773 j1_slow_down_t = 0 +2025-06-25 20:52:29.774 j2_slow_down_t = 0 +2025-06-25 20:52:29.774 j3_slow_down_t = 0 +2025-06-25 20:52:29.774 j4_slow_down_t = 0 +2025-06-25 20:52:29.774 tmp_t[3] = 0 +2025-06-25 20:52:29.774 _new_stop_move_thread_1 +2025-06-25 20:52:29.884 jog_move_xyzr return 99 ͣ +2025-06-25 20:52:29.914 _new_stop_move_thread_2 +2025-06-25 20:52:29.946 _new_stop_move_thread_3 +2025-06-25 20:52:29.946 get_scara_param -55.985001 91.476997 -119.972702 -1005.585083 +2025-06-25 20:52:29.946 get_scara_real_coor -55.985001 91.476997 -119.972702 -1005.585083 +2025-06-25 20:52:29.946 _new_stop_move_thread_4 +2025-06-25 20:52:30.089 wait_stop in +2025-06-25 20:52:30.123 wait_stop out_0 +2025-06-25 20:52:31.285 _new_stop_move_thread_0 +2025-06-25 20:52:31.285 j1_slow_down_t = 0 +2025-06-25 20:52:31.285 j2_slow_down_t = 0 +2025-06-25 20:52:31.285 j3_slow_down_t = 0 +2025-06-25 20:52:31.285 j4_slow_down_t = 0 +2025-06-25 20:52:31.285 tmp_t[3] = 0 +2025-06-25 20:52:31.285 _new_stop_move_thread_1 +2025-06-25 20:52:31.388 jog_move_xyzr return 99 ͣ +2025-06-25 20:52:31.437 _new_stop_move_thread_2 +2025-06-25 20:52:31.472 _new_stop_move_thread_3 +2025-06-25 20:52:31.472 get_scara_param -55.985001 91.476997 -119.712097 -1005.585083 +2025-06-25 20:52:31.472 get_scara_real_coor -55.985001 91.476997 -119.712097 -1005.585083 +2025-06-25 20:52:31.472 _new_stop_move_thread_4 +2025-06-25 20:52:31.613 wait_stop in +2025-06-25 20:52:31.645 wait_stop out_0 +2025-06-25 20:52:32.504 _new_stop_move_thread_0 +2025-06-25 20:52:32.504 j1_slow_down_t = 0 +2025-06-25 20:52:32.504 j2_slow_down_t = 0 +2025-06-25 20:52:32.504 j3_slow_down_t = 0 +2025-06-25 20:52:32.504 j4_slow_down_t = 0 +2025-06-25 20:52:32.504 tmp_t[3] = 0 +2025-06-25 20:52:32.504 _new_stop_move_thread_1 +2025-06-25 20:52:32.629 jog_move_xyzr return 99 ͣ +2025-06-25 20:52:32.650 _new_stop_move_thread_2 +2025-06-25 20:52:32.682 _new_stop_move_thread_3 +2025-06-25 20:52:32.682 get_scara_param -55.984798 91.477097 -119.450500 -1005.585022 +2025-06-25 20:52:32.682 get_scara_real_coor -55.984798 91.477097 -119.450500 -1005.585022 +2025-06-25 20:52:32.682 _new_stop_move_thread_4 +2025-06-25 20:52:32.852 wait_stop in +2025-06-25 20:52:32.884 wait_stop out_0 +2025-06-25 20:52:46.449 _new_stop_move_thread_0 +2025-06-25 20:52:46.449 j1_slow_down_t = 0 +2025-06-25 20:52:46.449 j2_slow_down_t = 0 +2025-06-25 20:52:46.449 j3_slow_down_t = 0 +2025-06-25 20:52:46.449 j4_slow_down_t = 0 +2025-06-25 20:52:46.449 tmp_t[3] = 0 +2025-06-25 20:52:46.449 _new_stop_move_thread_1 +2025-06-25 20:52:46.561 jog_move_xyzr return 99 ͣ +2025-06-25 20:52:46.592 _new_stop_move_thread_2 +2025-06-25 20:52:46.620 _new_stop_move_thread_3 +2025-06-25 20:52:46.620 get_scara_param -55.984798 91.477097 -119.656502 -1005.585083 +2025-06-25 20:52:46.620 get_scara_real_coor -55.984798 91.477097 -119.656502 -1005.585083 +2025-06-25 20:52:46.620 _new_stop_move_thread_4 +2025-06-25 20:52:46.763 wait_stop in +2025-06-25 20:52:46.795 wait_stop out_0 +2025-06-25 20:52:50.685 _new_stop_move_thread_0 +2025-06-25 20:52:50.685 j1_slow_down_t = 0 +2025-06-25 20:52:50.685 j2_slow_down_t = 0 +2025-06-25 20:52:50.685 j3_slow_down_t = 0 +2025-06-25 20:52:50.685 j4_slow_down_t = 0 +2025-06-25 20:52:50.688 tmp_t[3] = 0 +2025-06-25 20:52:50.688 _new_stop_move_thread_1 +2025-06-25 20:52:50.770 jog_move_xyzr return 99 ͣ +2025-06-25 20:52:50.836 _new_stop_move_thread_2 +2025-06-25 20:52:50.868 _new_stop_move_thread_3 +2025-06-25 20:52:50.868 get_scara_param -55.984699 91.477203 -119.977501 -1005.585022 +2025-06-25 20:52:50.868 get_scara_real_coor -55.984699 91.477203 -119.977501 -1005.585022 +2025-06-25 20:52:50.868 _new_stop_move_thread_4 +2025-06-25 20:52:50.985 wait_stop in +2025-06-25 20:52:51.016 wait_stop out_0 +2025-06-25 20:53:32.910 _new_stop_move_thread_0 +2025-06-25 20:53:32.910 j1_slow_down_t = 0 +2025-06-25 20:53:32.910 j2_slow_down_t = 0 +2025-06-25 20:53:32.910 j3_slow_down_t = 2 +2025-06-25 20:53:32.910 j4_slow_down_t = 0 +2025-06-25 20:53:32.910 tmp_t[3] = 2 +2025-06-25 20:53:32.910 _new_stop_move_thread_1 +2025-06-25 20:53:32.976 jog_move_xyzr return 99 ͣ +2025-06-25 20:53:33.068 _new_stop_move_thread_2 +2025-06-25 20:53:33.102 _new_stop_move_thread_3 +2025-06-25 20:53:33.102 get_scara_param -55.984699 91.477203 -105.252800 -1005.585083 +2025-06-25 20:53:33.102 get_scara_real_coor -55.984699 91.477203 -105.252800 -1005.585205 +2025-06-25 20:53:33.102 _new_stop_move_thread_4 +2025-06-25 20:53:33.183 wait_stop in +2025-06-25 20:53:33.214 wait_stop out_0 +2025-06-25 20:53:33.760 _new_stop_move_thread_0 +2025-06-25 20:53:33.760 j1_slow_down_t = 0 +2025-06-25 20:53:33.760 j2_slow_down_t = 0 +2025-06-25 20:53:33.760 j3_slow_down_t = 1 +2025-06-25 20:53:33.760 j4_slow_down_t = 0 +2025-06-25 20:53:33.761 tmp_t[3] = 1 +2025-06-25 20:53:33.761 _new_stop_move_thread_1 +2025-06-25 20:53:33.835 jog_move_xyzr return 99 ͣ +2025-06-25 20:53:33.921 _new_stop_move_thread_2 +2025-06-25 20:53:33.960 _new_stop_move_thread_3 +2025-06-25 20:53:33.960 get_scara_param -55.984600 91.477402 -103.761002 -1005.585083 +2025-06-25 20:53:33.960 get_scara_real_coor -55.984600 91.477402 -103.761002 -1005.585022 +2025-06-25 20:53:33.960 _new_stop_move_thread_4 +2025-06-25 20:53:34.041 wait_stop in +2025-06-25 20:53:34.074 wait_stop out_0 +2025-06-25 20:53:37.856 30 30 30 30 +2025-06-25 20:53:37.857 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 20:53:37.857 goal_angle -61.881187 31.250517 +2025-06-25 20:53:37.857 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 20:53:37.857 z1 -103.761063 z2 -97.620598 +2025-06-25 20:53:37.857 angle1_1 -55.984612 angle2_1 91.477417 z1 -103.761063 r1 -1005.585083 +2025-06-25 20:53:37.857 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994 +2025-06-25 20:53:37.857 speed 100.000000 +2025-06-25 20:53:37.859 tcp_distance 240.632019 +2025-06-25 20:53:37.859 new_end_speed 100.000000 j1_acc_t 1.203160 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.360372 +2025-06-25 20:53:37.859 new_end_speed 100.000000 j2_acc_t 1.203160 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 54.750172 +2025-06-25 20:53:37.859 new_end_speed 100.000000 j3_acc_t 1.203160 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 5.582082 +2025-06-25 20:53:37.859 new_end_speed 100.000000 j4_acc_t 1.203160 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.105532 +2025-06-25 20:53:37.860 end_speed 100.000000 +2025-06-25 20:53:37.860 trail_number2.406320 +2025-06-25 20:53:37.860 tcp_distance 240.632019 +2025-06-25 20:53:37.860 angle1_1 = -55.984612 angle2_1 = 91.477417 z1 = -103.761063 r1 = -1005.585083 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 20:53:54.770 _new_stop_move_thread_0 +2025-06-25 20:53:54.770 j1_slow_down_t = 1 +2025-06-25 20:53:54.770 j2_slow_down_t = 2 +2025-06-25 20:53:54.770 j3_slow_down_t = 0 +2025-06-25 20:53:54.770 j4_slow_down_t = 0 +2025-06-25 20:53:54.770 tmp_t[3] = 2 +2025-06-25 20:53:54.770 _new_stop_move_thread_1 +2025-06-25 20:53:54.886 jog_move_xyzr return 99 ͣ +2025-06-25 20:53:54.918 _new_stop_move_thread_2 +2025-06-25 20:53:54.949 _new_stop_move_thread_3 +2025-06-25 20:53:54.950 get_scara_param -67.172203 49.424801 -97.623398 -1005.499573 +2025-06-25 20:53:54.950 get_scara_real_coor -67.172203 49.424801 -97.623398 -1005.499573 +2025-06-25 20:53:54.951 _new_stop_move_thread_4 +2025-06-25 20:53:55.098 wait_stop in +2025-06-25 20:53:55.130 wait_stop out_0 +2025-06-25 20:54:55.137 _new_stop_move_thread_0 +2025-06-25 20:54:55.139 j1_slow_down_t = 0 +2025-06-25 20:54:55.139 j2_slow_down_t = 1 +2025-06-25 20:54:55.139 j3_slow_down_t = 0 +2025-06-25 20:54:55.139 j4_slow_down_t = 0 +2025-06-25 20:54:55.139 tmp_t[3] = 1 +2025-06-25 20:54:55.140 _new_stop_move_thread_1 +2025-06-25 20:54:55.170 jog_move_xyzr return 99 ͣ +2025-06-25 20:54:55.291 _new_stop_move_thread_2 +2025-06-25 20:54:55.340 _new_stop_move_thread_3 +2025-06-25 20:54:55.340 get_scara_param -69.598999 64.314301 -97.623398 -1005.532410 +2025-06-25 20:54:55.340 get_scara_real_coor -69.598999 64.314301 -97.623398 -1005.532410 +2025-06-25 20:54:55.340 _new_stop_move_thread_4 +2025-06-25 20:54:55.376 wait_stop in +2025-06-25 20:54:55.408 wait_stop out_0 +2025-06-25 20:54:58.465 _new_stop_move_thread_0 +2025-06-25 20:54:58.465 j1_slow_down_t = 3 +2025-06-25 20:54:58.465 j2_slow_down_t = 2 +2025-06-25 20:54:58.465 j3_slow_down_t = 0 +2025-06-25 20:54:58.465 j4_slow_down_t = 0 +2025-06-25 20:54:58.465 tmp_t[3] = 3 +2025-06-25 20:54:58.465 _new_stop_move_thread_1 +2025-06-25 20:54:58.622 _new_stop_move_thread_2 +2025-06-25 20:54:58.622 jog_move_xyzr return 99 ͣ +2025-06-25 20:54:58.657 _new_stop_move_thread_3 +2025-06-25 20:54:58.657 get_scara_param -65.901604 59.029202 -97.623398 -1005.567871 +2025-06-25 20:54:58.657 get_scara_real_coor -65.901604 59.029202 -97.623398 -1005.567871 +2025-06-25 20:54:58.659 _new_stop_move_thread_4 +2025-06-25 20:54:58.834 wait_stop in +2025-06-25 20:54:58.865 wait_stop out_0 +2025-06-25 20:55:01.911 _new_stop_move_thread_0 +2025-06-25 20:55:01.913 j1_slow_down_t = 0 +2025-06-25 20:55:01.913 j2_slow_down_t = 0 +2025-06-25 20:55:01.913 j3_slow_down_t = 2 +2025-06-25 20:55:01.913 j4_slow_down_t = 0 +2025-06-25 20:55:01.913 tmp_t[3] = 2 +2025-06-25 20:55:01.913 _new_stop_move_thread_1 +2025-06-25 20:55:02.010 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:02.073 _new_stop_move_thread_2 +2025-06-25 20:55:02.101 _new_stop_move_thread_3 +2025-06-25 20:55:02.101 get_scara_param -65.901199 59.029400 -108.610100 -1005.567505 +2025-06-25 20:55:02.101 get_scara_real_coor -65.901199 59.029400 -108.610100 -1005.567627 +2025-06-25 20:55:02.101 _new_stop_move_thread_4 +2025-06-25 20:55:02.232 wait_stop in +2025-06-25 20:55:02.264 wait_stop out_0 +2025-06-25 20:55:03.442 _new_stop_move_thread_0 +2025-06-25 20:55:03.442 j1_slow_down_t = 0 +2025-06-25 20:55:03.442 j2_slow_down_t = 0 +2025-06-25 20:55:03.442 j3_slow_down_t = 1 +2025-06-25 20:55:03.442 j4_slow_down_t = 0 +2025-06-25 20:55:03.442 tmp_t[3] = 1 +2025-06-25 20:55:03.442 _new_stop_move_thread_1 +2025-06-25 20:55:03.613 _new_stop_move_thread_2 +2025-06-25 20:55:03.628 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:03.644 _new_stop_move_thread_3 +2025-06-25 20:55:03.644 get_scara_param -65.901100 59.029598 -112.800400 -1005.567200 +2025-06-25 20:55:03.644 get_scara_real_coor -65.901100 59.029598 -112.800400 -1005.567322 +2025-06-25 20:55:03.644 _new_stop_move_thread_4 +2025-06-25 20:55:03.848 wait_stop in +2025-06-25 20:55:03.880 wait_stop out_0 +2025-06-25 20:55:04.885 _new_stop_move_thread_0 +2025-06-25 20:55:04.885 j1_slow_down_t = 0 +2025-06-25 20:55:04.885 j2_slow_down_t = 0 +2025-06-25 20:55:04.885 j3_slow_down_t = 1 +2025-06-25 20:55:04.889 j4_slow_down_t = 0 +2025-06-25 20:55:04.889 tmp_t[3] = 1 +2025-06-25 20:55:04.889 _new_stop_move_thread_1 +2025-06-25 20:55:04.914 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:05.038 _new_stop_move_thread_2 +2025-06-25 20:55:05.071 _new_stop_move_thread_3 +2025-06-25 20:55:05.071 get_scara_param -65.900902 59.029701 -116.504799 -1005.567322 +2025-06-25 20:55:05.071 get_scara_real_coor -65.900902 59.029701 -116.504799 -1005.567322 +2025-06-25 20:55:05.071 _new_stop_move_thread_4 +2025-06-25 20:55:05.129 wait_stop in +2025-06-25 20:55:05.177 wait_stop out_0 +2025-06-25 20:55:13.770 _new_stop_move_thread_0 +2025-06-25 20:55:13.770 j1_slow_down_t = 0 +2025-06-25 20:55:13.770 j2_slow_down_t = 1 +2025-06-25 20:55:13.770 j3_slow_down_t = 0 +2025-06-25 20:55:13.772 j4_slow_down_t = 0 +2025-06-25 20:55:13.772 tmp_t[3] = 1 +2025-06-25 20:55:13.772 _new_stop_move_thread_1 +2025-06-25 20:55:13.868 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:13.914 _new_stop_move_thread_2 +2025-06-25 20:55:13.945 _new_stop_move_thread_3 +2025-06-25 20:55:13.945 get_scara_param -65.982597 59.851101 -116.510300 -1005.582092 +2025-06-25 20:55:13.945 get_scara_real_coor -65.982597 59.851101 -116.510300 -1005.582092 +2025-06-25 20:55:13.945 _new_stop_move_thread_4 +2025-06-25 20:55:14.183 _new_stop_move_thread_0 +2025-06-25 20:55:14.183 j1_slow_down_t = 0 +2025-06-25 20:55:14.183 j2_slow_down_t = 0 +2025-06-25 20:55:14.183 j3_slow_down_t = 0 +2025-06-25 20:55:14.183 j4_slow_down_t = 0 +2025-06-25 20:55:14.183 tmp_t[3] = 0 +2025-06-25 20:55:14.183 _new_stop_move_thread_1 +2025-06-25 20:55:14.274 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:14.295 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:14.348 _new_stop_move_thread_2 +2025-06-25 20:55:14.381 _new_stop_move_thread_3 +2025-06-25 20:55:14.381 get_scara_param -66.002701 60.081299 -116.510696 -1005.582275 +2025-06-25 20:55:14.381 get_scara_real_coor -66.002701 60.081299 -116.510696 -1005.582275 +2025-06-25 20:55:14.381 _new_stop_move_thread_4 +2025-06-25 20:55:14.479 wait_stop in +2025-06-25 20:55:14.511 wait_stop in +2025-06-25 20:55:14.511 wait_stop out_0 +2025-06-25 20:55:14.542 wait_stop out_0 +2025-06-25 20:55:16.469 _new_stop_move_thread_0 +2025-06-25 20:55:16.469 j1_slow_down_t = 0 +2025-06-25 20:55:16.472 j2_slow_down_t = 0 +2025-06-25 20:55:16.472 j3_slow_down_t = 1 +2025-06-25 20:55:16.472 j4_slow_down_t = 0 +2025-06-25 20:55:16.472 tmp_t[3] = 1 +2025-06-25 20:55:16.472 _new_stop_move_thread_1 +2025-06-25 20:55:16.502 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:16.634 _new_stop_move_thread_2 +2025-06-25 20:55:16.666 _new_stop_move_thread_3 +2025-06-25 20:55:16.667 get_scara_param -66.002800 60.081501 -118.176804 -1005.582092 +2025-06-25 20:55:16.667 get_scara_real_coor -66.002800 60.081501 -118.176804 -1005.582214 +2025-06-25 20:55:16.667 _new_stop_move_thread_4 +2025-06-25 20:55:16.717 wait_stop in +2025-06-25 20:55:16.749 wait_stop out_0 +2025-06-25 20:55:17.224 _new_stop_move_thread_0 +2025-06-25 20:55:17.224 j1_slow_down_t = 0 +2025-06-25 20:55:17.224 j2_slow_down_t = 0 +2025-06-25 20:55:17.224 j3_slow_down_t = 0 +2025-06-25 20:55:17.224 j4_slow_down_t = 0 +2025-06-25 20:55:17.224 tmp_t[3] = 0 +2025-06-25 20:55:17.224 _new_stop_move_thread_1 +2025-06-25 20:55:17.372 _new_stop_move_thread_2 +2025-06-25 20:55:17.387 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:17.403 _new_stop_move_thread_3 +2025-06-25 20:55:17.403 get_scara_param -66.002701 60.081699 -119.248001 -1005.581970 +2025-06-25 20:55:17.403 get_scara_real_coor -66.002701 60.081699 -119.248001 -1005.581970 +2025-06-25 20:55:17.403 _new_stop_move_thread_4 +2025-06-25 20:55:17.588 wait_stop in +2025-06-25 20:55:17.621 wait_stop out_0 +2025-06-25 20:55:44.575 wait_stop in +2025-06-25 20:55:44.603 wait_stop out_0 +2025-06-25 20:55:44.661 30 30 30 30 +2025-06-25 20:55:44.661 new_movej_xyz_lr 288.405304 -221.615906 -121.248001 -1005.581970 2.000000 0.000000 1 +2025-06-25 20:55:44.661 goal_angle -66.002777 60.081738 +2025-06-25 20:55:44.661 new_movej_angle -66.002777 60.081738 -121.248001 -1005.581970 0.000000 2.000000 +2025-06-25 20:55:44.661 z1 -119.248009 z2 -121.248001 +2025-06-25 20:55:44.661 angle1_1 -66.002769 angle2_1 60.081722 z1 -119.248009 r1 -1005.582031 +2025-06-25 20:55:44.661 angle1_2 -66.002777 angle2_2 60.081738 z2 -121.248001 r2 -1005.581970 +2025-06-25 20:55:44.661 speed 2.000000 +2025-06-25 20:55:44.661 tcp_distance 1.988886 +2025-06-25 20:55:44.661 new_end_speed 2.000000 j1_acc_t 0.497221 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000017 +2025-06-25 20:55:44.661 new_end_speed 2.000000 j2_acc_t 0.497221 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000034 +2025-06-25 20:55:44.661 new_end_speed 2.000000 j3_acc_t 0.497221 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399435 +2025-06-25 20:55:44.661 new_end_speed 2.000000 j4_acc_t 0.497221 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000134 +2025-06-25 20:55:44.661 end_speed 2.000000 +2025-06-25 20:55:44.661 trail_number0.994443 +2025-06-25 20:55:44.661 tcp_distance 1.988886 +2025-06-25 20:55:44.661 angle1_1 = -66.002769 angle2_1 = 60.081722 z1 = -119.248009 r1 = -1005.582031 angle1_2 = -66.002777 angle2_2 = 60.081738 z2 = -121.248001 r2 = -1005.581970 +2025-06-25 20:55:45.859 wait_stop in +2025-06-25 20:55:45.908 wait_stop out_0 +2025-06-25 20:55:45.942 30 30 30 30 +2025-06-25 20:55:45.942 new_movej_xyz_lr 288.405304 -221.615799 -119.248001 -1005.581970 2.000000 0.000000 1 +2025-06-25 20:55:45.942 goal_angle -66.002777 60.081779 +2025-06-25 20:55:45.942 new_movej_angle -66.002777 60.081779 -119.248001 -1005.581970 0.000000 2.000000 +2025-06-25 20:55:45.943 z1 -121.248001 z2 -119.248001 +2025-06-25 20:55:45.943 angle1_1 -66.002777 angle2_1 60.081738 z1 -121.248001 r1 -1005.581970 +2025-06-25 20:55:45.943 angle1_2 -66.002777 angle2_2 60.081779 z2 -119.248001 r2 -1005.581970 +2025-06-25 20:55:45.943 speed 2.000000 +2025-06-25 20:55:45.943 tcp_distance 1.988892 +2025-06-25 20:55:45.943 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-25 20:55:45.943 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000092 +2025-06-25 20:55:45.944 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399435 +2025-06-25 20:55:45.944 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 20:55:45.944 end_speed 2.000000 +2025-06-25 20:55:45.944 trail_number0.994446 +2025-06-25 20:55:45.944 tcp_distance 1.988892 +2025-06-25 20:55:45.945 angle1_1 = -66.002777 angle2_1 = 60.081738 z1 = -121.248001 r1 = -1005.581970 angle1_2 = -66.002777 angle2_2 = 60.081779 z2 = -119.248001 r2 = -1005.581970 +2025-06-25 20:55:47.648 wait_stop in +2025-06-25 20:55:47.682 wait_stop out_0 +2025-06-25 20:55:47.707 30 30 30 30 +2025-06-25 20:55:47.707 new_movej_xyz_lr 288.405304 -221.615707 -121.248001 -1005.581970 2.000000 0.000000 1 +2025-06-25 20:55:47.707 goal_angle -66.002792 60.081806 +2025-06-25 20:55:47.707 new_movej_angle -66.002792 60.081806 -121.248001 -1005.581970 0.000000 2.000000 +2025-06-25 20:55:47.707 z1 -119.248001 z2 -121.248001 +2025-06-25 20:55:47.707 angle1_1 -66.002777 angle2_1 60.081779 z1 -119.248001 r1 -1005.581970 +2025-06-25 20:55:47.707 angle1_2 -66.002792 angle2_2 60.081806 z2 -121.248001 r2 -1005.581970 +2025-06-25 20:55:47.707 speed 2.000000 +2025-06-25 20:55:47.707 tcp_distance 1.988892 +2025-06-25 20:55:47.707 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000034 +2025-06-25 20:55:47.707 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000059 +2025-06-25 20:55:47.707 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399435 +2025-06-25 20:55:47.707 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 20:55:47.707 end_speed 2.000000 +2025-06-25 20:55:47.707 trail_number0.994446 +2025-06-25 20:55:47.713 tcp_distance 1.988892 +2025-06-25 20:55:47.713 angle1_1 = -66.002777 angle2_1 = 60.081779 z1 = -119.248001 r1 = -1005.581970 angle1_2 = -66.002792 angle2_2 = 60.081806 z2 = -121.248001 r2 = -1005.581970 +2025-06-25 20:55:48.670 wait_stop in +2025-06-25 20:55:48.751 30 30 30 30 +2025-06-25 20:55:48.751 new_movej_xyz_lr 288.405212 -221.615707 -119.248001 -1005.581970 2.000000 0.000000 1 +2025-06-25 20:55:48.751 goal_angle -66.002815 60.081844 +2025-06-25 20:55:48.751 new_movej_angle -66.002815 60.081844 -119.248001 -1005.581970 0.000000 2.000000 +2025-06-25 20:55:48.751 z1 -121.248001 z2 -119.248001 +2025-06-25 20:55:48.751 angle1_1 -66.002792 angle2_1 60.081806 z1 -121.248001 r1 -1005.581970 +2025-06-25 20:55:48.753 angle1_2 -66.002815 angle2_2 60.081844 z2 -119.248001 r2 -1005.581970 +2025-06-25 20:55:48.753 speed 2.000000 +2025-06-25 20:55:48.753 tcp_distance 1.988892 +2025-06-25 20:55:48.753 new_end_speed 2.000000 j1_acc_t 0.497223 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000050 +2025-06-25 20:55:48.753 new_end_speed 2.000000 j2_acc_t 0.497223 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000084 +2025-06-25 20:55:48.753 new_end_speed 2.000000 j3_acc_t 0.497223 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.399436 +2025-06-25 20:55:48.753 new_end_speed 2.000000 j4_acc_t 0.497223 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 20:55:48.753 end_speed 2.000000 +2025-06-25 20:55:48.753 trail_number0.994446 +2025-06-25 20:55:48.753 tcp_distance 1.988892 +2025-06-25 20:55:48.755 angle1_1 = -66.002792 angle2_1 = 60.081806 z1 = -121.248001 r1 = -1005.581970 angle1_2 = -66.002815 angle2_2 = 60.081844 z2 = -119.248001 r2 = -1005.581970 +2025-06-25 20:55:49.807 wait_stop out_0 +2025-06-25 20:55:50.910 _new_stop_move_thread_0 +2025-06-25 20:55:50.910 j1_slow_down_t = 0 +2025-06-25 20:55:50.910 j2_slow_down_t = 0 +2025-06-25 20:55:50.910 j3_slow_down_t = 0 +2025-06-25 20:55:50.910 j4_slow_down_t = 0 +2025-06-25 20:55:50.910 tmp_t[3] = 0 +2025-06-25 20:55:50.910 _new_stop_move_thread_1 +2025-06-25 20:55:51.031 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:51.052 _new_stop_move_thread_2 +2025-06-25 20:55:51.085 _new_stop_move_thread_3 +2025-06-25 20:55:51.085 get_scara_param -66.002701 60.081902 -119.463203 -1005.581970 +2025-06-25 20:55:51.085 get_scara_real_coor -66.002701 60.081902 -119.463203 -1005.581970 +2025-06-25 20:55:51.085 _new_stop_move_thread_4 +2025-06-25 20:55:51.249 wait_stop in +2025-06-25 20:55:51.289 wait_stop out_0 +2025-06-25 20:55:51.616 _new_stop_move_thread_0 +2025-06-25 20:55:51.616 j1_slow_down_t = 0 +2025-06-25 20:55:51.616 j2_slow_down_t = 0 +2025-06-25 20:55:51.616 j3_slow_down_t = 0 +2025-06-25 20:55:51.616 j4_slow_down_t = 0 +2025-06-25 20:55:51.616 tmp_t[3] = 0 +2025-06-25 20:55:51.616 _new_stop_move_thread_1 +2025-06-25 20:55:51.736 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:51.784 _new_stop_move_thread_2 +2025-06-25 20:55:51.807 _new_stop_move_thread_3 +2025-06-25 20:55:51.807 get_scara_param -66.002701 60.082001 -119.730698 -1005.581970 +2025-06-25 20:55:51.807 get_scara_real_coor -66.002701 60.082001 -119.730698 -1005.581970 +2025-06-25 20:55:51.808 _new_stop_move_thread_4 +2025-06-25 20:55:51.943 wait_stop in +2025-06-25 20:55:51.974 wait_stop out_0 +2025-06-25 20:55:58.341 _new_stop_move_thread_0 +2025-06-25 20:55:58.341 j1_slow_down_t = 0 +2025-06-25 20:55:58.341 j2_slow_down_t = 0 +2025-06-25 20:55:58.341 j3_slow_down_t = 0 +2025-06-25 20:55:58.341 j4_slow_down_t = 0 +2025-06-25 20:55:58.341 tmp_t[3] = 0 +2025-06-25 20:55:58.341 _new_stop_move_thread_1 +2025-06-25 20:55:58.460 jog_move_xyzr return 99 ͣ +2025-06-25 20:55:58.491 _new_stop_move_thread_2 +2025-06-25 20:55:58.523 _new_stop_move_thread_3 +2025-06-25 20:55:58.523 get_scara_param -66.002701 60.082100 -119.998100 -1005.581970 +2025-06-25 20:55:58.523 get_scara_real_coor -66.002701 60.082100 -119.998100 -1005.581909 +2025-06-25 20:55:58.523 _new_stop_move_thread_4 +2025-06-25 20:55:58.672 wait_stop in +2025-06-25 20:55:58.704 wait_stop out_0 +2025-06-25 20:56:55.552 _new_stop_move_thread_0 +2025-06-25 20:56:55.552 j1_slow_down_t = 0 +2025-06-25 20:56:55.552 j2_slow_down_t = 0 +2025-06-25 20:56:55.552 j3_slow_down_t = 2 +2025-06-25 20:56:55.552 j4_slow_down_t = 0 +2025-06-25 20:56:55.552 tmp_t[3] = 2 +2025-06-25 20:56:55.556 _new_stop_move_thread_1 +2025-06-25 20:56:55.677 jog_move_xyzr return 99 ͣ +2025-06-25 20:56:55.689 _new_stop_move_thread_2 +2025-06-25 20:56:55.715 _new_stop_move_thread_3 +2025-06-25 20:56:55.715 get_scara_param -66.002602 60.082199 -105.973000 -1005.581970 +2025-06-25 20:56:55.715 get_scara_real_coor -66.002602 60.082199 -105.973000 -1005.581970 +2025-06-25 20:56:55.715 _new_stop_move_thread_4 +2025-06-25 20:56:55.879 wait_stop in +2025-06-25 20:56:55.907 wait_stop out_0 +2025-06-25 20:56:59.590 30 30 30 30 +2025-06-25 20:56:59.590 new_movej_xyz_lr 271.779297 149.383698 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 20:56:59.590 goal_angle -11.173326 84.928253 +2025-06-25 20:56:59.590 new_movej_angle -11.173326 84.928253 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 20:56:59.590 z1 -105.973091 z2 -97.620598 +2025-06-25 20:56:59.590 angle1_1 -66.002632 angle2_1 60.082203 z1 -105.973091 r1 -1005.581970 +2025-06-25 20:56:59.590 angle1_2 -11.173326 angle2_2 84.928253 z2 -97.620598 r2 -1005.468994 +2025-06-25 20:56:59.590 speed 100.000000 +2025-06-25 20:56:59.590 tcp_distance 393.403442 +2025-06-25 20:56:59.590 new_end_speed 100.000000 j1_acc_t 1.967017 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 30.487560 +2025-06-25 20:56:59.590 new_end_speed 100.000000 j2_acc_t 1.967017 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 13.815522 +2025-06-25 20:56:59.590 new_end_speed 100.000000 j3_acc_t 1.967017 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.644362 +2025-06-25 20:56:59.590 new_end_speed 100.000000 j4_acc_t 1.967017 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.062820 +2025-06-25 20:56:59.590 end_speed 100.000000 +2025-06-25 20:56:59.599 trail_number3.934034 +2025-06-25 20:56:59.599 tcp_distance 393.403442 +2025-06-25 20:56:59.599 angle1_1 = -66.002632 angle2_1 = 60.082203 z1 = -105.973091 r1 = -1005.581970 angle1_2 = -11.173326 angle2_2 = 84.928253 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 20:57:13.925 _new_stop_move_thread_0 +2025-06-25 20:57:13.925 j1_slow_down_t = 3 +2025-06-25 20:57:13.925 j2_slow_down_t = 1 +2025-06-25 20:57:13.925 j3_slow_down_t = 0 +2025-06-25 20:57:13.925 j4_slow_down_t = 0 +2025-06-25 20:57:13.925 tmp_t[3] = 3 +2025-06-25 20:57:13.925 _new_stop_move_thread_1 +2025-06-25 20:57:13.978 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:14.104 _new_stop_move_thread_2 +2025-06-25 20:57:14.143 _new_stop_move_thread_3 +2025-06-25 20:57:14.143 get_scara_param 4.967600 69.762703 -97.623100 -1005.495911 +2025-06-25 20:57:14.143 get_scara_real_coor 4.967600 69.762703 -97.623100 -1005.495911 +2025-06-25 20:57:14.143 _new_stop_move_thread_4 +2025-06-25 20:57:14.185 wait_stop in +2025-06-25 20:57:14.217 wait_stop out_0 +2025-06-25 20:57:16.155 _new_stop_move_thread_0 +2025-06-25 20:57:16.155 j1_slow_down_t = 2 +2025-06-25 20:57:16.155 j2_slow_down_t = 1 +2025-06-25 20:57:16.155 j3_slow_down_t = 0 +2025-06-25 20:57:16.155 j4_slow_down_t = 0 +2025-06-25 20:57:16.155 tmp_t[3] = 2 +2025-06-25 20:57:16.155 _new_stop_move_thread_1 +2025-06-25 20:57:16.289 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:16.320 _new_stop_move_thread_2 +2025-06-25 20:57:16.352 _new_stop_move_thread_3 +2025-06-25 20:57:16.352 get_scara_param 4.036700 70.794601 -97.623398 -1005.467773 +2025-06-25 20:57:16.352 get_scara_real_coor 4.036700 70.794601 -97.623398 -1005.467773 +2025-06-25 20:57:16.352 _new_stop_move_thread_4 +2025-06-25 20:57:16.497 wait_stop in +2025-06-25 20:57:16.528 wait_stop out_0 +2025-06-25 20:57:18.978 _new_stop_move_thread_0 +2025-06-25 20:57:18.978 j1_slow_down_t = 0 +2025-06-25 20:57:18.978 j2_slow_down_t = 2 +2025-06-25 20:57:18.978 j3_slow_down_t = 0 +2025-06-25 20:57:18.978 j4_slow_down_t = 0 +2025-06-25 20:57:18.978 tmp_t[3] = 2 +2025-06-25 20:57:18.978 _new_stop_move_thread_1 +2025-06-25 20:57:19.025 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:19.161 _new_stop_move_thread_2 +2025-06-25 20:57:19.191 _new_stop_move_thread_3 +2025-06-25 20:57:19.191 get_scara_param 5.016500 66.113297 -97.623802 -1005.450012 +2025-06-25 20:57:19.191 get_scara_real_coor 5.016500 66.113297 -97.623802 -1005.450012 +2025-06-25 20:57:19.191 _new_stop_move_thread_4 +2025-06-25 20:57:19.233 wait_stop in +2025-06-25 20:57:19.264 wait_stop out_0 +2025-06-25 20:57:22.592 _new_stop_move_thread_0 +2025-06-25 20:57:22.592 j1_slow_down_t = 0 +2025-06-25 20:57:22.592 j2_slow_down_t = 0 +2025-06-25 20:57:22.592 j3_slow_down_t = 0 +2025-06-25 20:57:22.593 j4_slow_down_t = 0 +2025-06-25 20:57:22.593 tmp_t[3] = 0 +2025-06-25 20:57:22.593 _new_stop_move_thread_1 +2025-06-25 20:57:22.688 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:22.731 _new_stop_move_thread_2 +2025-06-25 20:57:22.753 _new_stop_move_thread_3 +2025-06-25 20:57:22.753 get_scara_param 5.044900 65.975700 -97.624496 -1005.448486 +2025-06-25 20:57:22.753 get_scara_real_coor 5.044900 65.975700 -97.624496 -1005.448425 +2025-06-25 20:57:22.753 _new_stop_move_thread_4 +2025-06-25 20:57:22.895 _new_stop_move_thread_0 +2025-06-25 20:57:22.895 j1_slow_down_t = 0 +2025-06-25 20:57:22.895 j2_slow_down_t = 0 +2025-06-25 20:57:22.895 j3_slow_down_t = 0 +2025-06-25 20:57:22.895 j4_slow_down_t = 0 +2025-06-25 20:57:22.895 tmp_t[3] = 0 +2025-06-25 20:57:22.896 _new_stop_move_thread_1 +2025-06-25 20:57:22.902 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:23.007 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:23.026 _new_stop_move_thread_2 +2025-06-25 20:57:23.060 _new_stop_move_thread_3 +2025-06-25 20:57:23.060 get_scara_param 5.070400 65.856903 -97.624802 -1005.447388 +2025-06-25 20:57:23.060 get_scara_real_coor 5.070400 65.856903 -97.624802 -1005.447388 +2025-06-25 20:57:23.060 _new_stop_move_thread_4 +2025-06-25 20:57:23.400 _new_stop_move_thread_0 +2025-06-25 20:57:23.400 j1_slow_down_t = 1 +2025-06-25 20:57:23.400 j2_slow_down_t = 2 +2025-06-25 20:57:23.400 j3_slow_down_t = 0 +2025-06-25 20:57:23.400 j4_slow_down_t = 0 +2025-06-25 20:57:23.400 tmp_t[3] = 2 +2025-06-25 20:57:23.400 _new_stop_move_thread_1 +2025-06-25 20:57:23.423 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:23.475 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:23.523 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:23.591 _new_stop_move_thread_2 +2025-06-25 20:57:23.623 _new_stop_move_thread_3 +2025-06-25 20:57:23.623 get_scara_param 5.249300 65.065804 -97.624802 -1005.434570 +2025-06-25 20:57:23.623 get_scara_real_coor 5.249300 65.065804 -97.624802 -1005.434570 +2025-06-25 20:57:23.623 _new_stop_move_thread_4 +2025-06-25 20:57:23.638 wait_stop in +2025-06-25 20:57:23.678 wait_stop out_0 +2025-06-25 20:57:23.679 wait_stop in +2025-06-25 20:57:23.722 wait_stop out_0 +2025-06-25 20:57:23.738 wait_stop in +2025-06-25 20:57:23.773 wait_stop out_0 +2025-06-25 20:57:32.062 _new_stop_move_thread_0 +2025-06-25 20:57:32.062 j1_slow_down_t = 1 +2025-06-25 20:57:32.062 j2_slow_down_t = 1 +2025-06-25 20:57:32.062 j3_slow_down_t = 0 +2025-06-25 20:57:32.062 j4_slow_down_t = 0 +2025-06-25 20:57:32.062 tmp_t[3] = 1 +2025-06-25 20:57:32.064 _new_stop_move_thread_1 +2025-06-25 20:57:32.106 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:32.216 _new_stop_move_thread_2 +2025-06-25 20:57:32.238 _new_stop_move_thread_3 +2025-06-25 20:57:32.238 get_scara_param 6.006000 64.196297 -97.625504 -1005.468323 +2025-06-25 20:57:32.239 get_scara_real_coor 6.006000 64.196297 -97.625504 -1005.468323 +2025-06-25 20:57:32.239 _new_stop_move_thread_4 +2025-06-25 20:57:32.897 _new_stop_move_thread_0 +2025-06-25 20:57:32.897 j1_slow_down_t = 3 +2025-06-25 20:57:32.897 j2_slow_down_t = 1 +2025-06-25 20:57:32.897 j3_slow_down_t = 0 +2025-06-25 20:57:32.897 j4_slow_down_t = 0 +2025-06-25 20:57:32.897 tmp_t[3] = 3 +2025-06-25 20:57:32.897 _new_stop_move_thread_1 +2025-06-25 20:57:32.924 jog_move_xyzr return 99 ͣ +2025-06-25 20:57:33.051 _new_stop_move_thread_2 +2025-06-25 20:57:33.083 _new_stop_move_thread_3 +2025-06-25 20:57:33.084 get_scara_param 7.003700 63.040100 -97.625198 -1005.506226 +2025-06-25 20:57:33.084 get_scara_real_coor 7.003700 63.040100 -97.625198 -1005.506226 +2025-06-25 20:57:33.084 _new_stop_move_thread_4 +2025-06-25 20:57:33.099 wait_stop in +2025-06-25 20:57:33.127 wait_stop in +2025-06-25 20:57:33.138 wait_stop out_0 +2025-06-25 20:57:33.161 wait_stop out_0 +2025-06-25 20:59:23.051 SDK_VERSION_V2.0.0.29_Release +2025-06-25 20:59:23.051 robot connected +2025-06-25 20:59:23.052 26 +2025-06-25 20:59:23.052 current generation=26 +2025-06-25 20:59:23.560 0x1a +2025-06-25 20:59:24.377 initial joint2 1835959 +2025-06-25 20:59:24.377 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-25 20:59:24.377 robot WritePID +2025-06-25 20:59:24.684 initial joint1 102432 +2025-06-25 20:59:24.738 initial joint2 1835960 +2025-06-25 20:59:24.788 initial joint3 -284360 +2025-06-25 20:59:24.852 initial joint4 -25494047 +2025-06-25 20:59:24.865 initial joint1 102432 +2025-06-25 20:59:24.906 initial joint2 1835962 +2025-06-25 20:59:24.978 initial joint3 -284364 +2025-06-25 20:59:25.023 initial joint4 -25494048 +2025-06-25 20:59:25.046 initial joint1 102431 +2025-06-25 20:59:25.099 initial joint2 1835963 +2025-06-25 20:59:25.143 initial joint3 -284366 +2025-06-25 20:59:25.210 initial joint4 -25494047 +2025-06-25 20:59:27.535 initial_thread initialized +2025-06-25 20:59:27.535 servo enable +2025-06-25 20:59:27.535 brake open +2025-06-25 20:59:27.535 set_brake_state 0 1 +2025-06-25 20:59:27.745 robot initialized +2025-06-25 20:59:28.333 get_scara_param 7.033300 63.032902 -97.629601 -1005.469299 +2025-06-25 20:59:28.333 get_scara_real_coor 7.033300 63.032799 -97.629997 -1005.469299 +2025-06-25 20:59:28.333 λɢ +2025-06-25 20:59:28.333 position 102429.859375 1835966.375000 -284366.812500 -25494044.000000 72558.929688 1930892.500000 -284348.750000 -25491686.000000 +2025-06-25 20:59:28.333 speed 2051.073975 3259.029785 6.201267 97.146614 +2025-06-25 20:59:28.333 set_first_position_after_initial +2025-06-25 20:59:28.336 movej_old start_pos: 7.033300 63.032902 -97.629601 -1005.469238 end_pos: 7.033300 63.032902 -97.629601 -1005.469116 org_sp 10.000000 end_sp 10.000000 +2025-06-25 20:59:28.617 J3 Belt Meilage=40.956299km +2025-06-25 20:59:30.166 30 30 30 30 +2025-06-25 20:59:30.166 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 20:59:30.166 goal_angle -46.207226 99.506226 +2025-06-25 20:59:30.166 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 20:59:30.166 z1 -97.629601 z2 -97.620598 +2025-06-25 20:59:30.166 angle1_1 7.033300 angle2_1 63.032902 z1 -97.629601 r1 -1005.469116 +2025-06-25 20:59:30.166 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-25 20:59:30.166 speed 100.000000 +2025-06-25 20:59:30.166 tcp_distance 219.534637 +2025-06-25 20:59:30.166 new_end_speed 100.000000 j1_acc_t 1.097673 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 53.050259 +2025-06-25 20:59:30.166 new_end_speed 100.000000 j2_acc_t 1.097673 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 36.342979 +2025-06-25 20:59:30.166 new_end_speed 100.000000 j3_acc_t 1.097673 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.008971 +2025-06-25 20:59:30.166 new_end_speed 100.000000 j4_acc_t 1.097673 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000122 +2025-06-25 20:59:30.166 end_speed 100.000000 +2025-06-25 20:59:30.166 trail_number2.195346 +2025-06-25 20:59:30.166 tcp_distance 219.534637 +2025-06-25 20:59:30.172 angle1_1 = 7.033300 angle2_1 = 63.032902 z1 = -97.629601 r1 = -1005.469116 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 21:00:06.704 30 30 30 30 +2025-06-25 21:00:06.704 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 21:00:06.704 goal_angle -66.454506 86.491570 +2025-06-25 21:00:06.705 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-25 21:00:06.705 z1 -97.620598 z2 -99.620598 +2025-06-25 21:00:06.705 angle1_1 -46.207226 angle2_1 99.506226 z1 -97.620598 r1 -1005.468994 +2025-06-25 21:00:06.705 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-25 21:00:06.705 speed 100.000000 +2025-06-25 21:00:06.705 tcp_distance 135.464661 +2025-06-25 21:00:06.705 new_end_speed 100.000000 j1_acc_t 0.677323 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 32.695572 +2025-06-25 21:00:06.705 new_end_speed 100.000000 j2_acc_t 0.677323 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.016237 +2025-06-25 21:00:06.705 new_end_speed 100.000000 j3_acc_t 0.677323 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 3.229626 +2025-06-25 21:00:06.705 new_end_speed 100.000000 j4_acc_t 0.677323 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 21:00:06.705 end_speed 100.000000 +2025-06-25 21:00:06.705 trail_number1.354647 +2025-06-25 21:00:06.705 tcp_distance 135.464661 +2025-06-25 21:00:06.705 angle1_1 = -46.207226 angle2_1 = 99.506226 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-25 21:00:15.354 30 30 30 30 +2025-06-25 21:00:15.354 new_movej_xyz_lr 275.780212 -295.934296 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 21:00:15.354 goal_angle -61.881187 31.250517 +2025-06-25 21:00:15.356 new_movej_angle -61.881187 31.250517 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 21:00:15.356 z1 -99.620598 z2 -97.620598 +2025-06-25 21:00:15.356 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-25 21:00:15.356 angle1_2 -61.881187 angle2_2 31.250517 z2 -97.620598 r2 -1005.468994 +2025-06-25 21:00:15.356 speed 100.000000 +2025-06-25 21:00:15.356 tcp_distance 167.878571 +2025-06-25 21:00:15.356 new_end_speed 100.000000 j1_acc_t 0.839393 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.959148 +2025-06-25 21:00:15.356 new_end_speed 100.000000 j2_acc_t 0.839393 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 71.980469 +2025-06-25 21:00:15.357 new_end_speed 100.000000 j3_acc_t 0.839393 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 2.606050 +2025-06-25 21:00:15.357 new_end_speed 100.000000 j4_acc_t 0.839393 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 21:00:15.357 end_speed 100.000000 +2025-06-25 21:00:15.357 trail_number1.678786 +2025-06-25 21:00:15.357 tcp_distance 167.878571 +2025-06-25 21:00:15.357 angle1_1 = -66.454506 angle2_1 = 86.491570 z1 = -99.620598 r1 = -1005.468994 angle1_2 = -61.881187 angle2_2 = 31.250517 z2 = -97.620598 r2 = -1005.468994 +2025-06-25 21:00:19.271 30 30 30 30 +2025-06-25 21:00:19.271 new_movej_xyz_lr 271.779297 1.546600 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-25 21:00:19.271 goal_angle -46.207226 99.506226 +2025-06-25 21:00:19.271 new_movej_angle -46.207226 99.506226 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-25 21:00:19.272 z1 -97.620598 z2 -97.620598 +2025-06-25 21:00:19.272 angle1_1 -61.881187 angle2_1 31.250517 z1 -97.620598 r1 -1005.468994 +2025-06-25 21:00:19.273 angle1_2 -46.207226 angle2_2 99.506226 z2 -97.620598 r2 -1005.468994 +2025-06-25 21:00:19.273 speed 100.000000 +2025-06-25 21:00:19.273 tcp_distance 319.346649 +2025-06-25 21:00:19.273 new_end_speed 100.000000 j1_acc_t 1.596733 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 10.736547 +2025-06-25 21:00:19.273 new_end_speed 100.000000 j2_acc_t 1.596733 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 46.754646 +2025-06-25 21:00:19.274 new_end_speed 100.000000 j3_acc_t 1.596733 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-25 21:00:19.274 new_end_speed 100.000000 j4_acc_t 1.596733 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-25 21:00:19.274 end_speed 100.000000 +2025-06-25 21:00:19.274 trail_number3.193466 +2025-06-25 21:00:19.274 tcp_distance 319.346649 +2025-06-25 21:00:19.274 angle1_1 = -61.881187 angle2_1 = 31.250517 z1 = -97.620598 r1 = -1005.468994 angle1_2 = -46.207226 angle2_2 = 99.506226 z2 = -97.620598 r2 = -1005.468994 diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-26.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-26.hilog new file mode 100644 index 0000000..4d3a99a --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-26.hilog @@ -0,0 +1,1321 @@ +2025-06-26 09:46:54.034 ROBOT_ERROR_CODE = 1004 +2025-06-26 09:46:54.036 +0 : 0 0 0 0 0 0 +1 : 0 0 0 0 0 0 +2 : 0 0 0 0 0 0 +3 : 0 0 0 0 0 0 +4 : 0 0 0 0 0 0 +5 : 0 0 0 0 0 0 +6 : 0 0 0 0 0 0 +7 : 0 0 0 0 0 0 +8 : 0 0 0 0 0 0 +9 : 0 0 0 0 0 0 +10 : 0 0 0 0 0 0 +11 : 0 0 0 0 0 0 +12 : 0 0 0 0 0 0 +13 : 0 0 0 0 0 0 +14 : 0 0 0 0 0 0 +15 : 9999 9999 9999 9999 9999 0 +2025-06-26 09:46:58.250 SDK_VERSION_V2.0.0.29_Release +2025-06-26 09:46:58.250 robot connected +2025-06-26 09:46:58.251 26 +2025-06-26 09:46:58.251 current generation=26 +2025-06-26 09:46:58.820 0x1a +2025-06-26 09:46:59.630 initial joint2 2896171 +2025-06-26 09:46:59.630 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-26 09:46:59.630 robot WritePID +2025-06-26 09:46:59.936 initial joint1 -673173 +2025-06-26 09:46:59.987 initial joint2 2896169 +2025-06-26 09:47:00.027 initial joint3 -284643 +2025-06-26 09:47:00.084 initial joint4 -24733091 +2025-06-26 09:47:00.090 initial joint1 -673174 +2025-06-26 09:47:00.140 initial joint2 2896169 +2025-06-26 09:47:00.191 initial joint3 -284644 +2025-06-26 09:47:00.240 initial joint4 -24733091 +2025-06-26 09:47:00.255 initial joint1 -673169 +2025-06-26 09:47:00.303 initial joint2 2896169 +2025-06-26 09:47:00.336 initial joint3 -284645 +2025-06-26 09:47:00.390 initial joint4 -24733091 +2025-06-26 09:47:02.531 initial_thread initialized +2025-06-26 09:47:02.531 servo enable +2025-06-26 09:47:02.531 brake open +2025-06-26 09:47:02.531 set_brake_state 0 1 +2025-06-26 09:47:02.743 robot initialized +2025-06-26 09:47:03.291 get_scara_param -46.222698 99.432098 -97.725403 -1005.535522 +2025-06-26 09:47:03.291 get_scara_real_coor -46.222698 99.432098 -97.725098 -1005.535583 +2025-06-26 09:47:03.292 set_first_position_after_initial +2025-06-26 09:47:03.293 movej_old start_pos: -46.222702 99.432098 -97.725403 -1005.535461 end_pos: -46.222702 99.432098 -97.725403 -1005.535461 org_sp 10.000000 end_sp 10.000000 +2025-06-26 09:47:03.574 J3 Belt Meilage=40.956455km +2025-06-26 10:26:03.012 SDK_VERSION_V2.0.0.29_Release +2025-06-26 10:26:03.012 robot connected +2025-06-26 10:26:03.012 26 +2025-06-26 10:26:03.012 current generation=26 +2025-06-26 10:26:03.529 0x1a +2025-06-26 10:26:04.440 initial joint2 2896173 +2025-06-26 10:26:04.441 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-26 10:26:04.442 robot WritePID +2025-06-26 10:26:04.749 initial joint1 -673169 +2025-06-26 10:26:04.805 initial joint2 2896173 +2025-06-26 10:26:04.851 initial joint3 -284653 +2025-06-26 10:26:04.910 initial joint4 -24733094 +2025-06-26 10:26:04.936 initial joint1 -673170 +2025-06-26 10:26:04.975 initial joint2 2896176 +2025-06-26 10:26:05.018 initial joint3 -284654 +2025-06-26 10:26:05.059 initial joint4 -24733094 +2025-06-26 10:26:05.072 initial joint1 -673169 +2025-06-26 10:26:05.119 initial joint2 2896178 +2025-06-26 10:26:05.161 initial joint3 -284656 +2025-06-26 10:26:05.199 initial joint4 -24733095 +2025-06-26 10:26:07.274 initial_thread initialized +2025-06-26 10:26:07.275 servo enable +2025-06-26 10:26:07.275 brake open +2025-06-26 10:26:07.275 set_brake_state 0 1 +2025-06-26 10:26:07.487 robot initialized +2025-06-26 10:26:08.081 get_scara_param -46.222900 99.432404 -97.728798 -1005.535583 +2025-06-26 10:26:08.081 get_scara_real_coor -46.222801 99.432404 -97.730202 -1005.535583 +2025-06-26 10:26:08.081 λɢ +2025-06-26 10:26:08.082 position -673169.750000 2896178.750000 -284655.750000 -24733094.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-26 10:26:08.083 speed 46222.898438 99432.406250 97728.796875 1018972.125000 +2025-06-26 10:26:08.083 set_first_position_after_initial +2025-06-26 10:26:08.084 movej_old start_pos: -46.222900 99.432404 -97.728798 -1005.535583 end_pos: -46.222900 99.432404 -97.728798 -1005.535583 org_sp 10.000000 end_sp 10.000000 +2025-06-26 10:26:08.357 J3 Belt Meilage=40.957035km +2025-06-26 10:26:13.798 30 30 30 30 +2025-06-26 10:26:13.800 new_movej_xyz_lr 287.342896 73.423103 -97.728798 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:26:13.800 goal_angle -28.070442 90.288498 +2025-06-26 10:26:13.800 new_movej_angle -28.070442 90.288498 -97.728798 -1005.557007 0.000000 100.000000 +2025-06-26 10:26:13.800 z1 -97.728798 z2 -97.728798 +2025-06-26 10:26:13.802 angle1_1 -46.222900 angle2_1 99.432404 z1 -97.728798 r1 -1005.535583 +2025-06-26 10:26:13.802 angle1_2 -28.070442 angle2_2 90.288498 z2 -97.728798 r2 -1005.557007 +2025-06-26 10:26:13.802 speed 100.000000 +2025-06-26 10:26:13.802 tcp_distance 73.563347 +2025-06-26 10:26:13.802 new_end_speed 95.000000 j1_acc_t 0.387176 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.279747 +2025-06-26 10:26:13.802 new_end_speed 95.000000 j2_acc_t 0.387176 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.831057 +2025-06-26 10:26:13.804 new_end_speed 95.000000 j3_acc_t 0.387176 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-26 10:26:13.804 new_end_speed 95.000000 j4_acc_t 0.387176 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.060520 +2025-06-26 10:26:13.804 end_speed 95.000000 +2025-06-26 10:26:13.804 trail_number0.774351 +2025-06-26 10:26:13.804 tcp_distance 73.563347 +2025-06-26 10:26:13.804 angle1_1 = -46.222900 angle2_1 = 99.432404 z1 = -97.728798 r1 = -1005.535583 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -97.728798 r2 = -1005.557007 +2025-06-26 10:26:13.808 wait_stop in +2025-06-26 10:26:14.627 wait_stop out_0 +2025-06-26 10:26:14.627 new_movej_xyz_lr 287.342896 73.423103 -118.853500 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:26:14.627 goal_angle -28.070442 90.288498 +2025-06-26 10:26:14.627 new_movej_angle -28.070442 90.288498 -118.853500 -1005.557007 0.000000 100.000000 +2025-06-26 10:26:14.627 z1 -97.728798 z2 -118.853500 +2025-06-26 10:26:14.629 angle1_1 -28.070442 angle2_1 90.288498 z1 -97.728798 r1 -1005.557007 +2025-06-26 10:26:14.629 angle1_2 -28.070442 angle2_2 90.288498 z2 -118.853500 r2 -1005.557007 +2025-06-26 10:26:14.629 speed 100.000000 +2025-06-26 10:26:14.629 tcp_distance 21.007347 +2025-06-26 10:26:14.629 new_end_speed 100.000000 j1_acc_t 0.105037 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-26 10:26:14.629 new_end_speed 100.000000 j2_acc_t 0.105037 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-26 10:26:14.629 new_end_speed 100.000000 j3_acc_t 0.105037 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972031 +2025-06-26 10:26:14.629 new_end_speed 100.000000 j4_acc_t 0.105037 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 10:26:14.629 end_speed 100.000000 +2025-06-26 10:26:14.629 trail_number0.210073 +2025-06-26 10:26:14.629 tcp_distance 21.007347 +2025-06-26 10:26:14.631 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -97.728798 r1 = -1005.557007 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -118.853500 r2 = -1005.557007 +2025-06-26 10:27:38.512 SDK_VERSION_V2.0.0.29_Release +2025-06-26 10:27:38.512 robot connected +2025-06-26 10:27:38.512 26 +2025-06-26 10:27:38.512 current generation=26 +2025-06-26 10:27:39.016 0x1a +2025-06-26 10:27:39.820 initial joint2 2629846 +2025-06-26 10:27:39.820 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-26 10:27:39.820 robot WritePID +2025-06-26 10:27:40.130 initial joint1 -408806 +2025-06-26 10:27:40.193 initial joint2 2629847 +2025-06-26 10:27:40.233 initial joint3 -346192 +2025-06-26 10:27:40.280 initial joint4 -25041054 +2025-06-26 10:27:40.296 initial joint1 -408806 +2025-06-26 10:27:40.336 initial joint2 2629848 +2025-06-26 10:27:40.383 initial joint3 -346192 +2025-06-26 10:27:40.423 initial joint4 -25041054 +2025-06-26 10:27:40.429 initial joint1 -408806 +2025-06-26 10:27:40.483 initial joint2 2629849 +2025-06-26 10:27:40.526 initial joint3 -346192 +2025-06-26 10:27:40.560 initial joint4 -25041055 +2025-06-26 10:27:42.718 initial_thread initialized +2025-06-26 10:27:42.718 servo enable +2025-06-26 10:27:42.718 brake open +2025-06-26 10:27:42.718 set_brake_state 0 1 +2025-06-26 10:27:42.932 robot initialized +2025-06-26 10:27:43.495 get_scara_param -28.070499 90.288803 -118.855499 -1005.557007 +2025-06-26 10:27:43.497 get_scara_real_coor -28.070299 90.288696 -118.855499 -1005.556824 +2025-06-26 10:27:43.497 λɢ +2025-06-26 10:27:43.497 position -408806.281250 2629852.000000 -346191.718750 -25041058.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-26 10:27:43.497 speed 28070.500000 90288.796875 118855.492188 1031659.812500 +2025-06-26 10:27:43.497 set_first_position_after_initial +2025-06-26 10:27:43.498 movej_old start_pos: -28.070499 90.288803 -118.855492 -1005.557068 end_pos: -28.070499 90.288803 -118.855400 -1005.557129 org_sp 10.000000 end_sp 0.400243 +2025-06-26 10:27:43.795 J3 Belt Meilage=40.957062km +2025-06-26 10:27:47.386 wait_stop in +2025-06-26 10:27:47.423 wait_stop out_0 +2025-06-26 10:27:54.079 _new_stop_move_thread_0 +2025-06-26 10:27:54.079 j1_slow_down_t = 0 +2025-06-26 10:27:54.079 j2_slow_down_t = 0 +2025-06-26 10:27:54.079 j3_slow_down_t = 2 +2025-06-26 10:27:54.079 j4_slow_down_t = 0 +2025-06-26 10:27:54.083 tmp_t[3] = 2 +2025-06-26 10:27:54.083 _new_stop_move_thread_1 +2025-06-26 10:27:54.112 jog_move_xyzr return 99 ͣ +2025-06-26 10:27:54.227 _new_stop_move_thread_2 +2025-06-26 10:27:54.258 _new_stop_move_thread_3 +2025-06-26 10:27:54.258 get_scara_param -28.070499 90.288902 -94.495399 -1005.557312 +2025-06-26 10:27:54.259 get_scara_real_coor -28.070499 90.288902 -94.495399 -1005.557190 +2025-06-26 10:27:54.259 _new_stop_move_thread_4 +2025-06-26 10:27:54.315 wait_stop in +2025-06-26 10:27:54.339 wait_stop out_0 +2025-06-26 10:30:29.125 SDK_VERSION_V2.0.0.29_Release +2025-06-26 10:30:29.125 robot connected +2025-06-26 10:30:29.125 26 +2025-06-26 10:30:29.125 current generation=26 +2025-06-26 10:30:29.628 0x1a +2025-06-26 10:30:30.516 initial joint2 2629858 +2025-06-26 10:30:30.516 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-26 10:30:30.516 robot WritePID +2025-06-26 10:30:30.832 initial joint1 -408806 +2025-06-26 10:30:30.894 initial joint2 2629859 +2025-06-26 10:30:30.931 initial joint3 -273537 +2025-06-26 10:30:30.988 initial joint4 -25041060 +2025-06-26 10:30:31.011 initial joint1 -408806 +2025-06-26 10:30:31.074 initial joint2 2629860 +2025-06-26 10:30:31.123 initial joint3 -273539 +2025-06-26 10:30:31.181 initial joint4 -25041061 +2025-06-26 10:30:31.197 initial joint1 -408807 +2025-06-26 10:30:31.245 initial joint2 2629862 +2025-06-26 10:30:31.297 initial joint3 -273541 +2025-06-26 10:30:31.334 initial joint4 -25041062 +2025-06-26 10:30:33.524 initial_thread initialized +2025-06-26 10:30:33.524 servo enable +2025-06-26 10:30:33.524 brake open +2025-06-26 10:30:33.524 set_brake_state 0 1 +2025-06-26 10:30:33.743 robot initialized +2025-06-26 10:30:34.331 get_scara_param -28.070499 90.289200 -93.914200 -1005.557129 +2025-06-26 10:30:34.331 get_scara_real_coor -28.070400 90.289200 -93.914200 -1005.557007 +2025-06-26 10:30:34.331 λɢ +2025-06-26 10:30:34.331 position -408806.281250 2629863.500000 -273544.937500 -25041066.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-26 10:30:34.331 speed 28070.500000 90289.195313 93914.203125 1031660.125000 +2025-06-26 10:30:34.331 set_first_position_after_initial +2025-06-26 10:30:34.331 movej_old start_pos: -28.070499 90.289200 -93.914200 -1005.557129 end_pos: -28.070499 90.289200 -93.914200 -1005.557129 org_sp 10.000000 end_sp 10.000000 +2025-06-26 10:30:34.653 J3 Belt Meilage=40.957108km +2025-06-26 10:30:38.084 30 30 30 30 +2025-06-26 10:30:38.084 new_movej_xyz_lr 288.405792 -221.614197 -93.914200 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:30:38.084 goal_angle -66.002686 60.082100 +2025-06-26 10:30:38.092 new_movej_angle -66.002686 60.082100 -93.914200 -1005.581970 0.000000 100.000000 +2025-06-26 10:30:38.092 z1 -93.914200 z2 -93.914200 +2025-06-26 10:30:38.092 angle1_1 -28.070499 angle2_1 90.289200 z1 -93.914200 r1 -1005.557129 +2025-06-26 10:30:38.092 angle1_2 -66.002686 angle2_2 60.082100 z2 -93.914200 r2 -1005.581970 +2025-06-26 10:30:38.092 speed 100.000000 +2025-06-26 10:30:38.092 tcp_distance 306.401978 +2025-06-26 10:30:38.092 new_end_speed 100.000000 j1_acc_t 1.532010 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 27.080982 +2025-06-26 10:30:38.092 new_end_speed 100.000000 j2_acc_t 1.532010 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.565800 +2025-06-26 10:30:38.092 new_end_speed 100.000000 j3_acc_t 1.532010 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-26 10:30:38.092 new_end_speed 100.000000 j4_acc_t 1.532010 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.017735 +2025-06-26 10:30:38.094 end_speed 100.000000 +2025-06-26 10:30:38.094 trail_number3.064020 +2025-06-26 10:30:38.094 tcp_distance 306.401978 +2025-06-26 10:30:38.094 angle1_1 = -28.070499 angle2_1 = 90.289200 z1 = -93.914200 r1 = -1005.557129 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -93.914200 r2 = -1005.581970 +2025-06-26 10:30:38.098 wait_stop in +2025-06-26 10:30:41.246 wait_stop out_0 +2025-06-26 10:30:41.246 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:30:41.247 goal_angle -66.002686 60.082100 +2025-06-26 10:30:41.247 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-26 10:30:41.247 z1 -93.914200 z2 -119.998100 +2025-06-26 10:30:41.247 angle1_1 -66.002686 angle2_1 60.082100 z1 -93.914200 r1 -1005.581970 +2025-06-26 10:30:41.247 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-26 10:30:41.247 speed 100.000000 +2025-06-26 10:30:41.247 tcp_distance 25.938988 +2025-06-26 10:30:41.247 new_end_speed 100.000000 j1_acc_t 0.129695 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-26 10:30:41.247 new_end_speed 100.000000 j2_acc_t 0.129695 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-26 10:30:41.247 new_end_speed 100.000000 j3_acc_t 0.129695 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972061 +2025-06-26 10:30:41.247 new_end_speed 100.000000 j4_acc_t 0.129695 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 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-97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-26 10:30:49.891 goal_angle -55.984741 91.477249 +2025-06-26 10:30:49.891 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-26 10:30:49.891 z1 -119.977707 z2 -97.620598 +2025-06-26 10:30:49.891 angle1_1 -55.984741 angle2_1 91.477249 z1 -119.977707 r1 -1005.585022 +2025-06-26 10:30:49.893 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-26 10:30:49.893 speed 100.000000 +2025-06-26 10:30:49.893 tcp_distance 22.232903 +2025-06-26 10:30:49.893 new_end_speed 100.000000 j1_acc_t 0.111165 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-26 10:30:49.893 new_end_speed 100.000000 j2_acc_t 0.111165 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-26 10:30:49.893 new_end_speed 100.000000 j3_acc_t 0.111165 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.971939 +2025-06-26 10:30:49.893 new_end_speed 100.000000 j4_acc_t 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-1005.585022 +2025-06-26 10:31:02.071 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.977501 r2 -1005.581970 +2025-06-26 10:31:02.071 speed 100.000000 +2025-06-26 10:31:02.071 tcp_distance 158.896286 +2025-06-26 10:31:02.071 new_end_speed 100.000000 j1_acc_t 0.794481 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 13.791540 +2025-06-26 10:31:02.071 new_end_speed 100.000000 j2_acc_t 0.794481 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 43.221188 +2025-06-26 10:31:02.071 new_end_speed 100.000000 j3_acc_t 0.794481 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 30.778383 +2025-06-26 10:31:02.071 new_end_speed 100.000000 j4_acc_t 0.794481 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.004201 +2025-06-26 10:31:02.071 end_speed 100.000000 +2025-06-26 10:31:02.071 trail_number1.588963 +2025-06-26 10:31:02.071 tcp_distance 158.896286 +2025-06-26 10:31:02.071 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -119.977501 r2 = -1005.581970 +2025-06-26 10:31:02.086 wait_stop in +2025-06-26 10:31:03.767 wait_stop out_0 +2025-06-26 10:31:03.767 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:31:03.767 goal_angle -66.002686 60.082100 +2025-06-26 10:31:03.767 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-26 10:31:03.767 z1 -119.977501 z2 -119.998100 +2025-06-26 10:31:03.770 angle1_1 -66.002686 angle2_1 60.082100 z1 -119.977501 r1 -1005.581970 +2025-06-26 10:31:03.770 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-26 10:31:03.770 speed 100.000000 +2025-06-26 10:31:03.770 tcp_distance 0.020485 +2025-06-26 10:31:03.770 new_end_speed 100.000000 j1_acc_t 0.005000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-26 10:31:03.770 new_end_speed 100.000000 j2_acc_t 0.005000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 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60.082100 z1 -119.997894 r1 -1005.581970 +2025-06-26 10:31:23.004 angle1_2 -66.002693 angle2_2 60.082127 z2 -97.620598 r2 -1005.581970 +2025-06-26 10:31:23.004 speed 100.000000 +2025-06-26 10:31:23.004 tcp_distance 22.252975 +2025-06-26 10:31:23.004 new_end_speed 100.000000 j1_acc_t 0.111265 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000075 +2025-06-26 10:31:23.004 new_end_speed 100.000000 j2_acc_t 0.111265 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000262 +2025-06-26 10:31:23.004 new_end_speed 100.000000 j3_acc_t 0.111265 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972168 +2025-06-26 10:31:23.004 new_end_speed 100.000000 j4_acc_t 0.111265 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 10:31:23.004 end_speed 100.000000 +2025-06-26 10:31:23.004 trail_number0.222530 +2025-06-26 10:31:23.004 tcp_distance 22.252975 +2025-06-26 10:31:23.004 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -119.997894 r1 = -1005.581970 angle1_2 = -66.002693 angle2_2 = 60.082127 z2 = -97.620598 r2 = -1005.581970 +2025-06-26 10:31:23.011 wait_stop in +2025-06-26 10:31:23.642 wait_stop out_0 +2025-06-26 10:31:23.642 new_movej_xyz_lr 285.909302 -66.236198 -119.997902 -1005.585022 100.000000 0.000000 1 +2025-06-26 10:31:23.642 goal_angle -55.984741 91.477249 +2025-06-26 10:31:23.642 new_movej_angle -55.984741 91.477249 -119.997902 -1005.585022 0.000000 100.000000 +2025-06-26 10:31:23.642 z1 -97.620598 z2 -119.997902 +2025-06-26 10:31:23.642 angle1_1 -66.002693 angle2_1 60.082127 z1 -97.620598 r1 -1005.581970 +2025-06-26 10:31:23.642 angle1_2 -55.984741 angle2_2 91.477249 z2 -119.997902 r2 -1005.585022 +2025-06-26 10:31:23.642 speed 100.000000 +2025-06-26 10:31:23.642 tcp_distance 159.000381 +2025-06-26 10:31:23.644 new_end_speed 100.000000 j1_acc_t 0.795002 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 13.782519 +2025-06-26 10:31:23.644 new_end_speed 100.000000 j2_acc_t 0.795002 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 43.192848 +2025-06-26 10:31:23.644 new_end_speed 100.000000 j3_acc_t 0.795002 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 30.786295 +2025-06-26 10:31:23.644 new_end_speed 100.000000 j4_acc_t 0.795002 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.004199 +2025-06-26 10:31:23.644 end_speed 100.000000 +2025-06-26 10:31:23.644 trail_number1.590004 +2025-06-26 10:31:23.644 tcp_distance 159.000381 +2025-06-26 10:31:23.644 angle1_1 = -66.002693 angle2_1 = 60.082127 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -119.997902 r2 = -1005.585022 +2025-06-26 10:31:23.657 wait_stop in +2025-06-26 10:31:25.306 wait_stop out_0 +2025-06-26 10:31:25.307 new_movej_xyz_lr 285.909302 -66.236198 -119.977501 -1005.585022 100.000000 0.000000 1 +2025-06-26 10:31:25.307 goal_angle -55.984741 91.477249 +2025-06-26 10:31:25.307 new_movej_angle -55.984741 91.477249 -119.977501 -1005.585022 0.000000 100.000000 +2025-06-26 10:31:25.307 z1 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angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -119.997902 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -119.977501 r2 = -1005.585022 +2025-06-26 10:31:27.221 30 30 30 30 +2025-06-26 10:31:27.221 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-26 10:31:27.221 goal_angle -55.984741 91.477249 +2025-06-26 10:31:27.222 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-26 10:31:27.223 z1 -119.977707 z2 -97.620598 +2025-06-26 10:31:27.223 angle1_1 -55.984741 angle2_1 91.477249 z1 -119.977707 r1 -1005.585022 +2025-06-26 10:31:27.223 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-26 10:31:27.223 speed 100.000000 +2025-06-26 10:31:27.223 tcp_distance 22.232903 +2025-06-26 10:31:27.223 new_end_speed 100.000000 j1_acc_t 0.111165 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-26 10:31:27.224 new_end_speed 100.000000 j2_acc_t 0.111165 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-26 10:31:27.224 new_end_speed 100.000000 j3_acc_t 0.111165 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.971939 +2025-06-26 10:31:27.224 new_end_speed 100.000000 j4_acc_t 0.111165 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 10:31:27.224 end_speed 100.000000 +2025-06-26 10:31:27.224 trail_number0.222329 +2025-06-26 10:31:27.224 tcp_distance 22.232903 +2025-06-26 10:31:27.225 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -119.977707 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-26 10:31:27.228 wait_stop in +2025-06-26 10:31:27.834 wait_stop out_0 +2025-06-26 10:31:27.834 new_movej_xyz_lr 287.342896 73.423103 -119.977699 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:31:27.834 goal_angle -28.070442 90.288498 +2025-06-26 10:31:27.834 new_movej_angle -28.070442 90.288498 -119.977699 -1005.557007 0.000000 100.000000 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+2025-06-26 10:31:27.834 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -97.620598 r1 = -1005.585022 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -119.977699 r2 = -1005.557007 +2025-06-26 10:31:27.850 wait_stop in +2025-06-26 10:31:29.349 wait_stop out_0 +2025-06-26 10:31:29.349 new_movej_xyz_lr 287.342896 73.423103 -118.853500 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:31:29.349 goal_angle -28.070442 90.288498 +2025-06-26 10:31:29.349 new_movej_angle -28.070442 90.288498 -118.853500 -1005.557007 0.000000 100.000000 +2025-06-26 10:31:29.349 z1 -119.977699 z2 -118.853500 +2025-06-26 10:31:29.351 angle1_1 -28.070442 angle2_1 90.288498 z1 -119.977699 r1 -1005.557007 +2025-06-26 10:31:29.351 angle1_2 -28.070442 angle2_2 90.288498 z2 -118.853500 r2 -1005.557007 +2025-06-26 10:31:29.351 speed 100.000000 +2025-06-26 10:31:29.351 tcp_distance 1.117950 +2025-06-26 10:31:29.351 new_end_speed 23.782684 j1_acc_t 0.023503 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 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0.000000 100.000000 +2025-06-26 10:31:32.046 z1 -118.853500 z2 -97.620598 +2025-06-26 10:31:32.046 angle1_1 -28.070442 angle2_1 90.288498 z1 -118.853500 r1 -1005.557007 +2025-06-26 10:31:32.046 angle1_2 -28.070490 angle2_2 90.288521 z2 -97.620598 r2 -1005.557007 +2025-06-26 10:31:32.046 speed 100.000000 +2025-06-26 10:31:32.046 tcp_distance 21.114944 +2025-06-26 10:31:32.050 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 +2025-06-26 10:31:32.050 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 +2025-06-26 10:31:32.050 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 +2025-06-26 10:31:32.050 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 +2025-06-26 10:31:32.050 end_speed 100.000000 +2025-06-26 10:31:32.050 trail_number0.211149 +2025-06-26 10:31:32.050 tcp_distance 21.114944 +2025-06-26 10:31:32.052 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 +2025-06-26 10:31:32.062 wait_stop in +2025-06-26 10:31:32.652 wait_stop out_0 +2025-06-26 10:31:32.652 new_movej_xyz_lr 286.618195 214.816605 -118.853500 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:31:32.652 goal_angle 7.003778 63.040188 +2025-06-26 10:31:32.652 new_movej_angle 7.003778 63.040188 -118.853500 -1005.581970 0.000000 100.000000 +2025-06-26 10:31:32.652 z1 -97.620598 z2 -118.853500 +2025-06-26 10:31:32.652 angle1_1 -28.070490 angle2_1 90.288521 z1 -97.620598 r1 -1005.557007 +2025-06-26 10:31:32.652 angle1_2 7.003778 angle2_2 63.040188 z2 -118.853500 r2 -1005.581970 +2025-06-26 10:31:32.652 speed 100.000000 +2025-06-26 10:31:32.652 tcp_distance 144.092667 +2025-06-26 10:31:32.652 new_end_speed 100.000000 j1_acc_t 0.720463 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 53.246937 +2025-06-26 10:31:32.652 new_end_speed 100.000000 j2_acc_t 0.720463 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 41.366230 +2025-06-26 10:31:32.652 new_end_speed 100.000000 j3_acc_t 0.720463 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 32.234089 +2025-06-26 10:31:32.652 new_end_speed 100.000000 j4_acc_t 0.720463 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.037897 +2025-06-26 10:31:32.652 end_speed 100.000000 +2025-06-26 10:31:32.652 trail_number1.440927 +2025-06-26 10:31:32.655 tcp_distance 144.092667 +2025-06-26 10:31:32.655 angle1_1 = -28.070490 angle2_1 = 90.288521 z1 = -97.620598 r1 = -1005.557007 angle1_2 = 7.003778 angle2_2 = 63.040188 z2 = -118.853500 r2 = -1005.581970 +2025-06-26 10:31:32.668 wait_stop in +2025-06-26 10:31:34.200 wait_stop out_0 +2025-06-26 10:31:34.200 new_movej_xyz_lr 286.618195 214.816605 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:31:34.200 goal_angle 7.003778 63.040188 +2025-06-26 10:31:34.200 new_movej_angle 7.003778 63.040188 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-26 10:31:34.201 z1 -118.853500 z2 -119.998100 +2025-06-26 10:31:34.201 angle1_1 7.003778 angle2_1 63.040188 z1 -118.853500 r1 -1005.581970 +2025-06-26 10:31:34.201 angle1_2 7.003778 angle2_2 63.040188 z2 -119.998100 r2 -1005.581970 +2025-06-26 10:31:34.201 speed 100.000000 +2025-06-26 10:31:34.201 tcp_distance 1.138245 +2025-06-26 10:31:34.202 new_end_speed 23.782684 j1_acc_t 0.023930 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-26 10:31:34.202 new_end_speed 23.782684 j2_acc_t 0.023930 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-26 10:31:34.202 new_end_speed 23.782684 j3_acc_t 0.023930 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 52.315086 +2025-06-26 10:31:34.202 new_end_speed 23.782684 j4_acc_t 0.023930 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 10:31:34.202 end_speed 23.782684 +2025-06-26 10:31:34.202 trail_number0.047860 +2025-06-26 10:31:34.202 tcp_distance 1.138245 +2025-06-26 10:31:34.204 angle1_1 = 7.003778 angle2_1 = 63.040188 z1 = -118.853500 r1 = -1005.581970 angle1_2 = 7.003778 angle2_2 = 63.040188 z2 = -119.998100 r2 = -1005.581970 +2025-06-26 10:31:37.640 30 30 30 30 +2025-06-26 10:31:37.641 new_movej_xyz_lr 286.618103 214.816605 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:31:37.641 goal_angle 7.003768 63.040218 +2025-06-26 10:31:37.641 new_movej_angle 7.003768 63.040218 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-26 10:31:37.642 z1 -119.998093 z2 -97.620598 +2025-06-26 10:31:37.642 angle1_1 7.003778 angle2_1 63.040188 z1 -119.998093 r1 -1005.581970 +2025-06-26 10:31:37.642 angle1_2 7.003768 angle2_2 63.040218 z2 -97.620598 r2 -1005.581970 +2025-06-26 10:31:37.642 speed 100.000000 +2025-06-26 10:31:37.643 tcp_distance 22.253174 +2025-06-26 10:31:37.643 new_end_speed 100.000000 j1_acc_t 0.111266 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000089 +2025-06-26 10:31:37.643 new_end_speed 100.000000 j2_acc_t 0.111266 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000300 +2025-06-26 10:31:37.643 new_end_speed 100.000000 j3_acc_t 0.111266 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972122 +2025-06-26 10:31:37.643 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 +2025-06-26 10:31:37.643 end_speed 100.000000 +2025-06-26 10:31:37.644 trail_number0.222532 +2025-06-26 10:31:37.644 tcp_distance 22.253174 +2025-06-26 10:31:37.644 angle1_1 = 7.003778 angle2_1 = 63.040188 z1 = -119.998093 r1 = -1005.581970 angle1_2 = 7.003768 angle2_2 = 63.040218 z2 = -97.620598 r2 = -1005.581970 +2025-06-26 10:31:37.648 wait_stop in +2025-06-26 10:31:38.249 wait_stop out_0 +2025-06-26 10:31:38.249 new_movej_xyz_lr 288.405792 -221.614197 -119.998001 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:31:38.249 goal_angle -66.002686 60.082100 +2025-06-26 10:31:38.249 new_movej_angle -66.002686 60.082100 -119.998001 -1005.581970 0.000000 100.000000 +2025-06-26 10:31:38.249 z1 -97.620598 z2 -119.998001 +2025-06-26 10:31:38.249 angle1_1 7.003768 angle2_1 63.040218 z1 -97.620598 r1 -1005.581970 +2025-06-26 10:31:38.249 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998001 r2 -1005.581970 +2025-06-26 10:31:38.249 speed 100.000000 +2025-06-26 10:31:38.249 tcp_distance 466.607147 +2025-06-26 10:31:38.249 new_end_speed 100.000000 j1_acc_t 2.333036 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 34.226135 +2025-06-26 10:31:38.249 new_end_speed 100.000000 j2_acc_t 2.333036 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.386795 +2025-06-26 10:31:38.249 new_end_speed 100.000000 j3_acc_t 2.333036 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 10.490745 +2025-06-26 10:31:38.249 new_end_speed 100.000000 j4_acc_t 2.333036 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 10:31:38.249 end_speed 100.000000 +2025-06-26 10:31:38.249 trail_number4.666071 +2025-06-26 10:31:38.249 tcp_distance 466.607147 +2025-06-26 10:31:38.249 angle1_1 = 7.003768 angle2_1 = 63.040218 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -119.998001 r2 = -1005.581970 +2025-06-26 10:31:38.264 wait_stop in +2025-06-26 10:31:42.995 wait_stop out_0 +2025-06-26 10:31:42.995 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:31:42.995 goal_angle -66.002686 60.082100 +2025-06-26 10:31:42.995 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-26 10:31:48.608 30 30 30 30 +2025-06-26 10:31:48.608 new_movej_xyz_lr 288.405792 -221.614105 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:31:48.608 goal_angle -66.002693 60.082127 +2025-06-26 10:31:48.608 new_movej_angle -66.002693 60.082127 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-26 10:31:48.608 z1 -119.998001 z2 -97.620598 +2025-06-26 10:31:48.608 angle1_1 -66.002686 angle2_1 60.082100 z1 -119.998001 r1 -1005.581970 +2025-06-26 10:31:48.608 angle1_2 -66.002693 angle2_2 60.082127 z2 -97.620598 r2 -1005.581970 +2025-06-26 10:31:48.608 speed 100.000000 +2025-06-26 10:31:48.608 tcp_distance 22.253082 +2025-06-26 10:31:48.608 new_end_speed 100.000000 j1_acc_t 0.111265 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000075 +2025-06-26 10:31:48.608 new_end_speed 100.000000 j2_acc_t 0.111265 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000262 +2025-06-26 10:31:48.608 new_end_speed 100.000000 j3_acc_t 0.111265 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972168 +2025-06-26 10:31:48.608 new_end_speed 100.000000 j4_acc_t 0.111265 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 10:31:48.608 end_speed 100.000000 +2025-06-26 10:31:48.608 trail_number0.222531 +2025-06-26 10:31:48.608 tcp_distance 22.253082 +2025-06-26 10:31:48.608 angle1_1 = -66.002686 angle2_1 = 60.082100 z1 = -119.998001 r1 = -1005.581970 angle1_2 = -66.002693 angle2_2 = 60.082127 z2 = -97.620598 r2 = -1005.581970 +2025-06-26 10:31:48.613 wait_stop in +2025-06-26 10:31:49.239 wait_stop out_0 +2025-06-26 10:31:49.239 new_movej_xyz_lr 285.909302 -66.236198 -119.998001 -1005.585022 100.000000 0.000000 1 +2025-06-26 10:31:49.239 goal_angle -55.984741 91.477249 +2025-06-26 10:31:49.239 new_movej_angle -55.984741 91.477249 -119.998001 -1005.585022 0.000000 100.000000 +2025-06-26 10:31:49.239 z1 -97.620598 z2 -119.998001 +2025-06-26 10:31:49.239 angle1_1 -66.002693 angle2_1 60.082127 z1 -97.620598 r1 -1005.581970 +2025-06-26 10:31:49.239 angle1_2 -55.984741 angle2_2 91.477249 z2 -119.998001 r2 -1005.585022 +2025-06-26 10:31:49.239 speed 100.000000 +2025-06-26 10:31:49.239 tcp_distance 159.000397 +2025-06-26 10:31:49.239 new_end_speed 100.000000 j1_acc_t 0.795002 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 13.782519 +2025-06-26 10:31:49.239 new_end_speed 100.000000 j2_acc_t 0.795002 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 43.192848 +2025-06-26 10:31:49.241 new_end_speed 100.000000 j3_acc_t 0.795002 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 30.786432 +2025-06-26 10:31:49.241 new_end_speed 100.000000 j4_acc_t 0.795002 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.004199 +2025-06-26 10:31:49.241 end_speed 100.000000 +2025-06-26 10:31:49.241 trail_number1.590004 +2025-06-26 10:31:49.242 tcp_distance 159.000397 +2025-06-26 10:31:49.242 angle1_1 = -66.002693 angle2_1 = 60.082127 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -119.998001 r2 = -1005.585022 +2025-06-26 10:31:49.252 wait_stop in +2025-06-26 10:31:50.919 wait_stop out_0 +2025-06-26 10:31:50.919 new_movej_xyz_lr 285.909302 -66.236198 -119.977501 -1005.585022 100.000000 0.000000 1 +2025-06-26 10:31:50.919 goal_angle -55.984741 91.477249 +2025-06-26 10:31:50.919 new_movej_angle -55.984741 91.477249 -119.977501 -1005.585022 0.000000 100.000000 +2025-06-26 10:31:50.919 z1 -119.998001 z2 -119.977501 +2025-06-26 10:31:50.920 angle1_1 -55.984741 angle2_1 91.477249 z1 -119.998001 r1 -1005.585022 +2025-06-26 10:31:50.920 angle1_2 -55.984741 angle2_2 91.477249 z2 -119.977501 r2 -1005.585022 +2025-06-26 10:31:50.920 speed 100.000000 +2025-06-26 10:31:50.920 tcp_distance 0.020386 +2025-06-26 10:31:50.920 new_end_speed 100.000000 j1_acc_t 0.005000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-26 10:31:50.921 new_end_speed 100.000000 j2_acc_t 0.005000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-26 10:31:50.921 new_end_speed 100.000000 j3_acc_t 0.005000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 4.484413 +2025-06-26 10:31:50.921 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 +2025-06-26 10:31:50.921 end_speed 100.000000 +2025-06-26 10:31:50.921 trail_number0.010000 +2025-06-26 10:31:50.921 tcp_distance 0.020386 +2025-06-26 10:31:50.921 angle1_1 = -55.984741 angle2_1 = 91.477249 z1 = -119.998001 r1 = -1005.585022 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -119.977501 r2 = -1005.585022 +2025-06-26 10:32:50.950 SDK_VERSION_V2.0.0.29_Release +2025-06-26 10:32:50.950 robot connected +2025-06-26 10:32:50.950 26 +2025-06-26 10:32:50.950 current generation=26 +2025-06-26 10:32:51.473 0x1a +2025-06-26 10:32:52.261 initial joint2 2664473 +2025-06-26 10:32:52.262 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-26 10:32:52.262 robot WritePID +2025-06-26 10:32:52.587 initial joint1 -815335 +2025-06-26 10:32:52.630 initial joint2 2664475 +2025-06-26 10:32:52.681 initial joint3 -349466 +2025-06-26 10:32:52.727 initial joint4 -24381494 +2025-06-26 10:32:52.743 initial joint1 -815335 +2025-06-26 10:32:52.792 initial joint2 2664476 +2025-06-26 10:32:52.835 initial joint3 -349468 +2025-06-26 10:32:52.887 initial joint4 -24381496 +2025-06-26 10:32:52.910 initial joint1 -815334 +2025-06-26 10:32:52.958 initial joint2 2664478 +2025-06-26 10:32:53.012 initial joint3 -349469 +2025-06-26 10:32:53.062 initial joint4 -24381497 +2025-06-26 10:32:55.276 initial_thread initialized +2025-06-26 10:32:55.276 servo enable +2025-06-26 10:32:55.277 brake open +2025-06-26 10:32:55.277 set_brake_state 0 1 +2025-06-26 10:32:55.488 robot initialized +2025-06-26 10:32:56.083 get_scara_param -55.984402 91.477600 -119.981300 -1005.584717 +2025-06-26 10:32:56.083 get_scara_real_coor -55.984402 91.477600 -119.982002 -1005.584717 +2025-06-26 10:32:56.083 λɢ +2025-06-26 10:32:56.083 position -815331.937500 2664478.250000 -349470.875000 -24381498.000000 -961233.812500 1750018.000000 -348441.812500 -23681034.000000 +2025-06-26 10:32:56.085 speed 10018.287109 31395.500000 353.300568 28858.226563 +2025-06-26 10:32:56.085 set_first_position_after_initial +2025-06-26 10:32:56.085 movej_old start_pos: -55.984402 91.477600 -119.981300 -1005.584656 end_pos: -55.984402 91.477600 -119.981300 -1005.584656 org_sp 10.000000 end_sp 10.000000 +2025-06-26 10:32:56.383 J3 Belt Meilage=40.957561km +2025-06-26 10:32:58.018 30 30 30 30 +2025-06-26 10:32:58.019 new_movej_xyz_lr 285.908997 -66.233498 -97.620598 -1005.584717 100.000000 0.000000 1 +2025-06-26 10:32:58.020 goal_angle -55.984398 91.477585 +2025-06-26 10:32:58.020 new_movej_angle -55.984398 91.477585 -97.620598 -1005.584717 0.000000 100.000000 +2025-06-26 10:32:58.020 z1 -119.981300 z2 -97.620598 +2025-06-26 10:32:58.020 angle1_1 -55.984402 angle2_1 91.477600 z1 -119.981300 r1 -1005.584656 +2025-06-26 10:32:58.020 angle1_2 -55.984398 angle2_2 91.477585 z2 -97.620598 r2 -1005.584717 +2025-06-26 10:32:58.020 speed 100.000000 +2025-06-26 10:32:58.021 tcp_distance 22.236473 +2025-06-26 10:32:58.021 new_end_speed 100.000000 j1_acc_t 0.111182 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000038 +2025-06-26 10:32:58.021 new_end_speed 100.000000 j2_acc_t 0.111182 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000150 +2025-06-26 10:32:58.021 new_end_speed 100.000000 j3_acc_t 0.111182 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 219.972137 +2025-06-26 10:32:58.021 new_end_speed 100.000000 j4_acc_t 0.111182 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000600 +2025-06-26 10:32:58.022 end_speed 100.000000 +2025-06-26 10:32:58.022 trail_number0.222365 +2025-06-26 10:32:58.022 tcp_distance 22.236473 +2025-06-26 10:32:58.022 angle1_1 = -55.984402 angle2_1 = 91.477600 z1 = -119.981300 r1 = -1005.584656 angle1_2 = -55.984398 angle2_2 = 91.477585 z2 = -97.620598 r2 = -1005.584717 +2025-06-26 10:32:58.046 wait_stop in +2025-06-26 10:32:58.632 wait_stop out_0 +2025-06-26 10:32:58.632 new_movej_xyz_lr 287.342896 73.423103 -119.981300 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:32:58.632 goal_angle -28.070442 90.288498 +2025-06-26 10:32:58.633 new_movej_angle -28.070442 90.288498 -119.981300 -1005.557007 0.000000 100.000000 +2025-06-26 10:32:58.633 z1 -97.620598 z2 -119.981300 +2025-06-26 10:32:58.633 angle1_1 -55.984398 angle2_1 91.477585 z1 -97.620598 r1 -1005.584717 +2025-06-26 10:32:58.633 angle1_2 -28.070442 angle2_2 90.288498 z2 -119.981300 r2 -1005.557007 +2025-06-26 10:32:58.633 speed 100.000000 +2025-06-26 10:32:58.634 tcp_distance 141.968781 +2025-06-26 10:32:58.634 new_end_speed 100.000000 j1_acc_t 0.709844 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 43.010712 +2025-06-26 10:32:58.634 new_end_speed 100.000000 j2_acc_t 0.709844 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.832183 +2025-06-26 10:32:58.634 new_end_speed 100.000000 j3_acc_t 0.709844 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 34.454082 +2025-06-26 10:32:58.634 new_end_speed 100.000000 j4_acc_t 0.709844 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.042696 +2025-06-26 10:32:58.634 end_speed 100.000000 +2025-06-26 10:32:58.634 trail_number1.419688 +2025-06-26 10:32:58.635 tcp_distance 141.968781 +2025-06-26 10:32:58.635 angle1_1 = -55.984398 angle2_1 = 91.477585 z1 = -97.620598 r1 = -1005.584717 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -119.981300 r2 = -1005.557007 +2025-06-26 10:32:58.655 wait_stop in +2025-06-26 10:33:00.120 wait_stop out_0 +2025-06-26 10:33:00.120 new_movej_xyz_lr 285.908997 -66.233498 -118.853500 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:33:00.122 goal_angle -55.984398 91.477585 +2025-06-26 10:33:00.122 new_movej_angle -55.984398 91.477585 -118.853500 -1005.557007 0.000000 100.000000 +2025-06-26 10:33:00.122 z1 -119.981300 z2 -118.853500 +2025-06-26 10:33:00.122 angle1_1 -28.070442 angle2_1 90.288498 z1 -119.981300 r1 -1005.557007 +2025-06-26 10:33:00.122 angle1_2 -55.984398 angle2_2 91.477585 z2 -118.853500 r2 -1005.557007 +2025-06-26 10:33:00.122 speed 100.000000 +2025-06-26 10:33:00.122 tcp_distance 140.229111 +2025-06-26 10:33:00.122 new_end_speed 100.000000 j1_acc_t 0.701146 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 43.544304 +2025-06-26 10:33:00.122 new_end_speed 100.000000 j2_acc_t 0.701146 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.854913 +2025-06-26 10:33:00.122 new_end_speed 100.000000 j3_acc_t 0.701146 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 1.759309 +2025-06-26 10:33:00.122 new_end_speed 100.000000 j4_acc_t 0.701146 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 10:33:00.124 end_speed 100.000000 +2025-06-26 10:33:00.124 trail_number1.402291 +2025-06-26 10:33:00.124 tcp_distance 140.229111 +2025-06-26 10:33:00.124 angle1_1 = -28.070442 angle2_1 = 90.288498 z1 = -119.981300 r1 = -1005.557007 angle1_2 = -55.984398 angle2_2 = 91.477585 z2 = -118.853500 r2 = -1005.557007 +2025-06-26 10:33:26.044 SDK_VERSION_V2.0.0.29_Release +2025-06-26 10:33:26.044 robot connected +2025-06-26 10:33:26.044 26 +2025-06-26 10:33:26.044 current generation=26 +2025-06-26 10:33:26.551 0x1a +2025-06-26 10:33:27.320 initial joint2 2664482 +2025-06-26 10:33:27.320 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-26 10:33:27.320 robot WritePID +2025-06-26 10:33:27.628 initial joint1 -815332 +2025-06-26 10:33:27.660 initial joint2 2664482 +2025-06-26 10:33:27.715 initial joint3 -346198 +2025-06-26 10:33:27.764 initial joint4 -24380828 +2025-06-26 10:33:27.780 initial joint1 -815331 +2025-06-26 10:33:27.830 initial joint2 2664483 +2025-06-26 10:33:27.876 initial joint3 -346198 +2025-06-26 10:33:27.927 initial joint4 -24380830 +2025-06-26 10:33:27.943 initial joint1 -815330 +2025-06-26 10:33:27.999 initial joint2 2664483 +2025-06-26 10:33:28.047 initial joint3 -346198 +2025-06-26 10:33:28.078 initial joint4 -24380830 +2025-06-26 10:33:30.267 initial_thread initialized +2025-06-26 10:33:30.267 servo enable +2025-06-26 10:33:30.267 brake open +2025-06-26 10:33:30.267 set_brake_state 0 1 +2025-06-26 10:33:30.484 robot initialized +2025-06-26 10:33:31.024 get_scara_param -55.984200 91.477798 -118.857597 -1005.557007 +2025-06-26 10:33:31.024 get_scara_real_coor -55.984200 91.477798 -118.857597 -1005.556885 +2025-06-26 10:33:31.024 λɢ +2025-06-26 10:33:31.024 position -815329.000000 2664484.000000 -346197.843750 -24380836.000000 -961233.812500 1750018.000000 -348441.812500 -23681034.000000 +2025-06-26 10:33:31.024 speed 10018.488281 31395.699219 770.405518 28830.955078 +2025-06-26 10:33:31.024 set_first_position_after_initial +2025-06-26 10:33:31.024 movej_old start_pos: -55.984200 91.477798 -118.857597 -1005.557068 end_pos: -55.984200 91.477798 -118.857597 -1005.557129 org_sp 10.000000 end_sp 10.000000 +2025-06-26 10:33:31.308 J3 Belt Meilage=40.957607km +2025-06-26 10:33:43.305 _new_stop_move_thread_0 +2025-06-26 10:33:43.305 j1_slow_down_t = 0 +2025-06-26 10:33:43.305 j2_slow_down_t = 0 +2025-06-26 10:33:43.305 j3_slow_down_t = 2 +2025-06-26 10:33:43.305 j4_slow_down_t = 0 +2025-06-26 10:33:43.305 tmp_t[3] = 2 +2025-06-26 10:33:43.305 _new_stop_move_thread_1 +2025-06-26 10:33:43.386 jog_move_xyzr return 99 ͣ +2025-06-26 10:33:43.467 _new_stop_move_thread_2 +2025-06-26 10:33:43.499 _new_stop_move_thread_3 +2025-06-26 10:33:43.499 get_scara_param -55.984100 91.477997 -109.500298 -1005.557129 +2025-06-26 10:33:43.499 get_scara_real_coor -55.984100 91.477997 -109.500298 -1005.557007 +2025-06-26 10:33:43.499 _new_stop_move_thread_4 +2025-06-26 10:33:43.593 wait_stop in +2025-06-26 10:33:43.620 wait_stop out_0 +2025-06-26 10:39:35.758 SDK_VERSION_V2.0.0.29_Release +2025-06-26 10:39:35.759 robot connected +2025-06-26 10:39:35.759 26 +2025-06-26 10:39:35.759 current generation=26 +2025-06-26 10:39:36.271 0x1a +2025-06-26 10:39:37.210 initial joint2 2664489 +2025-06-26 10:39:37.210 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-26 10:39:37.210 robot WritePID +2025-06-26 10:39:37.517 initial joint1 -815329 +2025-06-26 10:39:37.579 initial joint2 2664489 +2025-06-26 10:39:37.627 initial joint3 -317403 +2025-06-26 10:39:37.673 initial joint4 -24380840 +2025-06-26 10:39:37.689 initial joint1 -815328 +2025-06-26 10:39:37.734 initial joint2 2664490 +2025-06-26 10:39:37.781 initial joint3 -317404 +2025-06-26 10:39:37.827 initial joint4 -24380841 +2025-06-26 10:39:37.842 initial joint1 -815327 +2025-06-26 10:39:37.887 initial joint2 2664491 +2025-06-26 10:39:37.934 initial joint3 -317404 +2025-06-26 10:39:37.980 initial joint4 -24380842 +2025-06-26 10:39:40.081 initial_thread initialized +2025-06-26 10:39:40.081 servo enable +2025-06-26 10:39:40.081 brake open +2025-06-26 10:39:40.081 set_brake_state 0 1 +2025-06-26 10:39:40.296 robot initialized +2025-06-26 10:39:40.894 get_scara_param -55.983898 91.477997 -108.973297 -1005.557007 +2025-06-26 10:39:40.894 get_scara_real_coor -55.984001 91.477997 -108.973297 -1005.557129 +2025-06-26 10:39:40.894 λɢ +2025-06-26 10:39:40.894 position -815324.625000 2664489.750000 -317407.718750 -24380846.000000 -961233.812500 1750018.000000 -348441.812500 -23681034.000000 +2025-06-26 10:39:40.894 speed 10018.789063 31395.894531 10654.710938 28831.367188 +2025-06-26 10:39:40.894 set_first_position_after_initial +2025-06-26 10:39:40.894 movej_old start_pos: -55.983898 91.477997 -108.973289 -1005.557068 end_pos: -55.983898 91.477905 -108.973198 -1005.557129 org_sp 10.000000 end_sp 0.818077 +2025-06-26 10:39:41.184 J3 Belt Meilage=40.957661km +2025-06-26 10:39:55.096 30 30 30 30 +2025-06-26 10:39:55.096 new_movej_xyz_lr 285.908905 -66.230103 -97.620598 -1005.557129 100.000000 0.000000 1 +2025-06-26 10:39:55.096 goal_angle -55.983902 91.477921 +2025-06-26 10:39:55.108 new_movej_angle -55.983902 91.477921 -97.620598 -1005.557129 0.000000 100.000000 +2025-06-26 10:39:55.108 z1 -108.973198 z2 -97.620598 +2025-06-26 10:39:55.108 angle1_1 -55.983898 angle2_1 91.477905 z1 -108.973198 r1 -1005.557129 +2025-06-26 10:39:55.108 angle1_2 -55.983902 angle2_2 91.477921 z2 -97.620598 r2 -1005.557129 +2025-06-26 10:39:55.108 speed 100.000000 +2025-06-26 10:39:55.108 tcp_distance 11.289528 +2025-06-26 10:39:55.110 new_end_speed 73.509193 j1_acc_t 0.076790 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000054 +2025-06-26 10:39:55.110 new_end_speed 73.509193 j2_acc_t 0.076790 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000217 +2025-06-26 10:39:55.110 new_end_speed 73.509193 j3_acc_t 0.076790 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 161.699585 +2025-06-26 10:39:55.110 new_end_speed 73.509193 j4_acc_t 0.076790 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 10:39:55.110 end_speed 73.509193 +2025-06-26 10:39:55.110 trail_number0.153580 +2025-06-26 10:39:55.110 tcp_distance 11.289528 +2025-06-26 10:39:55.111 angle1_1 = -55.983898 angle2_1 = 91.477905 z1 = -108.973198 r1 = -1005.557129 angle1_2 = -55.983902 angle2_2 = 91.477921 z2 = -97.620598 r2 = -1005.557129 +2025-06-26 10:39:55.127 wait_stop in +2025-06-26 10:39:55.606 wait_stop out_0 +2025-06-26 10:39:55.606 new_movej_xyz_lr 287.342896 73.423103 -97.620598 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:39:55.606 goal_angle -28.070442 90.288498 +2025-06-26 10:39:55.606 new_movej_angle -28.070442 90.288498 -97.620598 -1005.557007 0.000000 100.000000 +2025-06-26 10:39:55.606 z1 -97.620598 z2 -97.620598 +2025-06-26 10:39:55.606 angle1_1 -55.983902 angle2_1 91.477921 z1 -97.620598 r1 -1005.557129 +2025-06-26 10:39:55.606 angle1_2 -28.070442 angle2_2 90.288498 z2 -97.620598 r2 -1005.557007 +2025-06-26 10:39:55.606 speed 100.000000 +2025-06-26 10:39:55.606 tcp_distance 140.212997 +2025-06-26 10:39:55.606 new_end_speed 100.000000 j1_acc_t 0.701065 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 43.548492 +2025-06-26 10:39:55.606 new_end_speed 100.000000 j2_acc_t 0.701065 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.855648 +2025-06-26 10:39:55.606 new_end_speed 100.000000 j3_acc_t 0.701065 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-26 10:39:55.606 new_end_speed 100.000000 j4_acc_t 0.701065 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000190 +2025-06-26 10:39:55.606 end_speed 100.000000 +2025-06-26 10:39:55.606 trail_number1.402130 +2025-06-26 10:39:55.606 tcp_distance 140.212997 +2025-06-26 10:39:55.606 angle1_1 = -55.983902 angle2_1 = 91.477921 z1 = -97.620598 r1 = -1005.557129 angle1_2 = -28.070442 angle2_2 = 90.288498 z2 = -97.620598 r2 = -1005.557007 +2025-06-26 10:39:55.622 wait_stop in +2025-06-26 10:39:57.067 wait_stop out_0 +2025-06-26 10:39:57.067 new_movej_xyz_lr 287.342896 73.423103 -118.853500 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:39:57.067 goal_angle -28.070442 90.288498 +2025-06-26 10:39:57.067 new_movej_angle -28.070442 90.288498 -118.853500 -1005.557007 0.000000 100.000000 +2025-06-26 10:39:57.067 z1 -97.620598 z2 -118.853500 +2025-06-26 10:39:57.067 angle1_1 -28.070442 angle2_1 90.288498 z1 -97.620598 r1 -1005.557007 +2025-06-26 10:39:57.067 angle1_2 -28.070442 angle2_2 90.288498 z2 -118.853500 r2 -1005.557007 +2025-06-26 10:39:57.067 speed 100.000000 +2025-06-26 10:39:57.067 tcp_distance 21.114937 +2025-06-26 10:39:57.067 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 +2025-06-26 10:39:57.067 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 +2025-06-26 10:39:57.067 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 +2025-06-26 10:39:57.067 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 +2025-06-26 10:39:57.067 end_speed 100.000000 +2025-06-26 10:39:57.067 trail_number0.211149 +2025-06-26 10:39:57.067 tcp_distance 21.114937 +2025-06-26 10:39:57.067 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 +2025-06-26 10:40:00.352 30 30 30 30 +2025-06-26 10:40:00.352 new_movej_xyz_lr 287.342896 73.422897 -97.620598 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:40:00.352 goal_angle -28.070490 90.288521 +2025-06-26 10:40:00.352 new_movej_angle -28.070490 90.288521 -97.620598 -1005.557007 0.000000 100.000000 +2025-06-26 10:40:00.353 z1 -118.853500 z2 -97.620598 +2025-06-26 10:40:00.353 angle1_1 -28.070442 angle2_1 90.288498 z1 -118.853500 r1 -1005.557007 +2025-06-26 10:40:00.353 angle1_2 -28.070490 angle2_2 90.288521 z2 -97.620598 r2 -1005.557007 +2025-06-26 10:40:00.353 speed 100.000000 +2025-06-26 10:40:00.353 tcp_distance 21.114944 +2025-06-26 10:40:00.353 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 +2025-06-26 10:40:00.353 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 +2025-06-26 10:40:00.355 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 +2025-06-26 10:40:00.355 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 +2025-06-26 10:40:00.355 end_speed 100.000000 +2025-06-26 10:40:00.355 trail_number0.211149 +2025-06-26 10:40:00.355 tcp_distance 21.114944 +2025-06-26 10:40:00.356 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 +2025-06-26 10:40:00.358 wait_stop in +2025-06-26 10:40:00.966 wait_stop out_0 +2025-06-26 10:40:00.966 new_movej_xyz_lr 286.618195 214.816605 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:40:00.966 goal_angle 7.003778 63.040188 +2025-06-26 10:40:00.966 new_movej_angle 7.003778 63.040188 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-26 10:40:00.966 z1 -97.620598 z2 -97.620598 +2025-06-26 10:40:00.968 angle1_1 -28.070490 angle2_1 90.288521 z1 -97.620598 r1 -1005.557007 +2025-06-26 10:40:00.968 angle1_2 7.003778 angle2_2 63.040188 z2 -97.620598 r2 -1005.581970 +2025-06-26 10:40:00.968 speed 100.000000 +2025-06-26 10:40:00.968 tcp_distance 142.536301 +2025-06-26 10:40:00.968 new_end_speed 100.000000 j1_acc_t 0.712682 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 53.828392 +2025-06-26 10:40:00.969 new_end_speed 100.000000 j2_acc_t 0.712682 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 41.817947 +2025-06-26 10:40:00.969 new_end_speed 100.000000 j3_acc_t 0.712682 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-26 10:40:00.969 new_end_speed 100.000000 j4_acc_t 0.712682 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.038311 +2025-06-26 10:40:00.969 end_speed 100.000000 +2025-06-26 10:40:00.969 trail_number1.425363 +2025-06-26 10:40:00.969 tcp_distance 142.536301 +2025-06-26 10:40:00.970 angle1_1 = -28.070490 angle2_1 = 90.288521 z1 = -97.620598 r1 = -1005.557007 angle1_2 = 7.003778 angle2_2 = 63.040188 z2 = -97.620598 r2 = -1005.581970 +2025-06-26 10:40:00.972 wait_stop in +2025-06-26 10:40:02.452 wait_stop out_0 +2025-06-26 10:40:02.452 new_movej_xyz_lr 286.618195 214.816605 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:40:02.452 goal_angle 7.003778 63.040188 +2025-06-26 10:40:02.452 new_movej_angle 7.003778 63.040188 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-26 10:40:02.452 z1 -97.620598 z2 -119.998100 +2025-06-26 10:40:02.452 angle1_1 7.003778 angle2_1 63.040188 z1 -97.620598 r1 -1005.581970 +2025-06-26 10:40:02.452 angle1_2 7.003778 angle2_2 63.040188 z2 -119.998100 r2 -1005.581970 +2025-06-26 10:40:02.452 speed 100.000000 +2025-06-26 10:40:02.452 tcp_distance 22.253181 +2025-06-26 10:40:02.452 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 +2025-06-26 10:40:02.452 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 +2025-06-26 10:40:02.452 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 +2025-06-26 10:40:02.452 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 +2025-06-26 10:40:02.452 end_speed 100.000000 +2025-06-26 10:40:02.455 trail_number0.222532 +2025-06-26 10:40:02.455 tcp_distance 22.253181 +2025-06-26 10:40:02.455 angle1_1 = 7.003778 angle2_1 = 63.040188 z1 = -97.620598 r1 = -1005.581970 angle1_2 = 7.003778 angle2_2 = 63.040188 z2 = -119.998100 r2 = -1005.581970 +2025-06-26 10:40:03.908 30 30 30 30 +2025-06-26 10:40:03.908 new_movej_xyz_lr 286.618103 214.816605 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:40:03.908 goal_angle 7.003768 63.040218 +2025-06-26 10:40:03.908 new_movej_angle 7.003768 63.040218 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-26 10:40:03.908 z1 -119.998100 z2 -97.620598 +2025-06-26 10:40:03.908 angle1_1 7.003778 angle2_1 63.040188 z1 -119.998100 r1 -1005.581970 +2025-06-26 10:40:03.908 angle1_2 7.003768 angle2_2 63.040218 z2 -97.620598 r2 -1005.581970 +2025-06-26 10:40:03.924 speed 100.000000 +2025-06-26 10:40:03.924 tcp_distance 22.253181 +2025-06-26 10:40:03.924 new_end_speed 100.000000 j1_acc_t 0.111266 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000089 +2025-06-26 10:40:03.924 new_end_speed 100.000000 j2_acc_t 0.111266 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000300 +2025-06-26 10:40:03.924 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 +2025-06-26 10:40:03.924 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 +2025-06-26 10:40:03.924 end_speed 100.000000 +2025-06-26 10:40:03.924 trail_number0.222532 +2025-06-26 10:40:03.924 tcp_distance 22.253181 +2025-06-26 10:40:03.924 angle1_1 = 7.003778 angle2_1 = 63.040188 z1 = -119.998100 r1 = -1005.581970 angle1_2 = 7.003768 angle2_2 = 63.040218 z2 = -97.620598 r2 = -1005.581970 +2025-06-26 10:40:03.928 wait_stop in +2025-06-26 10:40:04.535 wait_stop out_0 +2025-06-26 10:40:04.535 new_movej_xyz_lr 288.405792 -221.614197 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:40:04.535 goal_angle -66.002686 60.082100 +2025-06-26 10:40:04.535 new_movej_angle -66.002686 60.082100 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-26 10:40:04.535 z1 -97.620598 z2 -97.620598 +2025-06-26 10:40:04.535 angle1_1 7.003768 angle2_1 63.040218 z1 -97.620598 r1 -1005.581970 +2025-06-26 10:40:04.535 angle1_2 -66.002686 angle2_2 60.082100 z2 -97.620598 r2 -1005.581970 +2025-06-26 10:40:04.535 speed 100.000000 +2025-06-26 10:40:04.535 tcp_distance 466.076019 +2025-06-26 10:40:04.535 new_end_speed 100.000000 j1_acc_t 2.330380 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 34.265144 +2025-06-26 10:40:04.535 new_end_speed 100.000000 j2_acc_t 2.330380 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.388375 +2025-06-26 10:40:04.535 new_end_speed 100.000000 j3_acc_t 2.330380 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-26 10:40:04.535 new_end_speed 100.000000 j4_acc_t 2.330380 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 10:40:04.535 end_speed 100.000000 +2025-06-26 10:40:04.535 trail_number4.660760 +2025-06-26 10:40:04.535 tcp_distance 466.076019 +2025-06-26 10:40:04.535 angle1_1 = 7.003768 angle2_1 = 63.040218 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -97.620598 r2 = -1005.581970 +2025-06-26 10:40:04.551 wait_stop in +2025-06-26 10:40:09.305 wait_stop out_0 +2025-06-26 10:40:09.305 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:40:09.305 goal_angle -66.002686 60.082100 +2025-06-26 10:40:09.305 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-26 10:40:09.306 z1 -97.620598 z2 -119.998100 +2025-06-26 10:40:09.306 angle1_1 -66.002686 angle2_1 60.082100 z1 -97.620598 r1 -1005.581970 +2025-06-26 10:40:09.306 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-26 10:40:09.306 speed 100.000000 +2025-06-26 10:40:09.306 tcp_distance 22.253181 +2025-06-26 10:40:09.306 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 +2025-06-26 10:40:09.306 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 +2025-06-26 10:40:09.306 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 +2025-06-26 10:40:09.306 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 +2025-06-26 10:40:09.306 end_speed 100.000000 +2025-06-26 10:40:09.306 trail_number0.222532 +2025-06-26 10:40:09.306 tcp_distance 22.253181 +2025-06-26 10:40:09.306 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 +2025-06-26 10:40:11.317 30 30 30 30 +2025-06-26 10:40:11.317 new_movej_xyz_lr 288.405792 -221.614105 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:40:11.317 goal_angle -66.002693 60.082127 +2025-06-26 10:40:11.318 new_movej_angle -66.002693 60.082127 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-26 10:40:11.318 z1 -119.998100 z2 -97.620598 +2025-06-26 10:40:11.318 angle1_1 -66.002686 angle2_1 60.082100 z1 -119.998100 r1 -1005.581970 +2025-06-26 10:40:11.318 angle1_2 -66.002693 angle2_2 60.082127 z2 -97.620598 r2 -1005.581970 +2025-06-26 10:40:11.318 speed 100.000000 +2025-06-26 10:40:11.318 tcp_distance 22.253181 +2025-06-26 10:40:11.318 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 +2025-06-26 10:40:11.319 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 +2025-06-26 10:40:11.319 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 +2025-06-26 10:40:11.319 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 +2025-06-26 10:40:11.319 end_speed 100.000000 +2025-06-26 10:40:11.319 trail_number0.222532 +2025-06-26 10:40:11.319 tcp_distance 22.253181 +2025-06-26 10:40:11.319 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 +2025-06-26 10:40:11.324 wait_stop in +2025-06-26 10:40:11.941 wait_stop out_0 +2025-06-26 10:40:11.941 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-26 10:40:11.941 goal_angle -55.984741 91.477249 +2025-06-26 10:40:11.941 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-26 10:40:11.941 z1 -97.620598 z2 -97.620598 +2025-06-26 10:40:11.941 angle1_1 -66.002693 angle2_1 60.082127 z1 -97.620598 r1 -1005.581970 +2025-06-26 10:40:11.941 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-26 10:40:11.941 speed 100.000000 +2025-06-26 10:40:11.941 tcp_distance 157.433716 +2025-06-26 10:40:11.941 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 +2025-06-26 10:40:11.941 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 +2025-06-26 10:40:11.944 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 +2025-06-26 10:40:11.944 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 +2025-06-26 10:40:11.944 end_speed 100.000000 +2025-06-26 10:40:11.944 trail_number1.574337 +2025-06-26 10:40:11.944 tcp_distance 157.433716 +2025-06-26 10:40:11.945 angle1_1 = -66.002693 angle2_1 = 60.082127 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -55.984741 angle2_2 = 91.477249 z2 = -97.620598 r2 = -1005.585022 +2025-06-26 10:40:11.947 wait_stop in +2025-06-26 10:40:13.603 wait_stop out_0 +2025-06-26 10:40:13.603 new_movej_xyz_lr 285.909302 -66.236198 -119.977501 -1005.585022 100.000000 0.000000 1 +2025-06-26 10:40:13.604 goal_angle -55.984741 91.477249 +2025-06-26 10:40:13.604 new_movej_angle -55.984741 91.477249 -119.977501 -1005.585022 0.000000 100.000000 +2025-06-26 10:40:13.604 z1 -97.620598 z2 -119.977501 +2025-06-26 10:40:13.604 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-26 10:40:13.604 angle1_2 -55.984741 angle2_2 91.477249 z2 -119.977501 r2 -1005.585022 +2025-06-26 10:40:13.604 speed 100.000000 +2025-06-26 10:40:13.604 tcp_distance 22.232697 +2025-06-26 10:40:13.604 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 +2025-06-26 10:40:13.604 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 +2025-06-26 10:40:13.604 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 +2025-06-26 10:40:13.604 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 +2025-06-26 10:40:13.604 end_speed 100.000000 +2025-06-26 10:40:13.604 trail_number0.222327 +2025-06-26 10:40:13.604 tcp_distance 22.232697 +2025-06-26 10:40:13.604 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 +2025-06-26 10:40:20.718 _new_stop_move_thread_0 +2025-06-26 10:40:20.718 j1_slow_down_t = 0 +2025-06-26 10:40:20.718 j2_slow_down_t = 0 +2025-06-26 10:40:20.718 j3_slow_down_t = 2 +2025-06-26 10:40:20.718 j4_slow_down_t = 0 +2025-06-26 10:40:20.718 tmp_t[3] = 2 +2025-06-26 10:40:20.718 _new_stop_move_thread_1 +2025-06-26 10:40:20.781 jog_move_xyzr return 99 ͣ +2025-06-26 10:40:20.866 _new_stop_move_thread_2 +2025-06-26 10:40:20.898 _new_stop_move_thread_3 +2025-06-26 10:40:20.898 get_scara_param -55.984600 91.477402 -113.754501 -1005.585022 +2025-06-26 10:40:20.899 get_scara_real_coor -55.984600 91.477402 -113.754501 -1005.585022 +2025-06-26 10:40:20.899 _new_stop_move_thread_4 +2025-06-26 10:40:20.996 wait_stop in +2025-06-26 10:40:21.027 wait_stop out_0 +2025-06-26 10:41:06.689 30 30 30 30 +2025-06-26 10:41:06.689 new_movej_xyz_lr 275.779205 -133.157898 -99.620598 -1005.468994 100.000000 0.000000 1 +2025-06-26 10:41:06.689 goal_angle -66.454506 86.491570 +2025-06-26 10:41:06.690 new_movej_angle -66.454506 86.491570 -99.620598 -1005.468994 0.000000 100.000000 +2025-06-26 10:41:06.690 z1 -113.754501 z2 -99.620598 +2025-06-26 10:41:06.690 angle1_1 -55.984612 angle2_1 91.477417 z1 -113.754501 r1 -1005.585022 +2025-06-26 10:41:06.690 angle1_2 -66.454506 angle2_2 86.491570 z2 -99.620598 r2 -1005.468994 +2025-06-26 10:41:06.690 speed 100.000000 +2025-06-26 10:41:06.690 tcp_distance 68.910080 +2025-06-26 10:41:06.690 new_end_speed 100.000000 j1_acc_t 0.344550 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.235897 +2025-06-26 10:41:06.690 new_end_speed 100.000000 j2_acc_t 0.344550 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 15.827200 +2025-06-26 10:41:06.692 new_end_speed 100.000000 j3_acc_t 0.344550 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.867020 +2025-06-26 10:41:06.692 new_end_speed 100.000000 j4_acc_t 0.344550 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.368322 +2025-06-26 10:41:06.692 end_speed 100.000000 +2025-06-26 10:41:06.692 trail_number0.689101 +2025-06-26 10:41:06.692 tcp_distance 68.910080 +2025-06-26 10:41:06.693 angle1_1 = -55.984612 angle2_1 = 91.477417 z1 = -113.754501 r1 = -1005.585022 angle1_2 = -66.454506 angle2_2 = 86.491570 z2 = -99.620598 r2 = -1005.468994 +2025-06-26 10:42:37.180 30 30 30 30 +2025-06-26 10:42:37.180 new_movej_xyz_lr 275.779205 -133.157898 -97.620598 -1005.468994 100.000000 0.000000 1 +2025-06-26 10:42:37.180 goal_angle -66.454506 86.491570 +2025-06-26 10:42:37.180 new_movej_angle -66.454506 86.491570 -97.620598 -1005.468994 0.000000 100.000000 +2025-06-26 10:42:37.180 z1 -99.620598 z2 -97.620598 +2025-06-26 10:42:37.182 angle1_1 -66.454506 angle2_1 86.491570 z1 -99.620598 r1 -1005.468994 +2025-06-26 10:42:37.182 angle1_2 -66.454506 angle2_2 86.491570 z2 -97.620598 r2 -1005.468994 +2025-06-26 10:42:37.182 speed 100.000000 +2025-06-26 10:42:37.182 tcp_distance 1.988892 +2025-06-26 10:42:37.182 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 +2025-06-26 10:42:37.183 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 +2025-06-26 10:42:37.183 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 +2025-06-26 10:42:37.183 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 +2025-06-26 10:42:37.183 end_speed 30.735683 +2025-06-26 10:42:37.183 trail_number0.064710 +2025-06-26 10:42:37.184 tcp_distance 1.988892 +2025-06-26 10:42:37.184 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 +2025-06-26 10:42:37.198 wait_stop in +2025-06-26 10:42:37.343 wait_stop out_0 +2025-06-26 10:42:37.343 new_movej_xyz_lr 285.909302 -66.236198 -97.620598 -1005.585022 100.000000 0.000000 1 +2025-06-26 10:42:37.343 goal_angle -55.984741 91.477249 +2025-06-26 10:42:37.343 new_movej_angle -55.984741 91.477249 -97.620598 -1005.585022 0.000000 100.000000 +2025-06-26 10:42:37.343 z1 -97.620598 z2 -97.620598 +2025-06-26 10:42:37.343 angle1_1 -66.454506 angle2_1 86.491570 z1 -97.620598 r1 -1005.468994 +2025-06-26 10:42:37.343 angle1_2 -55.984741 angle2_2 91.477249 z2 -97.620598 r2 -1005.585022 +2025-06-26 10:42:37.343 speed 100.000000 +2025-06-26 10:42:37.343 tcp_distance 67.475487 +2025-06-26 10:42:37.343 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 +2025-06-26 10:42:37.343 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 +2025-06-26 10:42:37.343 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 +2025-06-26 10:42:37.343 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 +2025-06-26 10:42:37.343 end_speed 100.000000 +2025-06-26 10:42:37.343 trail_number0.674755 +2025-06-26 10:42:37.343 tcp_distance 67.475487 +2025-06-26 10:42:37.343 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 +2025-06-26 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r2 = -1005.585022 +2025-06-26 10:42:44.278 wait_stop in +2025-06-26 10:42:44.877 wait_stop out_0 +2025-06-26 10:42:44.877 new_movej_xyz_lr 287.342896 73.423103 -97.620598 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:42:44.877 goal_angle -28.070442 90.288498 +2025-06-26 10:42:44.877 new_movej_angle -28.070442 90.288498 -97.620598 -1005.557007 0.000000 100.000000 +2025-06-26 10:42:44.877 z1 -97.620598 z2 -97.620598 +2025-06-26 10:42:44.877 angle1_1 -55.984741 angle2_1 91.477249 z1 -97.620598 r1 -1005.585022 +2025-06-26 10:42:44.877 angle1_2 -28.070442 angle2_2 90.288498 z2 -97.620598 r2 -1005.557007 +2025-06-26 10:42:44.879 speed 100.000000 +2025-06-26 10:42:44.879 tcp_distance 140.219284 +2025-06-26 10:42:44.879 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 +2025-06-26 10:42:44.879 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 +2025-06-26 10:42:44.879 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 +2025-06-26 10:42:44.879 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 +2025-06-26 10:42:44.879 end_speed 100.000000 +2025-06-26 10:42:44.881 trail_number1.402193 +2025-06-26 10:42:44.881 tcp_distance 140.219284 +2025-06-26 10:42:44.881 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 +2025-06-26 10:42:44.893 wait_stop in +2025-06-26 10:42:46.362 wait_stop out_0 +2025-06-26 10:42:46.362 new_movej_xyz_lr 287.342896 73.423103 -118.853500 -1005.557007 100.000000 0.000000 1 +2025-06-26 10:42:46.362 goal_angle -28.070442 90.288498 +2025-06-26 10:42:46.362 new_movej_angle -28.070442 90.288498 -118.853500 -1005.557007 0.000000 100.000000 +2025-06-26 10:42:46.362 z1 -97.620598 z2 -118.853500 +2025-06-26 10:42:46.362 angle1_1 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10:42:50.658 angle1_1 -28.070490 angle2_1 90.288521 z1 -97.620598 r1 -1005.557007 +2025-06-26 10:42:50.658 angle1_2 7.003778 angle2_2 63.040188 z2 -97.620598 r2 -1005.581970 +2025-06-26 10:42:50.658 speed 100.000000 +2025-06-26 10:42:50.658 tcp_distance 142.536301 +2025-06-26 10:42:50.658 new_end_speed 100.000000 j1_acc_t 0.712682 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 53.828392 +2025-06-26 10:42:50.658 new_end_speed 100.000000 j2_acc_t 0.712682 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 41.817947 +2025-06-26 10:42:50.659 new_end_speed 100.000000 j3_acc_t 0.712682 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-26 10:42:50.659 new_end_speed 100.000000 j4_acc_t 0.712682 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.038311 +2025-06-26 10:42:50.659 end_speed 100.000000 +2025-06-26 10:42:50.659 trail_number1.425363 +2025-06-26 10:42:50.659 tcp_distance 142.536301 +2025-06-26 10:42:50.660 angle1_1 = -28.070490 angle2_1 = 90.288521 z1 = -97.620598 r1 = -1005.557007 angle1_2 = 7.003778 angle2_2 = 63.040188 z2 = -97.620598 r2 = -1005.581970 +2025-06-26 10:42:50.662 wait_stop in +2025-06-26 10:42:52.150 wait_stop out_0 +2025-06-26 10:42:52.150 new_movej_xyz_lr 286.618195 214.816605 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:42:52.151 goal_angle 7.003778 63.040188 +2025-06-26 10:42:52.151 new_movej_angle 7.003778 63.040188 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-26 10:42:52.151 z1 -97.620598 z2 -119.998100 +2025-06-26 10:42:52.151 angle1_1 7.003778 angle2_1 63.040188 z1 -97.620598 r1 -1005.581970 +2025-06-26 10:42:52.151 angle1_2 7.003778 angle2_2 63.040188 z2 -119.998100 r2 -1005.581970 +2025-06-26 10:42:52.151 speed 100.000000 +2025-06-26 10:42:52.152 tcp_distance 22.253181 +2025-06-26 10:42:52.152 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 +2025-06-26 10:42:52.152 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 +2025-06-26 10:42:52.152 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 +2025-06-26 10:42:52.152 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 +2025-06-26 10:42:52.152 end_speed 100.000000 +2025-06-26 10:42:52.153 trail_number0.222532 +2025-06-26 10:42:52.153 tcp_distance 22.253181 +2025-06-26 10:42:52.153 angle1_1 = 7.003778 angle2_1 = 63.040188 z1 = -97.620598 r1 = -1005.581970 angle1_2 = 7.003778 angle2_2 = 63.040188 z2 = -119.998100 r2 = -1005.581970 +2025-06-26 10:42:53.794 30 30 30 30 +2025-06-26 10:42:53.795 new_movej_xyz_lr 286.618103 214.816605 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:42:53.795 goal_angle 7.003768 63.040218 +2025-06-26 10:42:53.796 new_movej_angle 7.003768 63.040218 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-26 10:42:53.796 z1 -119.998100 z2 -97.620598 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63.040188 z1 = -119.998100 r1 = -1005.581970 angle1_2 = 7.003768 angle2_2 = 63.040218 z2 = -97.620598 r2 = -1005.581970 +2025-06-26 10:42:53.815 wait_stop in +2025-06-26 10:42:54.426 wait_stop out_0 +2025-06-26 10:42:54.426 new_movej_xyz_lr 288.405792 -221.614197 -97.620598 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:42:54.426 goal_angle -66.002686 60.082100 +2025-06-26 10:42:54.426 new_movej_angle -66.002686 60.082100 -97.620598 -1005.581970 0.000000 100.000000 +2025-06-26 10:42:54.426 z1 -97.620598 z2 -97.620598 +2025-06-26 10:42:54.426 angle1_1 7.003768 angle2_1 63.040218 z1 -97.620598 r1 -1005.581970 +2025-06-26 10:42:54.426 angle1_2 -66.002686 angle2_2 60.082100 z2 -97.620598 r2 -1005.581970 +2025-06-26 10:42:54.426 speed 100.000000 +2025-06-26 10:42:54.426 tcp_distance 466.076019 +2025-06-26 10:42:54.426 new_end_speed 100.000000 j1_acc_t 2.330380 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 34.265144 +2025-06-26 10:42:54.426 new_end_speed 100.000000 j2_acc_t 2.330380 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.388375 +2025-06-26 10:42:54.426 new_end_speed 100.000000 j3_acc_t 2.330380 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-26 10:42:54.426 new_end_speed 100.000000 j4_acc_t 2.330380 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-26 10:42:54.426 end_speed 100.000000 +2025-06-26 10:42:54.426 trail_number4.660760 +2025-06-26 10:42:54.426 tcp_distance 466.076019 +2025-06-26 10:42:54.426 angle1_1 = 7.003768 angle2_1 = 63.040218 z1 = -97.620598 r1 = -1005.581970 angle1_2 = -66.002686 angle2_2 = 60.082100 z2 = -97.620598 r2 = -1005.581970 +2025-06-26 10:42:54.442 wait_stop in +2025-06-26 10:42:59.161 wait_stop out_0 +2025-06-26 10:42:59.162 new_movej_xyz_lr 288.405792 -221.614197 -119.998100 -1005.581970 100.000000 0.000000 1 +2025-06-26 10:42:59.162 goal_angle -66.002686 60.082100 +2025-06-26 10:42:59.162 new_movej_angle -66.002686 60.082100 -119.998100 -1005.581970 0.000000 100.000000 +2025-06-26 10:42:59.163 z1 -97.620598 z2 -119.998100 +2025-06-26 10:42:59.163 angle1_1 -66.002686 angle2_1 60.082100 z1 -97.620598 r1 -1005.581970 +2025-06-26 10:42:59.163 angle1_2 -66.002686 angle2_2 60.082100 z2 -119.998100 r2 -1005.581970 +2025-06-26 10:42:59.163 speed 100.000000 +2025-06-26 10:42:59.163 tcp_distance 22.253181 +2025-06-26 10:42:59.163 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 +2025-06-26 10:42:59.163 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 +2025-06-26 10:42:59.165 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 +2025-06-26 10:42:59.165 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 +2025-06-26 10:42:59.165 end_speed 100.000000 +2025-06-26 10:42:59.165 trail_number0.222532 +2025-06-26 10:42:59.165 tcp_distance 22.253181 +2025-06-26 10:42:59.166 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 diff --git a/HitBotCSharpDemo/bin/x64/Debug/SuctionCup_pos.txt b/HitBotCSharpDemo/bin/x64/Debug/SuctionCup_pos.txt new file mode 100644 index 0000000..25fded8 --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SuctionCup_pos.txt @@ -0,0 +1,5 @@ +# X,Y,Z,R +288.4058,-221.6142,-119.9981,-1005.582 +285.9093,-66.2362,-119.9775,-1005.585 +287.3429,73.4231,-118.8535,-1005.557 +286.6182,214.8166,-119.9981,-1005.582 \ No newline at end of file diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache index c455eb7..963edb5 100644 --- a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache +++ b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache @@ -1 +1 @@ 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