diff --git a/HitBotCSharpDemo/App.config b/HitBotCSharpDemo/App.config new file mode 100644 index 0000000..731f6de --- /dev/null +++ b/HitBotCSharpDemo/App.config @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/HitBotCSharpDemo/CSharpDemo.csproj b/HitBotCSharpDemo/CSharpDemo.csproj new file mode 100644 index 0000000..b56738f --- /dev/null +++ b/HitBotCSharpDemo/CSharpDemo.csproj @@ -0,0 +1,128 @@ + + + + + Debug + AnyCPU + {1793BD51-AF57-4B89-8150-5F9E3392B58F} + WinExe + HitBotCSharpDemo + HitBotCSharpDemo + v4.6.1 + 512 + true + true + + + AnyCPU + true + full + false + bin\Debug\ + DEBUG;TRACE + prompt + 4 + + + AnyCPU + pdbonly + true + bin\Release\ + TRACE + prompt + 4 + + + true + bin\x64\Debug\ + DEBUG;TRACE + full + x64 + prompt + MinimumRecommendedRules.ruleset + true + + + bin\x64\Release\ + TRACE + true + pdbonly + x64 + prompt + MinimumRecommendedRules.ruleset + true + + + true + bin\x86\Debug\ + DEBUG;TRACE + full + x86 + prompt + MinimumRecommendedRules.ruleset + true + + + bin\x86\Release\ + TRACE + true + pdbonly + x86 + prompt + MinimumRecommendedRules.ruleset + true + + + + False + bin\x64\Release\ClassLibrary_ControlBean.dll + + + + + + + + + + + + + + + + Form + + + ShowForm.cs + + + + + ShowForm.cs + + + ResXFileCodeGenerator + Resources.Designer.cs + Designer + + + True + Resources.resx + True + + + SettingsSingleFileGenerator + Settings.Designer.cs + + + True + Settings.settings + True + + + + + + + \ No newline at end of file diff --git a/HitBotCSharpDemo/Cam_pos_path.txt b/HitBotCSharpDemo/Cam_pos_path.txt new file mode 100644 index 0000000..ad6e7c2 --- /dev/null +++ b/HitBotCSharpDemo/Cam_pos_path.txt @@ -0,0 +1,6 @@ +# X,Y,Z,R +274.065,-302.7438,-75.4661,-1005.721 +274.065,-137.1582,-75.4661,-1005.721 +274.065,5.9653,-75.4661,-1005.721 +274.065,149.3837,-75.4661,-1005.721 +93.9893,-37.883,-4.4571,-1027.92 \ No newline at end of file diff --git a/HitBotCSharpDemo/Picture/logo.PNG b/HitBotCSharpDemo/Picture/logo.PNG new file mode 100644 index 0000000..612fb04 Binary files /dev/null and b/HitBotCSharpDemo/Picture/logo.PNG differ diff --git a/HitBotCSharpDemo/Picture/logo.ico b/HitBotCSharpDemo/Picture/logo.ico new file mode 100644 index 0000000..e218b36 Binary files /dev/null and b/HitBotCSharpDemo/Picture/logo.ico differ diff --git a/HitBotCSharpDemo/Picture/seting.png b/HitBotCSharpDemo/Picture/seting.png new file mode 100644 index 0000000..c1d49ec Binary files /dev/null and b/HitBotCSharpDemo/Picture/seting.png differ diff --git a/HitBotCSharpDemo/Picture/停止.png b/HitBotCSharpDemo/Picture/停止.png new file mode 100644 index 0000000..addbb38 Binary files /dev/null and b/HitBotCSharpDemo/Picture/停止.png differ diff --git a/HitBotCSharpDemo/Picture/停止2.png b/HitBotCSharpDemo/Picture/停止2.png new file mode 100644 index 0000000..e8e7e9d Binary files /dev/null and b/HitBotCSharpDemo/Picture/停止2.png differ diff --git a/HitBotCSharpDemo/Picture/循环.png b/HitBotCSharpDemo/Picture/循环.png new file mode 100644 index 0000000..433067c Binary files /dev/null and b/HitBotCSharpDemo/Picture/循环.png differ diff --git a/HitBotCSharpDemo/Picture/循环2.png b/HitBotCSharpDemo/Picture/循环2.png new file mode 100644 index 0000000..ab23bd3 Binary files /dev/null and b/HitBotCSharpDemo/Picture/循环2.png differ diff --git a/HitBotCSharpDemo/Picture/暂停.png b/HitBotCSharpDemo/Picture/暂停.png new file mode 100644 index 0000000..56fa903 Binary files /dev/null and b/HitBotCSharpDemo/Picture/暂停.png differ diff --git a/HitBotCSharpDemo/Picture/暂停2.png b/HitBotCSharpDemo/Picture/暂停2.png new file mode 100644 index 0000000..75c98a2 Binary files /dev/null and b/HitBotCSharpDemo/Picture/暂停2.png differ diff --git a/HitBotCSharpDemo/Picture/黑豹VI.png b/HitBotCSharpDemo/Picture/黑豹VI.png new file mode 100644 index 0000000..abbc84a Binary files /dev/null and b/HitBotCSharpDemo/Picture/黑豹VI.png differ diff --git a/HitBotCSharpDemo/Program.cs b/HitBotCSharpDemo/Program.cs new file mode 100644 index 0000000..d26b9cc --- /dev/null +++ b/HitBotCSharpDemo/Program.cs @@ -0,0 +1,22 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Threading.Tasks; +using System.Windows.Forms; + +namespace HitBotCSharpDemo +{ + static class Program + { + /// + /// 应用程序的主入口点。 + /// + [STAThread] + static void Main() + { + Application.EnableVisualStyles(); + Application.SetCompatibleTextRenderingDefault(false); + Application.Run(new ShowForm()); + } + } +} diff --git a/HitBotCSharpDemo/Properties/AssemblyInfo.cs b/HitBotCSharpDemo/Properties/AssemblyInfo.cs new file mode 100644 index 0000000..dd3bb9e --- /dev/null +++ b/HitBotCSharpDemo/Properties/AssemblyInfo.cs @@ -0,0 +1,36 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// 有关程序集的一般信息由以下 +// 控制。更改这些特性值可修改 +// 与程序集关联的信息。 +[assembly: AssemblyTitle("HitBotStudioDemo")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("HitBotStudioDemo")] +[assembly: AssemblyCopyright("Copyright © 2021")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// 将 ComVisible 设置为 false 会使此程序集中的类型 +//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型 +//请将此类型的 ComVisible 特性设置为 true。 +[assembly: ComVisible(false)] + +// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID +[assembly: Guid("1793bd51-af57-4b89-8150-5f9e3392b58f")] + +// 程序集的版本信息由下列四个值组成: +// +// 主版本 +// 次版本 +// 生成号 +// 修订号 +// +// 可以指定所有值，也可以使用以下所示的 "*" 预置版本号和修订号 +// 方法是按如下所示使用“*”: : +// [assembly: AssemblyVersion("1.0.*")] +[assembly: AssemblyVersion("1.0.0.0")] +[assembly: AssemblyFileVersion("1.0.0.0")] diff --git a/HitBotCSharpDemo/Properties/Resources.Designer.cs b/HitBotCSharpDemo/Properties/Resources.Designer.cs new file mode 100644 index 0000000..d23547c --- /dev/null +++ b/HitBotCSharpDemo/Properties/Resources.Designer.cs @@ -0,0 +1,63 @@ +//------------------------------------------------------------------------------ +// +// 此代码由工具生成。 +// 运行时版本:4.0.30319.42000 +// +// 对此文件的更改可能会导致不正确的行为，并且如果 +// 重新生成代码，这些更改将会丢失。 +// +//------------------------------------------------------------------------------ + +namespace HitBotCSharpDemo.Properties { + using System; + + + /// + /// 一个强类型的资源类，用于查找本地化的字符串等。 + /// + // 此类是由 StronglyTypedResourceBuilder + // 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。 + // 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen + // (以 /str 作为命令选项)，或重新生成 VS 项目。 + [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "15.0.0.0")] + [global::System.Diagnostics.DebuggerNonUserCodeAttribute()] + [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] + internal class Resources { + + private static global::System.Resources.ResourceManager resourceMan; + + private static global::System.Globalization.CultureInfo resourceCulture; + + [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")] + internal Resources() { + } + + /// + /// 返回此类使用的缓存的 ResourceManager 实例。 + /// + [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] + internal static global::System.Resources.ResourceManager ResourceManager { + get { + if (object.ReferenceEquals(resourceMan, null)) { + global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("HitBotCSharpDemo.Properties.Resources", typeof(Resources).Assembly); + resourceMan = temp; + } + return resourceMan; + } + } + + /// + /// 重写当前线程的 CurrentUICulture 属性 + /// 重写当前线程的 CurrentUICulture 属性。 + /// + [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] + internal static global::System.Globalization.CultureInfo Culture { + get { + return resourceCulture; + } + set { + resourceCulture = value; + } + } + } +} diff --git a/HitBotCSharpDemo/Properties/Resources.resx b/HitBotCSharpDemo/Properties/Resources.resx new file mode 100644 index 0000000..af7dbeb --- /dev/null +++ b/HitBotCSharpDemo/Properties/Resources.resx @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + text/microsoft-resx + + + 2.0 + + + System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + \ No newline at end of file diff --git a/HitBotCSharpDemo/Properties/Settings.Designer.cs b/HitBotCSharpDemo/Properties/Settings.Designer.cs new file mode 100644 index 0000000..39382e2 --- /dev/null +++ b/HitBotCSharpDemo/Properties/Settings.Designer.cs @@ -0,0 +1,26 @@ +//------------------------------------------------------------------------------ +// +// 此代码由工具生成。 +// 运行时版本:4.0.30319.42000 +// +// 对此文件的更改可能会导致不正确的行为，并且如果 +// 重新生成代码，这些更改将会丢失。 +// +//------------------------------------------------------------------------------ + +namespace HitBotCSharpDemo.Properties { + + + [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] + [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "15.9.0.0")] + internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase { + + private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings()))); + + public static Settings Default { + get { + return defaultInstance; + } + } + } +} diff --git a/HitBotCSharpDemo/Properties/Settings.settings b/HitBotCSharpDemo/Properties/Settings.settings new file mode 100644 index 0000000..3964565 --- /dev/null +++ b/HitBotCSharpDemo/Properties/Settings.settings @@ -0,0 +1,7 @@ + + + + + + + diff --git a/HitBotCSharpDemo/ShowForm.Designer.cs b/HitBotCSharpDemo/ShowForm.Designer.cs new file mode 100644 index 0000000..3a132b7 --- /dev/null +++ b/HitBotCSharpDemo/ShowForm.Designer.cs @@ -0,0 +1,1231 @@ +namespace HitBotCSharpDemo +{ + partial class ShowForm + { + /// + /// 必需的设计器变量。 + /// + private System.ComponentModel.IContainer components = null; + + /// + /// 清理所有正在使用的资源。 + /// + /// 如果应释放托管资源，为 true；否则为 false。 + protected override void Dispose(bool disposing) + { + if (disposing && (components != null)) + { + components.Dispose(); + } + base.Dispose(disposing); + } + + #region Windows 窗体设计器生成的代码 + + /// + /// 设计器支持所需的方法 - 不要修改 + /// 使用代码编辑器修改此方法的内容。 + /// + private void InitializeComponent() + { + this.components = new System.ComponentModel.Container(); + System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(ShowForm)); + this.btn_Init = new System.Windows.Forms.Button(); + this.tac_MainForm = new System.Windows.Forms.TabControl(); + this.tap_Axis = new System.Windows.Forms.TabPage(); + this.lbl_Inching_Tip = new System.Windows.Forms.Label(); + this.grb_R = new System.Windows.Forms.GroupBox(); + this.btn_RP = new System.Windows.Forms.Button(); + this.lbl_R = new System.Windows.Forms.Label(); + this.btn_RN = new System.Windows.Forms.Button(); + this.grb_Z = new System.Windows.Forms.GroupBox(); + this.btn_ZN = new System.Windows.Forms.Button(); + this.lbl_Z = new System.Windows.Forms.Label(); + this.btn_ZP = new System.Windows.Forms.Button(); + this.grb_Y = new System.Windows.Forms.GroupBox(); + this.btn_YN = new System.Windows.Forms.Button(); + this.btn_YP = new System.Windows.Forms.Button(); + this.lbl_Y = new System.Windows.Forms.Label(); + this.chb_Inching = new System.Windows.Forms.CheckBox(); + this.grb_X = new System.Windows.Forms.GroupBox(); + this.btn_XN = new System.Windows.Forms.Button(); + this.lbl_X = new System.Windows.Forms.Label(); + this.btn_XP = new System.Windows.Forms.Button(); + this.tap_IO = new System.Windows.Forms.TabPage(); + this.lbl_Tip_IO = new System.Windows.Forms.Label(); + this.grb_Output = new System.Windows.Forms.GroupBox(); + this.lbl_OutputState_1 = new System.Windows.Forms.Label(); + this.lbl_Output_5 = new System.Windows.Forms.Label(); + this.lbl_OutputState_5 = new System.Windows.Forms.Label(); + this.lbl_Output_4 = new System.Windows.Forms.Label(); + this.lbl_OutputState_4 = new System.Windows.Forms.Label(); + this.lbl_Output_3 = new System.Windows.Forms.Label(); + this.lbl_OutputState_3 = new System.Windows.Forms.Label(); + this.lbl_Output_2 = new System.Windows.Forms.Label(); + this.lbl_OutputState_2 = new System.Windows.Forms.Label(); + this.lbl_Output_1 = new System.Windows.Forms.Label(); + this.lbl_OutputState_0 = new System.Windows.Forms.Label(); + this.lbl_Output_0 = new System.Windows.Forms.Label(); + this.grb_Input = new System.Windows.Forms.GroupBox(); + this.lbl_InputState_1 = new System.Windows.Forms.Label(); + this.lbl_InputState_5 = new System.Windows.Forms.Label(); + this.lbl_InputState_4 = new System.Windows.Forms.Label(); + this.lbl_InputState_3 = new System.Windows.Forms.Label(); + this.lbl_InputState_2 = new System.Windows.Forms.Label(); + this.lbl_InputState_0 = new System.Windows.Forms.Label(); + this.lbl_Input_5 = new System.Windows.Forms.Label(); + this.lbl_Input_4 = new System.Windows.Forms.Label(); + this.lbl_Input_3 = new System.Windows.Forms.Label(); + this.lbl_Input_2 = new System.Windows.Forms.Label(); + this.lbl_Input_1 = new System.Windows.Forms.Label(); + this.lbl_Input_0 = new System.Windows.Forms.Label(); + this.tap_joint = new System.Windows.Forms.TabPage(); + this.rit_showJointState = new System.Windows.Forms.RichTextBox(); + this.grb_joint_origin = new System.Windows.Forms.GroupBox(); + this.btn_joint1 = new System.Windows.Forms.Button(); + this.btn_joint4 = new System.Windows.Forms.Button(); + this.btn_joint2 = new System.Windows.Forms.Button(); + this.btn_joint3 = new System.Windows.Forms.Button(); + this.btn_gainJointState = new System.Windows.Forms.Button(); + this.cob_Joint_Number = new System.Windows.Forms.ComboBox(); + this.lbl_Joint_Number = new System.Windows.Forms.Label(); + this.tap_Move = new System.Windows.Forms.TabPage(); + this.btn_Resume = new System.Windows.Forms.Button(); + this.rit_Position0 = new System.Windows.Forms.RichTextBox(); + this.rit_Position1 = new System.Windows.Forms.RichTextBox(); + this.rit_Position2 = new System.Windows.Forms.RichTextBox(); + this.btn_Position2 = new System.Windows.Forms.Button(); + this.rit_log = new System.Windows.Forms.RichTextBox(); + this.ldl_Tip_Door = new System.Windows.Forms.Label(); + this.btn_Position1 = new System.Windows.Forms.Button(); + this.btn_Position0 = new System.Windows.Forms.Button(); + this.btn_Stop = new System.Windows.Forms.Button(); + this.btn_Pause = new System.Windows.Forms.Button(); + this.btn_Start = new System.Windows.Forms.Button(); + this.tap_Cam = new System.Windows.Forms.TabPage(); + this.init_pos_btn = new System.Windows.Forms.Button(); + this.cam_btn_4 = new System.Windows.Forms.Button(); + this.cam_btn_3 = new System.Windows.Forms.Button(); + this.cam_btn_2 = new System.Windows.Forms.Button(); + this.cam_btn_1 = 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.tac_MainForm.SuspendLayout(); + this.tap_Axis.SuspendLayout(); + this.grb_R.SuspendLayout(); + this.grb_Z.SuspendLayout(); + this.grb_Y.SuspendLayout(); + this.grb_X.SuspendLayout(); + this.tap_IO.SuspendLayout(); + this.grb_Output.SuspendLayout(); + this.grb_Input.SuspendLayout(); + this.tap_joint.SuspendLayout(); + this.grb_joint_origin.SuspendLayout(); + this.tap_Move.SuspendLayout(); + this.tap_Cam.SuspendLayout(); + this.panel1.SuspendLayout(); + this.SuspendLayout(); + // + // btn_Init + // + this.btn_Init.Location = new System.Drawing.Point(304, 32); + this.btn_Init.Margin = new System.Windows.Forms.Padding(4); + this.btn_Init.Name = "btn_Init"; + this.btn_Init.Size = new System.Drawing.Size(112, 34); + this.btn_Init.TabIndex = 0; + this.btn_Init.Text = "初始化"; + this.btn_Init.UseVisualStyleBackColor = true; + this.btn_Init.Click += new System.EventHandler(this.btn_Init_Click); + // + // tac_MainForm + // + this.tac_MainForm.Controls.Add(this.tap_Axis); + this.tac_MainForm.Controls.Add(this.tap_IO); + this.tac_MainForm.Controls.Add(this.tap_joint); + this.tac_MainForm.Controls.Add(this.tap_Move); + this.tac_MainForm.Controls.Add(this.tap_Cam); + this.tac_MainForm.Dock = System.Windows.Forms.DockStyle.Fill; + this.tac_MainForm.Location = new System.Drawing.Point(0, 0); + this.tac_MainForm.Margin = new System.Windows.Forms.Padding(4); + this.tac_MainForm.Name = "tac_MainForm"; + this.tac_MainForm.SelectedIndex = 0; + this.tac_MainForm.Size = new System.Drawing.Size(1222, 792); + this.tac_MainForm.TabIndex = 1; + // + // tap_Axis + // + this.tap_Axis.Controls.Add(this.lbl_Inching_Tip); + this.tap_Axis.Controls.Add(this.grb_R); + this.tap_Axis.Controls.Add(this.grb_Z); + this.tap_Axis.Controls.Add(this.grb_Y); + this.tap_Axis.Controls.Add(this.chb_Inching); + this.tap_Axis.Controls.Add(this.grb_X); + this.tap_Axis.Location = new System.Drawing.Point(4, 28); + this.tap_Axis.Margin = new System.Windows.Forms.Padding(4); + this.tap_Axis.Name = "tap_Axis"; + this.tap_Axis.Padding = new System.Windows.Forms.Padding(4); + this.tap_Axis.Size = new System.Drawing.Size(1214, 760); + this.tap_Axis.TabIndex = 0; + this.tap_Axis.Text = "轴移动"; + this.tap_Axis.UseVisualStyleBackColor = true; + // + // lbl_Inching_Tip + // + this.lbl_Inching_Tip.AutoSize = true; + this.lbl_Inching_Tip.Location = new System.Drawing.Point(807, 98); + this.lbl_Inching_Tip.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Inching_Tip.Name = "lbl_Inching_Tip"; + this.lbl_Inching_Tip.Size = new System.Drawing.Size(350, 36); + this.lbl_Inching_Tip.TabIndex = 21; + this.lbl_Inching_Tip.Text = "勾选寸动按钮，单次点击，对应轴移动1mm.\r\n取消勾选，轴为连续移动模式."; + // + // grb_R + // + this.grb_R.Controls.Add(this.btn_RP); + this.grb_R.Controls.Add(this.lbl_R); + this.grb_R.Controls.Add(this.btn_RN); + this.grb_R.Location = new System.Drawing.Point(75, 574); + this.grb_R.Margin = new System.Windows.Forms.Padding(4); + this.grb_R.Name = "grb_R"; + this.grb_R.Padding = new System.Windows.Forms.Padding(4); + this.grb_R.Size = new System.Drawing.Size(562, 117); + this.grb_R.TabIndex = 20; + this.grb_R.TabStop = false; + this.grb_R.Text = "R"; + // + // btn_RP + // + this.btn_RP.Location = new System.Drawing.Point(152, 48); + this.btn_RP.Margin = new System.Windows.Forms.Padding(4); + this.btn_RP.Name = "btn_RP"; + this.btn_RP.Size = new System.Drawing.Size(112, 34); + this.btn_RP.TabIndex = 13; + this.btn_RP.Text = "R+"; + this.btn_RP.UseVisualStyleBackColor = true; + this.btn_RP.Click += new System.EventHandler(this.btn_Move_Click); + this.btn_RP.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Jog_MouseDown); + this.btn_RP.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btn_MouseUp); + // + // lbl_R + // + this.lbl_R.AutoSize = true; + this.lbl_R.Location = new System.Drawing.Point(32, 56); + this.lbl_R.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_R.Name = "lbl_R"; + this.lbl_R.Size = new System.Drawing.Size(53, 18); + this.lbl_R.TabIndex = 6; + this.lbl_R.Text = "R方向"; + // + // btn_RN + // + this.btn_RN.Location = new System.Drawing.Point(322, 48); + this.btn_RN.Margin = new System.Windows.Forms.Padding(4); + this.btn_RN.Name = "btn_RN"; + this.btn_RN.Size = new System.Drawing.Size(112, 34); + this.btn_RN.TabIndex = 14; + this.btn_RN.Text = "R-"; + this.btn_RN.UseVisualStyleBackColor = true; + this.btn_RN.Click += new System.EventHandler(this.btn_Move_Click); + this.btn_RN.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Jog_MouseDown); + this.btn_RN.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btn_MouseUp); + // + // grb_Z + // + this.grb_Z.Controls.Add(this.btn_ZN); + this.grb_Z.Controls.Add(this.lbl_Z); + this.grb_Z.Controls.Add(this.btn_ZP); + this.grb_Z.Location = new System.Drawing.Point(75, 398); + this.grb_Z.Margin = new System.Windows.Forms.Padding(4); + this.grb_Z.Name = "grb_Z"; + this.grb_Z.Padding = new System.Windows.Forms.Padding(4); + this.grb_Z.Size = new System.Drawing.Size(562, 117); + this.grb_Z.TabIndex = 19; + this.grb_Z.TabStop = false; + this.grb_Z.Text = "Z"; + // + // btn_ZN + // + this.btn_ZN.Location = new System.Drawing.Point(322, 52); + this.btn_ZN.Margin = new System.Windows.Forms.Padding(4); + this.btn_ZN.Name = "btn_ZN"; + this.btn_ZN.Size = new System.Drawing.Size(112, 34); + this.btn_ZN.TabIndex = 11; + this.btn_ZN.Text = "Z-"; + this.btn_ZN.UseVisualStyleBackColor = true; + this.btn_ZN.Click += new System.EventHandler(this.btn_Move_Click); + this.btn_ZN.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Jog_MouseDown); + this.btn_ZN.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btn_MouseUp); + // + // lbl_Z + // + this.lbl_Z.AutoSize = true; + this.lbl_Z.Location = new System.Drawing.Point(30, 60); + this.lbl_Z.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Z.Name = "lbl_Z"; + this.lbl_Z.Size = new System.Drawing.Size(53, 18); + this.lbl_Z.TabIndex = 5; + this.lbl_Z.Text = "Z方向"; + // + // btn_ZP + // + this.btn_ZP.Location = new System.Drawing.Point(152, 52); + this.btn_ZP.Margin = new System.Windows.Forms.Padding(4); + this.btn_ZP.Name = "btn_ZP"; + this.btn_ZP.Size = new System.Drawing.Size(112, 34); + this.btn_ZP.TabIndex = 10; + this.btn_ZP.Text = "Z+"; + this.btn_ZP.UseVisualStyleBackColor = true; + this.btn_ZP.Click += new System.EventHandler(this.btn_Move_Click); + this.btn_ZP.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Jog_MouseDown); + this.btn_ZP.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btn_MouseUp); + // + // grb_Y + // + this.grb_Y.Controls.Add(this.btn_YN); + this.grb_Y.Controls.Add(this.btn_YP); + this.grb_Y.Controls.Add(this.lbl_Y); + this.grb_Y.Location = new System.Drawing.Point(75, 220); + this.grb_Y.Margin = new System.Windows.Forms.Padding(4); + this.grb_Y.Name = "grb_Y"; + this.grb_Y.Padding = new System.Windows.Forms.Padding(4); + this.grb_Y.Size = new System.Drawing.Size(562, 117); + this.grb_Y.TabIndex = 18; + this.grb_Y.TabStop = false; + this.grb_Y.Text = "Y"; + // + // btn_YN + // + this.btn_YN.Location = new System.Drawing.Point(322, 51); + this.btn_YN.Margin = new System.Windows.Forms.Padding(4); + this.btn_YN.Name = "btn_YN"; + this.btn_YN.Size = new System.Drawing.Size(112, 34); + this.btn_YN.TabIndex = 12; + this.btn_YN.Text = "Y-"; + this.btn_YN.UseVisualStyleBackColor = true; + this.btn_YN.Click += new System.EventHandler(this.btn_Move_Click); + this.btn_YN.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Jog_MouseDown); + this.btn_YN.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btn_MouseUp); + // + // btn_YP + // + this.btn_YP.Location = new System.Drawing.Point(152, 51); + this.btn_YP.Margin = new System.Windows.Forms.Padding(4); + this.btn_YP.Name = "btn_YP"; + this.btn_YP.Size = new System.Drawing.Size(112, 34); + this.btn_YP.TabIndex = 11; + this.btn_YP.Text = "Y+"; + this.btn_YP.UseVisualStyleBackColor = true; + this.btn_YP.Click += new System.EventHandler(this.btn_Move_Click); + this.btn_YP.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Jog_MouseDown); + this.btn_YP.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btn_MouseUp); + // + // lbl_Y + // + this.lbl_Y.AutoSize = true; + this.lbl_Y.Location = new System.Drawing.Point(32, 58); + this.lbl_Y.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Y.Name = "lbl_Y"; + this.lbl_Y.Size = new System.Drawing.Size(53, 18); + this.lbl_Y.TabIndex = 10; + this.lbl_Y.Text = "Y方向"; + // + // chb_Inching + // + this.chb_Inching.AutoSize = true; + this.chb_Inching.Checked = true; + this.chb_Inching.CheckState = System.Windows.Forms.CheckState.Checked; + this.chb_Inching.Location = new System.Drawing.Point(663, 100); + this.chb_Inching.Margin = new System.Windows.Forms.Padding(4); + this.chb_Inching.Name = "chb_Inching"; + this.chb_Inching.Size = new System.Drawing.Size(133, 22); + this.chb_Inching.TabIndex = 17; + this.chb_Inching.Text = "寸动（1mm）"; + this.chb_Inching.UseVisualStyleBackColor = true; + // + // grb_X + // + this.grb_X.Controls.Add(this.btn_XN); + this.grb_X.Controls.Add(this.lbl_X); + this.grb_X.Controls.Add(this.btn_XP); + this.grb_X.Location = new System.Drawing.Point(75, 44); + this.grb_X.Margin = new System.Windows.Forms.Padding(4); + this.grb_X.Name = "grb_X"; + this.grb_X.Padding = new System.Windows.Forms.Padding(4); + this.grb_X.Size = new System.Drawing.Size(562, 117); + this.grb_X.TabIndex = 16; + this.grb_X.TabStop = false; + this.grb_X.Text = "X"; + // + // btn_XN + // + this.btn_XN.Location = new System.Drawing.Point(322, 56); + this.btn_XN.Margin = new System.Windows.Forms.Padding(4); + this.btn_XN.Name = "btn_XN"; + this.btn_XN.Size = new System.Drawing.Size(112, 34); + this.btn_XN.TabIndex = 6; + this.btn_XN.Text = "X-"; + this.btn_XN.UseVisualStyleBackColor = true; + this.btn_XN.Click += new System.EventHandler(this.btn_Move_Click); + this.btn_XN.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Jog_MouseDown); + this.btn_XN.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btn_MouseUp); + // + // lbl_X + // + this.lbl_X.AutoSize = true; + this.lbl_X.Location = new System.Drawing.Point(32, 63); + this.lbl_X.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_X.Name = "lbl_X"; + this.lbl_X.Size = new System.Drawing.Size(53, 18); + this.lbl_X.TabIndex = 5; + this.lbl_X.Text = "X方向"; + // + // btn_XP + // + this.btn_XP.Location = new System.Drawing.Point(152, 56); + this.btn_XP.Margin = new System.Windows.Forms.Padding(4); + this.btn_XP.Name = "btn_XP"; + this.btn_XP.Size = new System.Drawing.Size(112, 34); + this.btn_XP.TabIndex = 4; + this.btn_XP.Text = "X+"; + this.btn_XP.UseVisualStyleBackColor = true; + this.btn_XP.Click += new System.EventHandler(this.btn_Move_Click); + this.btn_XP.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btn_Jog_MouseDown); + this.btn_XP.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btn_MouseUp); + // + // tap_IO + // + this.tap_IO.Controls.Add(this.lbl_Tip_IO); + this.tap_IO.Controls.Add(this.grb_Output); + this.tap_IO.Controls.Add(this.grb_Input); + this.tap_IO.Location = new System.Drawing.Point(4, 28); + this.tap_IO.Margin = new System.Windows.Forms.Padding(4); + this.tap_IO.Name = "tap_IO"; + this.tap_IO.Padding = new System.Windows.Forms.Padding(4); + this.tap_IO.Size = new System.Drawing.Size(1214, 760); + this.tap_IO.TabIndex = 1; + this.tap_IO.Text = "IO信号显示"; + this.tap_IO.UseVisualStyleBackColor = true; + // + // lbl_Tip_IO + // + this.lbl_Tip_IO.BackColor = System.Drawing.Color.Transparent; + this.lbl_Tip_IO.Location = new System.Drawing.Point(28, 28); + this.lbl_Tip_IO.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Tip_IO.Name = "lbl_Tip_IO"; + this.lbl_Tip_IO.Size = new System.Drawing.Size(708, 34); + this.lbl_Tip_IO.TabIndex = 2; + this.lbl_Tip_IO.Text = "提示：红色表示高电平，绿色表示低电平。(灰色表示未初始化)"; + this.lbl_Tip_IO.TextAlign = System.Drawing.ContentAlignment.MiddleLeft; + this.lbl_Tip_IO.UseMnemonic = false; + // + // grb_Output + // + this.grb_Output.Controls.Add(this.lbl_OutputState_1); + this.grb_Output.Controls.Add(this.lbl_Output_5); + this.grb_Output.Controls.Add(this.lbl_OutputState_5); + this.grb_Output.Controls.Add(this.lbl_Output_4); + this.grb_Output.Controls.Add(this.lbl_OutputState_4); + this.grb_Output.Controls.Add(this.lbl_Output_3); + this.grb_Output.Controls.Add(this.lbl_OutputState_3); + this.grb_Output.Controls.Add(this.lbl_Output_2); + this.grb_Output.Controls.Add(this.lbl_OutputState_2); + this.grb_Output.Controls.Add(this.lbl_Output_1); + this.grb_Output.Controls.Add(this.lbl_OutputState_0); + this.grb_Output.Controls.Add(this.lbl_Output_0); + this.grb_Output.ForeColor = System.Drawing.SystemColors.ControlText; + this.grb_Output.Location = new System.Drawing.Point(574, 92); + this.grb_Output.Margin = new System.Windows.Forms.Padding(4); + this.grb_Output.Name = "grb_Output"; + this.grb_Output.Padding = new System.Windows.Forms.Padding(4); + this.grb_Output.Size = new System.Drawing.Size(444, 592); + this.grb_Output.TabIndex = 1; + this.grb_Output.TabStop = false; + this.grb_Output.Text = "输出"; + // + // lbl_OutputState_1 + // + this.lbl_OutputState_1.BackColor = System.Drawing.Color.Green; + this.lbl_OutputState_1.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_OutputState_1.Location = new System.Drawing.Point(69, 134); + this.lbl_OutputState_1.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_OutputState_1.Name = "lbl_OutputState_1"; + this.lbl_OutputState_1.Size = new System.Drawing.Size(22, 20); + this.lbl_OutputState_1.TabIndex = 36; + this.lbl_OutputState_1.Click += new System.EventHandler(this.lbl_Output_Click); + // + // lbl_Output_5 + // + this.lbl_Output_5.AutoSize = true; + this.lbl_Output_5.Location = new System.Drawing.Point(100, 360); + this.lbl_Output_5.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Output_5.Name = "lbl_Output_5"; + this.lbl_Output_5.Size = new System.Drawing.Size(62, 18); + this.lbl_Output_5.TabIndex = 14; + this.lbl_Output_5.Text = "输出-5"; + // + // lbl_OutputState_5 + // + this.lbl_OutputState_5.BackColor = System.Drawing.Color.Green; + this.lbl_OutputState_5.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_OutputState_5.Location = new System.Drawing.Point(69, 360); + this.lbl_OutputState_5.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_OutputState_5.Name = "lbl_OutputState_5"; + this.lbl_OutputState_5.Size = new System.Drawing.Size(22, 20); + this.lbl_OutputState_5.TabIndex = 35; + this.lbl_OutputState_5.Click += new System.EventHandler(this.lbl_Output_Click); + // + // lbl_Output_4 + // + this.lbl_Output_4.AutoSize = true; + this.lbl_Output_4.Location = new System.Drawing.Point(100, 306); + this.lbl_Output_4.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Output_4.Name = "lbl_Output_4"; + this.lbl_Output_4.Size = new System.Drawing.Size(62, 18); + this.lbl_Output_4.TabIndex = 12; + this.lbl_Output_4.Text = "输出-4"; + // + // lbl_OutputState_4 + // + this.lbl_OutputState_4.BackColor = System.Drawing.Color.Green; + this.lbl_OutputState_4.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_OutputState_4.Location = new System.Drawing.Point(69, 304); + this.lbl_OutputState_4.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_OutputState_4.Name = "lbl_OutputState_4"; + this.lbl_OutputState_4.Size = new System.Drawing.Size(22, 20); + this.lbl_OutputState_4.TabIndex = 34; + this.lbl_OutputState_4.Click += new System.EventHandler(this.lbl_Output_Click); + // + // lbl_Output_3 + // + this.lbl_Output_3.AutoSize = true; + this.lbl_Output_3.Location = new System.Drawing.Point(100, 249); + this.lbl_Output_3.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Output_3.Name = "lbl_Output_3"; + this.lbl_Output_3.Size = new System.Drawing.Size(62, 18); + this.lbl_Output_3.TabIndex = 10; + this.lbl_Output_3.Text = "输出-3"; + // + // lbl_OutputState_3 + // + this.lbl_OutputState_3.BackColor = System.Drawing.Color.Green; + this.lbl_OutputState_3.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_OutputState_3.Location = new System.Drawing.Point(69, 248); + this.lbl_OutputState_3.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_OutputState_3.Name = "lbl_OutputState_3"; + this.lbl_OutputState_3.Size = new System.Drawing.Size(22, 20); + this.lbl_OutputState_3.TabIndex = 33; + this.lbl_OutputState_3.Click += new System.EventHandler(this.lbl_Output_Click); + // + // lbl_Output_2 + // + this.lbl_Output_2.AutoSize = true; + this.lbl_Output_2.Location = new System.Drawing.Point(100, 192); + this.lbl_Output_2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Output_2.Name = "lbl_Output_2"; + this.lbl_Output_2.Size = new System.Drawing.Size(62, 18); + this.lbl_Output_2.TabIndex = 8; + this.lbl_Output_2.Text = "输出-2"; + // + // lbl_OutputState_2 + // + this.lbl_OutputState_2.BackColor = System.Drawing.Color.Green; + this.lbl_OutputState_2.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_OutputState_2.Location = new System.Drawing.Point(69, 190); + this.lbl_OutputState_2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_OutputState_2.Name = "lbl_OutputState_2"; + this.lbl_OutputState_2.Size = new System.Drawing.Size(22, 20); + this.lbl_OutputState_2.TabIndex = 32; + this.lbl_OutputState_2.Click += new System.EventHandler(this.lbl_Output_Click); + // + // lbl_Output_1 + // + this.lbl_Output_1.AutoSize = true; + this.lbl_Output_1.Location = new System.Drawing.Point(100, 135); + this.lbl_Output_1.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Output_1.Name = "lbl_Output_1"; + this.lbl_Output_1.Size = new System.Drawing.Size(62, 18); + this.lbl_Output_1.TabIndex = 6; + this.lbl_Output_1.Text = "输出-1"; + // + // lbl_OutputState_0 + // + this.lbl_OutputState_0.BackColor = System.Drawing.Color.Green; + this.lbl_OutputState_0.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_OutputState_0.Location = new System.Drawing.Point(69, 76); + this.lbl_OutputState_0.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_OutputState_0.Name = "lbl_OutputState_0"; + this.lbl_OutputState_0.Size = new System.Drawing.Size(22, 20); + this.lbl_OutputState_0.TabIndex = 31; + this.lbl_OutputState_0.Click += new System.EventHandler(this.lbl_Output_Click); + // + // lbl_Output_0 + // + this.lbl_Output_0.AutoSize = true; + this.lbl_Output_0.Location = new System.Drawing.Point(100, 78); + this.lbl_Output_0.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Output_0.Name = "lbl_Output_0"; + this.lbl_Output_0.Size = new System.Drawing.Size(62, 18); + this.lbl_Output_0.TabIndex = 4; + this.lbl_Output_0.Text = "输出-0"; + // + // grb_Input + // + this.grb_Input.Controls.Add(this.lbl_InputState_1); + this.grb_Input.Controls.Add(this.lbl_InputState_5); + this.grb_Input.Controls.Add(this.lbl_InputState_4); + this.grb_Input.Controls.Add(this.lbl_InputState_3); + this.grb_Input.Controls.Add(this.lbl_InputState_2); + this.grb_Input.Controls.Add(this.lbl_InputState_0); + this.grb_Input.Controls.Add(this.lbl_Input_5); + this.grb_Input.Controls.Add(this.lbl_Input_4); + this.grb_Input.Controls.Add(this.lbl_Input_3); + this.grb_Input.Controls.Add(this.lbl_Input_2); + this.grb_Input.Controls.Add(this.lbl_Input_1); + this.grb_Input.Controls.Add(this.lbl_Input_0); + this.grb_Input.Location = new System.Drawing.Point(32, 92); + this.grb_Input.Margin = new System.Windows.Forms.Padding(4); + this.grb_Input.Name = "grb_Input"; + this.grb_Input.Padding = new System.Windows.Forms.Padding(4); + this.grb_Input.Size = new System.Drawing.Size(444, 592); + this.grb_Input.TabIndex = 0; + this.grb_Input.TabStop = false; + this.grb_Input.Text = "输入"; + // + // lbl_InputState_1 + // + this.lbl_InputState_1.BackColor = System.Drawing.Color.Green; + this.lbl_InputState_1.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_InputState_1.Location = new System.Drawing.Point(80, 135); + this.lbl_InputState_1.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_InputState_1.Name = "lbl_InputState_1"; + this.lbl_InputState_1.Size = new System.Drawing.Size(22, 20); + this.lbl_InputState_1.TabIndex = 30; + // + // lbl_InputState_5 + // + this.lbl_InputState_5.BackColor = System.Drawing.Color.Green; + this.lbl_InputState_5.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_InputState_5.Location = new System.Drawing.Point(80, 362); + this.lbl_InputState_5.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_InputState_5.Name = "lbl_InputState_5"; + this.lbl_InputState_5.Size = new System.Drawing.Size(22, 20); + this.lbl_InputState_5.TabIndex = 29; + // + // lbl_InputState_4 + // + this.lbl_InputState_4.BackColor = System.Drawing.Color.Green; + this.lbl_InputState_4.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_InputState_4.Location = new System.Drawing.Point(80, 306); + this.lbl_InputState_4.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_InputState_4.Name = "lbl_InputState_4"; + this.lbl_InputState_4.Size = new System.Drawing.Size(22, 20); + this.lbl_InputState_4.TabIndex = 28; + // + // lbl_InputState_3 + // + this.lbl_InputState_3.BackColor = System.Drawing.Color.Green; + this.lbl_InputState_3.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_InputState_3.Location = new System.Drawing.Point(80, 249); + this.lbl_InputState_3.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_InputState_3.Name = "lbl_InputState_3"; + this.lbl_InputState_3.Size = new System.Drawing.Size(22, 20); + this.lbl_InputState_3.TabIndex = 27; + // + // lbl_InputState_2 + // + this.lbl_InputState_2.BackColor = System.Drawing.Color.Green; + this.lbl_InputState_2.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_InputState_2.Location = new System.Drawing.Point(80, 192); + this.lbl_InputState_2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_InputState_2.Name = "lbl_InputState_2"; + this.lbl_InputState_2.Size = new System.Drawing.Size(22, 20); + this.lbl_InputState_2.TabIndex = 26; + // + // lbl_InputState_0 + // + this.lbl_InputState_0.BackColor = System.Drawing.Color.Green; + this.lbl_InputState_0.ForeColor = System.Drawing.SystemColors.ControlText; + this.lbl_InputState_0.Location = new System.Drawing.Point(80, 78); + this.lbl_InputState_0.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_InputState_0.Name = "lbl_InputState_0"; + this.lbl_InputState_0.Size = new System.Drawing.Size(22, 20); + this.lbl_InputState_0.TabIndex = 25; + // + // lbl_Input_5 + // + this.lbl_Input_5.AutoSize = true; + this.lbl_Input_5.Location = new System.Drawing.Point(111, 362); + this.lbl_Input_5.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Input_5.Name = "lbl_Input_5"; + this.lbl_Input_5.Size = new System.Drawing.Size(62, 18); + this.lbl_Input_5.TabIndex = 24; + this.lbl_Input_5.Text = "输入-5"; + // + // lbl_Input_4 + // + this.lbl_Input_4.AutoSize = true; + this.lbl_Input_4.Location = new System.Drawing.Point(111, 306); + this.lbl_Input_4.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Input_4.Name = "lbl_Input_4"; + this.lbl_Input_4.Size = new System.Drawing.Size(62, 18); + this.lbl_Input_4.TabIndex = 22; + this.lbl_Input_4.Text = "输入-4"; + // + // lbl_Input_3 + // + this.lbl_Input_3.AutoSize = true; + this.lbl_Input_3.Location = new System.Drawing.Point(111, 249); + this.lbl_Input_3.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Input_3.Name = "lbl_Input_3"; + this.lbl_Input_3.Size = new System.Drawing.Size(62, 18); + this.lbl_Input_3.TabIndex = 20; + this.lbl_Input_3.Text = "输入-3"; + // + // lbl_Input_2 + // + this.lbl_Input_2.AutoSize = true; + this.lbl_Input_2.Location = new System.Drawing.Point(111, 192); + this.lbl_Input_2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Input_2.Name = "lbl_Input_2"; + this.lbl_Input_2.Size = new System.Drawing.Size(62, 18); + this.lbl_Input_2.TabIndex = 18; + this.lbl_Input_2.Text = "输入-2"; + // + // lbl_Input_1 + // + this.lbl_Input_1.AutoSize = true; + this.lbl_Input_1.Location = new System.Drawing.Point(111, 135); + this.lbl_Input_1.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Input_1.Name = "lbl_Input_1"; + this.lbl_Input_1.Size = new System.Drawing.Size(62, 18); + this.lbl_Input_1.TabIndex = 16; + this.lbl_Input_1.Text = "输入-1"; + // + // lbl_Input_0 + // + this.lbl_Input_0.AutoSize = true; + this.lbl_Input_0.Location = new System.Drawing.Point(111, 78); + this.lbl_Input_0.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Input_0.Name = "lbl_Input_0"; + this.lbl_Input_0.Size = new System.Drawing.Size(62, 18); + this.lbl_Input_0.TabIndex = 14; + this.lbl_Input_0.Text = "输入-0"; + // + // tap_joint + // + this.tap_joint.Controls.Add(this.rit_showJointState); + this.tap_joint.Controls.Add(this.grb_joint_origin); + this.tap_joint.Controls.Add(this.btn_gainJointState); + this.tap_joint.Controls.Add(this.cob_Joint_Number); + this.tap_joint.Controls.Add(this.lbl_Joint_Number); + this.tap_joint.Location = new System.Drawing.Point(4, 28); + this.tap_joint.Margin = new System.Windows.Forms.Padding(4); + this.tap_joint.Name = "tap_joint"; + this.tap_joint.Padding = new System.Windows.Forms.Padding(4); + this.tap_joint.Size = new System.Drawing.Size(1214, 760); + this.tap_joint.TabIndex = 2; + this.tap_joint.Text = "关节状态"; + this.tap_joint.UseVisualStyleBackColor = true; + // + // rit_showJointState + // + this.rit_showJointState.Location = new System.Drawing.Point(86, 201); + this.rit_showJointState.Margin = new System.Windows.Forms.Padding(4); + this.rit_showJointState.Name = "rit_showJointState"; + this.rit_showJointState.Size = new System.Drawing.Size(686, 88); + this.rit_showJointState.TabIndex = 23; + this.rit_showJointState.Text = ""; + // + // grb_joint_origin + // + this.grb_joint_origin.Controls.Add(this.btn_joint1); + this.grb_joint_origin.Controls.Add(this.btn_joint4); + this.grb_joint_origin.Controls.Add(this.btn_joint2); + this.grb_joint_origin.Controls.Add(this.btn_joint3); + this.grb_joint_origin.Location = new System.Drawing.Point(838, 38); + this.grb_joint_origin.Margin = new System.Windows.Forms.Padding(4); + this.grb_joint_origin.Name = "grb_joint_origin"; + this.grb_joint_origin.Padding = new System.Windows.Forms.Padding(4); + this.grb_joint_origin.Size = new System.Drawing.Size(300, 648); + this.grb_joint_origin.TabIndex = 22; + this.grb_joint_origin.TabStop = false; + this.grb_joint_origin.Text = "关节回原点"; + // + // btn_joint1 + // + this.btn_joint1.Location = new System.Drawing.Point(87, 63); + this.btn_joint1.Margin = new System.Windows.Forms.Padding(4); + this.btn_joint1.Name = "btn_joint1"; + this.btn_joint1.Size = new System.Drawing.Size(112, 34); + this.btn_joint1.TabIndex = 7; + this.btn_joint1.Text = "关节1"; + this.btn_joint1.UseVisualStyleBackColor = true; + this.btn_joint1.Click += new System.EventHandler(this.btn_Joint_Click); + // + // btn_joint4 + // + this.btn_joint4.Location = new System.Drawing.Point(87, 570); + this.btn_joint4.Margin = new System.Windows.Forms.Padding(4); + this.btn_joint4.Name = "btn_joint4"; + this.btn_joint4.Size = new System.Drawing.Size(112, 34); + this.btn_joint4.TabIndex = 15; + this.btn_joint4.Text = "关节4"; + this.btn_joint4.UseVisualStyleBackColor = true; + this.btn_joint4.Click += new System.EventHandler(this.btn_Joint_Click); + // + // btn_joint2 + // + this.btn_joint2.Location = new System.Drawing.Point(87, 219); + this.btn_joint2.Margin = new System.Windows.Forms.Padding(4); + this.btn_joint2.Name = "btn_joint2"; + this.btn_joint2.Size = new System.Drawing.Size(112, 34); + this.btn_joint2.TabIndex = 13; + this.btn_joint2.Text = "关节2"; + this.btn_joint2.UseVisualStyleBackColor = true; + this.btn_joint2.Click += new System.EventHandler(this.btn_Joint_Click); + // + // btn_joint3 + // + this.btn_joint3.Location = new System.Drawing.Point(87, 398); + this.btn_joint3.Margin = new System.Windows.Forms.Padding(4); + this.btn_joint3.Name = "btn_joint3"; + this.btn_joint3.Size = new System.Drawing.Size(112, 34); + this.btn_joint3.TabIndex = 12; + this.btn_joint3.Text = "关节3"; + this.btn_joint3.UseVisualStyleBackColor = true; + this.btn_joint3.Click += new System.EventHandler(this.btn_Joint_Click); + // + // btn_gainJointState + // + this.btn_gainJointState.Location = new System.Drawing.Point(602, 99); + this.btn_gainJointState.Margin = new System.Windows.Forms.Padding(4); + this.btn_gainJointState.Name = "btn_gainJointState"; + this.btn_gainJointState.Size = new System.Drawing.Size(172, 34); + this.btn_gainJointState.TabIndex = 2; + this.btn_gainJointState.Text = "获取关节状态"; + this.btn_gainJointState.UseVisualStyleBackColor = true; + this.btn_gainJointState.Click += new System.EventHandler(this.btn_gainJointState_Click); + // + // cob_Joint_Number + // + this.cob_Joint_Number.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; + this.cob_Joint_Number.FormattingEnabled = true; + this.cob_Joint_Number.Items.AddRange(new object[] { + "1", + "2", + "3", + "4"}); + this.cob_Joint_Number.Location = new System.Drawing.Point(334, 104); + this.cob_Joint_Number.Margin = new System.Windows.Forms.Padding(4); + this.cob_Joint_Number.Name = "cob_Joint_Number"; + this.cob_Joint_Number.Size = new System.Drawing.Size(180, 26); + this.cob_Joint_Number.TabIndex = 1; + // + // lbl_Joint_Number + // + this.lbl_Joint_Number.AutoSize = true; + this.lbl_Joint_Number.Location = new System.Drawing.Point(82, 108); + this.lbl_Joint_Number.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Joint_Number.Name = "lbl_Joint_Number"; + this.lbl_Joint_Number.Size = new System.Drawing.Size(215, 18); + this.lbl_Joint_Number.TabIndex = 0; + this.lbl_Joint_Number.Text = "请选择关节编号（1-4）："; + // + // tap_Move + // + this.tap_Move.Controls.Add(this.btn_Resume); + this.tap_Move.Controls.Add(this.rit_Position0); + this.tap_Move.Controls.Add(this.rit_Position1); + this.tap_Move.Controls.Add(this.rit_Position2); + this.tap_Move.Controls.Add(this.btn_Position2); + this.tap_Move.Controls.Add(this.rit_log); + this.tap_Move.Controls.Add(this.ldl_Tip_Door); + this.tap_Move.Controls.Add(this.btn_Position1); + this.tap_Move.Controls.Add(this.btn_Position0); + this.tap_Move.Controls.Add(this.btn_Stop); + this.tap_Move.Controls.Add(this.btn_Pause); + this.tap_Move.Controls.Add(this.btn_Start); + this.tap_Move.Location = new System.Drawing.Point(4, 28); + this.tap_Move.Margin = new System.Windows.Forms.Padding(4); + this.tap_Move.Name = "tap_Move"; + this.tap_Move.Padding = new System.Windows.Forms.Padding(4); + this.tap_Move.Size = new System.Drawing.Size(1214, 760); + this.tap_Move.TabIndex = 3; + this.tap_Move.Text = "点位运动"; + this.tap_Move.UseVisualStyleBackColor = true; + this.tap_Move.Click += new System.EventHandler(this.tap_Move_Click); + // + // btn_Resume + // + this.btn_Resume.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(128))))); + this.btn_Resume.Location = new System.Drawing.Point(232, 334); + this.btn_Resume.Margin = new System.Windows.Forms.Padding(4); + this.btn_Resume.Name = "btn_Resume"; + this.btn_Resume.Size = new System.Drawing.Size(112, 34); + this.btn_Resume.TabIndex = 11; + this.btn_Resume.Text = "继续"; + this.btn_Resume.UseVisualStyleBackColor = false; + this.btn_Resume.Click += new System.EventHandler(this.btn_Resume_Click); + // + // rit_Position0 + // + this.rit_Position0.Location = new System.Drawing.Point(232, 24); + this.rit_Position0.Margin = new System.Windows.Forms.Padding(4); + this.rit_Position0.Name = "rit_Position0"; + this.rit_Position0.Size = new System.Drawing.Size(710, 32); + this.rit_Position0.TabIndex = 10; + this.rit_Position0.Text = ""; + // + // rit_Position1 + // + this.rit_Position1.Location = new System.Drawing.Point(232, 75); + this.rit_Position1.Margin = new System.Windows.Forms.Padding(4); + this.rit_Position1.Name = "rit_Position1"; + this.rit_Position1.Size = new System.Drawing.Size(710, 32); + this.rit_Position1.TabIndex = 9; + this.rit_Position1.Text = ""; + // + // rit_Position2 + // + this.rit_Position2.Location = new System.Drawing.Point(232, 126); + this.rit_Position2.Margin = new System.Windows.Forms.Padding(4); + this.rit_Position2.Name = "rit_Position2"; + this.rit_Position2.Size = new System.Drawing.Size(710, 32); + this.rit_Position2.TabIndex = 8; + this.rit_Position2.Text = ""; + // + // btn_Position2 + // + this.btn_Position2.Location = new System.Drawing.Point(88, 126); + this.btn_Position2.Margin = new System.Windows.Forms.Padding(4); + this.btn_Position2.Name = "btn_Position2"; + this.btn_Position2.Size = new System.Drawing.Size(112, 34); + this.btn_Position2.TabIndex = 7; + this.btn_Position2.Text = "点位3"; + this.btn_Position2.UseVisualStyleBackColor = true; + this.btn_Position2.Click += new System.EventHandler(this.btn_Position2_Click); + // + // rit_log + // + this.rit_log.Location = new System.Drawing.Point(92, 405); + this.rit_log.Margin = new System.Windows.Forms.Padding(4); + this.rit_log.Name = "rit_log"; + this.rit_log.Size = new System.Drawing.Size(762, 310); + this.rit_log.TabIndex = 6; + this.rit_log.Text = ""; + this.rit_log.Visible = false; + // + // ldl_Tip_Door + // + this.ldl_Tip_Door.AutoSize = true; + this.ldl_Tip_Door.Location = new System.Drawing.Point(89, 196); + this.ldl_Tip_Door.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.ldl_Tip_Door.Name = "ldl_Tip_Door"; + this.ldl_Tip_Door.Size = new System.Drawing.Size(521, 18); + this.ldl_Tip_Door.TabIndex = 5; + this.ldl_Tip_Door.Text = "提示：请设置3个点位，机械臂将依次在设置的点位做往复运动。"; + // + // btn_Position1 + // + this.btn_Position1.Location = new System.Drawing.Point(88, 75); + this.btn_Position1.Margin = new System.Windows.Forms.Padding(4); + this.btn_Position1.Name = "btn_Position1"; + this.btn_Position1.Size = new System.Drawing.Size(112, 34); + this.btn_Position1.TabIndex = 4; + this.btn_Position1.Text = "点位2"; + this.btn_Position1.UseVisualStyleBackColor = true; + this.btn_Position1.Click += new System.EventHandler(this.btn_Position1_Click); + // + // btn_Position0 + // + this.btn_Position0.Location = new System.Drawing.Point(88, 24); + this.btn_Position0.Margin = new System.Windows.Forms.Padding(4); + this.btn_Position0.Name = "btn_Position0"; + this.btn_Position0.Size = new System.Drawing.Size(112, 34); + this.btn_Position0.TabIndex = 3; + this.btn_Position0.Text = "点位1"; + this.btn_Position0.UseVisualStyleBackColor = true; + this.btn_Position0.Click += new System.EventHandler(this.btn_Position0_Click); + // + // btn_Stop + // + this.btn_Stop.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(128))))); + this.btn_Stop.Location = new System.Drawing.Point(88, 334); + this.btn_Stop.Margin = new System.Windows.Forms.Padding(4); + this.btn_Stop.Name = "btn_Stop"; + this.btn_Stop.Size = new System.Drawing.Size(112, 34); + this.btn_Stop.TabIndex = 2; + this.btn_Stop.Text = "停止"; + this.btn_Stop.UseVisualStyleBackColor = false; + this.btn_Stop.Click += new System.EventHandler(this.btn_Stop_Click); + // + // btn_Pause + // + this.btn_Pause.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(128))))); + this.btn_Pause.Location = new System.Drawing.Point(232, 267); + this.btn_Pause.Margin = new System.Windows.Forms.Padding(4); + this.btn_Pause.Name = "btn_Pause"; + this.btn_Pause.Size = new System.Drawing.Size(112, 34); + this.btn_Pause.TabIndex = 1; + this.btn_Pause.Text = "暂停"; + this.btn_Pause.UseVisualStyleBackColor = false; + this.btn_Pause.Click += new System.EventHandler(this.btn_Pause_Click); + // + // btn_Start + // + this.btn_Start.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128))))); + this.btn_Start.Location = new System.Drawing.Point(88, 266); + this.btn_Start.Margin = new System.Windows.Forms.Padding(4); + this.btn_Start.Name = "btn_Start"; + this.btn_Start.Size = new System.Drawing.Size(112, 34); + this.btn_Start.TabIndex = 0; + this.btn_Start.Text = "启动"; + this.btn_Start.UseVisualStyleBackColor = false; + this.btn_Start.Click += new System.EventHandler(this.btn_Start_Click); + // + // tap_Cam + // + this.tap_Cam.Controls.Add(this.init_pos_btn); + this.tap_Cam.Controls.Add(this.cam_btn_4); + this.tap_Cam.Controls.Add(this.cam_btn_3); + 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, 28); + this.tap_Cam.Name = "tap_Cam"; + this.tap_Cam.Padding = new System.Windows.Forms.Padding(3); + this.tap_Cam.Size = new System.Drawing.Size(1214, 760); + this.tap_Cam.TabIndex = 4; + this.tap_Cam.Text = "相机点位"; + this.tap_Cam.UseVisualStyleBackColor = true; + // + // init_pos_btn + // + this.init_pos_btn.Location = new System.Drawing.Point(152, 449); + this.init_pos_btn.Name = "init_pos_btn"; + this.init_pos_btn.Size = new System.Drawing.Size(128, 43); + this.init_pos_btn.TabIndex = 4; + this.init_pos_btn.Text = "归位"; + this.init_pos_btn.UseVisualStyleBackColor = true; + // + // cam_btn_4 + // + this.cam_btn_4.Location = new System.Drawing.Point(152, 359); + this.cam_btn_4.Name = "cam_btn_4"; + this.cam_btn_4.Size = new System.Drawing.Size(128, 43); + this.cam_btn_4.TabIndex = 3; + this.cam_btn_4.Text = "相机点位4"; + this.cam_btn_4.UseVisualStyleBackColor = true; + this.cam_btn_4.Click += new System.EventHandler(this.button4_Click); + // + // cam_btn_3 + // + this.cam_btn_3.Location = new System.Drawing.Point(152, 278); + this.cam_btn_3.Name = "cam_btn_3"; + this.cam_btn_3.Size = new System.Drawing.Size(128, 43); + this.cam_btn_3.TabIndex = 2; + this.cam_btn_3.Text = "相机点位3"; + this.cam_btn_3.UseVisualStyleBackColor = true; + this.cam_btn_3.Click += new System.EventHandler(this.button3_Click); + // + // cam_btn_2 + // + this.cam_btn_2.Location = new System.Drawing.Point(152, 195); + this.cam_btn_2.Name = "cam_btn_2"; + this.cam_btn_2.Size = new System.Drawing.Size(128, 43); + this.cam_btn_2.TabIndex = 1; + this.cam_btn_2.Text = "相机点位2"; + this.cam_btn_2.UseVisualStyleBackColor = true; + this.cam_btn_2.Click += new System.EventHandler(this.button2_Click); + // + // cam_btn_1 + // + this.cam_btn_1.Location = new System.Drawing.Point(152, 117); + this.cam_btn_1.Name = "cam_btn_1"; + this.cam_btn_1.Size = new System.Drawing.Size(128, 43); + this.cam_btn_1.TabIndex = 0; + this.cam_btn_1.Text = "相机点位1"; + this.cam_btn_1.UseVisualStyleBackColor = true; + this.cam_btn_1.Click += new System.EventHandler(this.button1_Click); + // + // panel1 + // + this.panel1.Controls.Add(this.tac_MainForm); + this.panel1.Dock = System.Windows.Forms.DockStyle.Bottom; + this.panel1.Location = new System.Drawing.Point(0, 120); + this.panel1.Margin = new System.Windows.Forms.Padding(4); + this.panel1.Name = "panel1"; + this.panel1.Size = new System.Drawing.Size(1222, 792); + this.panel1.TabIndex = 2; + // + // cob_Robot_ID + // + this.cob_Robot_ID.FormattingEnabled = true; + this.cob_Robot_ID.Location = new System.Drawing.Point(130, 34); + this.cob_Robot_ID.Margin = new System.Windows.Forms.Padding(4); + this.cob_Robot_ID.Name = "cob_Robot_ID"; + this.cob_Robot_ID.Size = new System.Drawing.Size(124, 26); + this.cob_Robot_ID.TabIndex = 3; + this.cob_Robot_ID.SelectedIndexChanged += new System.EventHandler(this.cob_Robot_ID_SelectedIndexChanged); + this.cob_Robot_ID.Click += new System.EventHandler(this.cob_Robot_ID_Click); + // + // lbl_Refresh_ID + // + this.lbl_Refresh_ID.AutoSize = true; + this.lbl_Refresh_ID.Location = new System.Drawing.Point(18, 40); + this.lbl_Refresh_ID.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0); + this.lbl_Refresh_ID.Name = "lbl_Refresh_ID"; + this.lbl_Refresh_ID.Size = new System.Drawing.Size(89, 18); + this.lbl_Refresh_ID.TabIndex = 4; + this.lbl_Refresh_ID.Text = "机器人ID:"; + // + // tim_IO_Refresh + // + this.tim_IO_Refresh.Enabled = true; + this.tim_IO_Refresh.Tick += new System.EventHandler(this.tim_IO_Refresh_Tick); + // + // rit_Coord + // + this.rit_Coord.Location = new System.Drawing.Point(470, 34); + this.rit_Coord.Margin = new System.Windows.Forms.Padding(4); + this.rit_Coord.Name = "rit_Coord"; + this.rit_Coord.Size = new System.Drawing.Size(710, 32); + this.rit_Coord.TabIndex = 5; + this.rit_Coord.Text = ""; + this.rit_Coord.TextChanged += new System.EventHandler(this.rit_Coord_TextChanged); + // + // ShowForm + // + this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F); + this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; + this.ClientSize = new System.Drawing.Size(1222, 912); + this.Controls.Add(this.rit_Coord); + this.Controls.Add(this.lbl_Refresh_ID); + this.Controls.Add(this.cob_Robot_ID); + this.Controls.Add(this.panel1); + this.Controls.Add(this.btn_Init); + this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedSingle; + this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon"))); + this.Margin = new System.Windows.Forms.Padding(4); + this.Name = "ShowForm"; + this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen; + this.Text = "HitBotStudioDemo"; + this.Load += new System.EventHandler(this.ShowForm_Load); + this.tac_MainForm.ResumeLayout(false); + this.tap_Axis.ResumeLayout(false); + this.tap_Axis.PerformLayout(); + this.grb_R.ResumeLayout(false); + this.grb_R.PerformLayout(); + this.grb_Z.ResumeLayout(false); + this.grb_Z.PerformLayout(); + this.grb_Y.ResumeLayout(false); + this.grb_Y.PerformLayout(); + this.grb_X.ResumeLayout(false); + this.grb_X.PerformLayout(); + this.tap_IO.ResumeLayout(false); + this.grb_Output.ResumeLayout(false); + this.grb_Output.PerformLayout(); + this.grb_Input.ResumeLayout(false); + this.grb_Input.PerformLayout(); + this.tap_joint.ResumeLayout(false); + this.tap_joint.PerformLayout(); + this.grb_joint_origin.ResumeLayout(false); + this.tap_Move.ResumeLayout(false); + this.tap_Move.PerformLayout(); + this.tap_Cam.ResumeLayout(false); + this.panel1.ResumeLayout(false); + this.ResumeLayout(false); + this.PerformLayout(); + + } + + #endregion + + private System.Windows.Forms.Button btn_Init; + private System.Windows.Forms.TabControl tac_MainForm; + private System.Windows.Forms.TabPage tap_Axis; + private System.Windows.Forms.TabPage tap_IO; + private System.Windows.Forms.TabPage tap_joint; + private System.Windows.Forms.Panel panel1; + private System.Windows.Forms.GroupBox grb_X; + private System.Windows.Forms.Button btn_XN; + private System.Windows.Forms.Label lbl_X; + private System.Windows.Forms.Button btn_XP; + private System.Windows.Forms.Button btn_RN; + private System.Windows.Forms.Button btn_RP; + private System.Windows.Forms.Button btn_ZN; + private System.Windows.Forms.Button btn_ZP; + private System.Windows.Forms.Label lbl_R; + private System.Windows.Forms.Label lbl_Z; + private System.Windows.Forms.TabPage tap_Move; + private System.Windows.Forms.Label lbl_Tip_IO; + private System.Windows.Forms.GroupBox grb_Input; + private System.Windows.Forms.Label lbl_Input_4; + private System.Windows.Forms.Label lbl_Input_3; + private System.Windows.Forms.Label lbl_Input_2; + private System.Windows.Forms.Label lbl_Input_1; + private System.Windows.Forms.Label lbl_Input_0; + private System.Windows.Forms.CheckBox chb_Inching; + private System.Windows.Forms.Label lbl_Input_5; + private System.Windows.Forms.Button btn_gainJointState; + private System.Windows.Forms.ComboBox cob_Joint_Number; + private System.Windows.Forms.Label lbl_Joint_Number; + private System.Windows.Forms.Label ldl_Tip_Door; + private System.Windows.Forms.Button btn_Position1; + private System.Windows.Forms.Button btn_Position0; + private System.Windows.Forms.Button btn_Stop; + private System.Windows.Forms.Button btn_Pause; + private System.Windows.Forms.Button btn_Start; + private System.Windows.Forms.ComboBox cob_Robot_ID; + private System.Windows.Forms.RichTextBox rit_log; + private System.Windows.Forms.Label lbl_Refresh_ID; + private System.Windows.Forms.GroupBox grb_R; + private System.Windows.Forms.GroupBox grb_Z; + private System.Windows.Forms.GroupBox grb_Y; + private System.Windows.Forms.Button btn_YN; + private System.Windows.Forms.Button btn_YP; + private System.Windows.Forms.Label lbl_Y; + private System.Windows.Forms.GroupBox grb_joint_origin; + private System.Windows.Forms.Button btn_joint1; + private System.Windows.Forms.Button btn_joint4; + private System.Windows.Forms.Button btn_joint2; + private System.Windows.Forms.Button btn_joint3; + private System.Windows.Forms.Timer tim_IO_Refresh; + private System.Windows.Forms.RichTextBox rit_showJointState; + private System.Windows.Forms.RichTextBox rit_Coord; + private System.Windows.Forms.GroupBox grb_Output; + private System.Windows.Forms.Label lbl_OutputState_1; + private System.Windows.Forms.Label lbl_Output_5; + private System.Windows.Forms.Label lbl_OutputState_5; + private System.Windows.Forms.Label lbl_Output_4; + private System.Windows.Forms.Label lbl_OutputState_4; + private System.Windows.Forms.Label lbl_Output_3; + private System.Windows.Forms.Label lbl_OutputState_3; + private System.Windows.Forms.Label lbl_Output_2; + private System.Windows.Forms.Label lbl_OutputState_2; + private System.Windows.Forms.Label lbl_Output_1; + private System.Windows.Forms.Label lbl_OutputState_0; + private System.Windows.Forms.Label lbl_Output_0; + private System.Windows.Forms.Label lbl_InputState_1; + private System.Windows.Forms.Label lbl_InputState_5; + private System.Windows.Forms.Label lbl_InputState_4; + private System.Windows.Forms.Label lbl_InputState_3; + private System.Windows.Forms.Label lbl_InputState_2; + private System.Windows.Forms.Label lbl_InputState_0; + private System.Windows.Forms.RichTextBox rit_Position0; + private System.Windows.Forms.RichTextBox rit_Position1; + private System.Windows.Forms.RichTextBox rit_Position2; + private System.Windows.Forms.Button btn_Position2; + private System.Windows.Forms.Button btn_Resume; + private System.Windows.Forms.Label lbl_Inching_Tip; + private System.Windows.Forms.TabPage tap_Cam; + private System.Windows.Forms.Button cam_btn_4; + private System.Windows.Forms.Button cam_btn_3; + private System.Windows.Forms.Button cam_btn_2; + private System.Windows.Forms.Button cam_btn_1; + private System.Windows.Forms.Button init_pos_btn; + } +} + diff --git a/HitBotCSharpDemo/ShowForm.cs b/HitBotCSharpDemo/ShowForm.cs new file mode 100644 index 0000000..d3b2eb0 --- /dev/null +++ b/HitBotCSharpDemo/ShowForm.cs @@ -0,0 +1,507 @@ +using System; +using System.Drawing; +using System.Threading; +using System.Windows.Forms; +using ControlBeanExDll; +using TcpserverExDll; + +namespace HitBotCSharpDemo +{ + public partial class ShowForm : Form + { + Thread thread_Jog_Move;//创建按钮长按，连续移动模式的线程。 与点击事件冲突处理 + bool moveFlag;//开始结束寸动标志 + bool isInit = false; + Button btn;//声明按钮对象。 + Label lbl; + int offset = 1;//寸动距离 + int offset_jog = 2;//连续移动单次距离 + static int io_Count = 6;//IO数量 + int[] io_In = new int[io_Count]; + int[] io_Out = new int[io_Count]; + Label[] lbl_Current_Input;//IO显示控件数组 + Label[] lbl_Current_Output; + bool output_State_Flag0 = true; + bool output_State_Flag1 = true; + bool output_State_Flag2 = true; + bool output_State_Flag3 = true; + bool output_State_Flag4 = true; + bool output_State_Flag5 = true; + float[] pos0;//点位1 + int posHand0; + float[] pos1;//点位2 + int posHand1; + float[] pos2;//点位3 + int posHand2; + Thread thread_PosMove; + + private ControlBeanEx robot; + public ShowForm() + { + InitializeComponent(); + TcpserverEx.net_port_initial(); + robot = TcpserverEx.get_robot(74);//替换为自己的机器的id号 + } + + private void ShowForm_Load(object sender, EventArgs e) + { + lbl_Current_Input = new Label[] { lbl_InputState_0, lbl_InputState_1, lbl_InputState_2, lbl_InputState_3, lbl_InputState_4, lbl_InputState_5 };//输入信号数组 + lbl_Current_Output = new Label[] { lbl_OutputState_0, lbl_OutputState_1, lbl_OutputState_2, lbl_OutputState_3, lbl_OutputState_4, lbl_OutputState_5 };//输出信号数组 + } + + private void cob_Robot_ID_Click(object sender, EventArgs e) + { + cob_Robot_ID.Items.Clear(); + for (int i = 0; i < 255; i++) + { + robot = TcpserverEx.get_robot(i);//替换为自己的机器的id号 + if (robot.is_connected()) + { + cob_Robot_ID.Items.Add(i.ToString()); + } + } + } + + private void btn_Init_Click(object sender, EventArgs e) + { + rit_Coord.Clear(); + if (robot == null) return; + robot = TcpserverEx.get_robot(int.Parse(cob_Robot_ID.Text)); + robot.check_joint(4, false); + if (robot.is_connected()) + { + int ret = robot.initial(1, 240); //修改自己机器的型号，参数具体意义参考sdk说明文档 + if (ret == 1) + { + robot.unlock_position(); + isInit = true; + MessageBox.Show("robot" + "初始化完成"); + } + else + { + MessageBox.Show("robot" + "初始化失败，返回值 = " + ret.ToString()); + } + } + else + { + MessageBox.Show("robot" + "未连接"); + } + } + + private void btn_Move_Click(object sender, EventArgs e) //点击按钮，寸动事件。 + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + #region 按钮移动事件 + if (chb_Inching.Checked == true)//寸动 + { + + robot.get_scara_param(); + int hand = robot.get_lr(); + float speed = 2; + robot.new_set_acc(30, 30, 30, 30); + #region 轴动 + if (btn == btn_XP)//X正向移动 + { + robot.new_movej_xyz_lr(robot.x + offset, robot.y, robot.z, robot.rotation, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点 + } + else if (btn == btn_XN)//X负向移动 + { + robot.new_movej_xyz_lr(robot.x - offset, robot.y, robot.z, robot.rotation, speed, 0, hand); + } + if (btn == btn_YP)//Y正向移动 + { + robot.new_movej_xyz_lr(robot.x, robot.y + offset, robot.z, robot.rotation, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点 + } + else if (btn == btn_YN)//Y负向移动 + { + robot.new_movej_xyz_lr(robot.x, robot.y - offset, robot.z, robot.rotation, speed, 0, hand); + } + if (btn == btn_ZP)//Z正向移动 + { + robot.new_movej_xyz_lr(robot.x, robot.y, robot.z + offset, robot.rotation, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点 + } + else if (btn == btn_ZN)//Z负向移动 + { + robot.new_movej_xyz_lr(robot.x, robot.y, robot.z - offset, robot.rotation, speed, 0, hand); + } + if (btn == btn_RP)//R正向旋转 + { + robot.new_movej_xyz_lr(robot.x, robot.y, robot.z, robot.rotation + offset, speed, 0, hand);//以 movej（直线模式） 的运动方式，并以指定手系达目标点 + } + else if (btn == btn_RN)//R负向旋转 + { + robot.new_movej_xyz_lr(robot.x, robot.y, robot.z, robot.rotation - offset, speed, 0, hand); + } + #endregion + + } + else + { + + } + #endregion + } + + public void jog_Move()//连续移动方法 + { + moveFlag = true; + while (moveFlag && chb_Inching.Checked == false && btn != null) + { + + //robot.new_set_acc(100, 100, 100, 100); + if (btn == btn_XP)//X正向移动 + { + robot.jog_move2(offset_jog, 0, 0, 0, 1); + //robot.jog_move2(robot.x - 1, robot.y, robot.z, robot.rotation,1); + //type: 1：是以xyz坐标系为准移动固定距离。 2是以关节轴为基准移动固定距离 + } + else if (btn == btn_XN)//X负向移动 + { + robot.jog_move2(-offset_jog, 0, 0, 0, 1); + } + if (btn == btn_YP)//Y正向移动 + { + robot.jog_move2(0, offset_jog, 0, 0, 1); + } + else if (btn == btn_YN)//Y负向移动 + { + robot.jog_move2(0, -offset_jog, 0, 0, 1); + } + if (btn == btn_ZP)//Z正向移动 + { + robot.jog_move2(0, 0, offset_jog, 0, 1); + } + else if (btn == btn_ZN)//Z负向移动 + { + robot.jog_move2(0, 0, -offset_jog, 0, 1); + } + if (btn == btn_RP)//R正向旋转 + { + robot.jog_move2(0, 0, 0, offset_jog, 1); + } + else if (btn == btn_RN)//R负向旋转 + { + robot.jog_move2(0, 0, 0, offset_jog, 1); + } + Thread.Sleep(200); + } + robot.wait_stop(); + } + + + private void btn_gainJointState_Click(object sender, EventArgs e)//获取关节状态 + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + int jointNumber = int.Parse(cob_Joint_Number.SelectedItem.ToString()); + int ret = robot.get_joint_state(jointNumber); + switch (ret) + { + case 1: + rit_showJointState.Clear(); + rit_showJointState.SelectedText = "关节" + jointNumber + "正常"; + break; + default: + rit_showJointState.Clear(); + rit_showJointState.SelectedText = "关节" + jointNumber + "异常！异常代码：" + ret + ".（详情请查看API文档）"; //可具体 + break; + } + } + + private void btn_Jog_MouseDown(object sender, MouseEventArgs e) + { + btn = (Button)sender; + if (btn == null) + { + return; + } + thread_Jog_Move = new Thread(jog_Move); + thread_Jog_Move.IsBackground = true; + thread_Jog_Move.Start(); + + } + + private void tim_IO_Refresh_Tick(object sender, EventArgs e)//刷新IO和坐标定时器 + { + robot.get_scara_param(); + if (isInit) + { + rit_Coord.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " "; + } + for (int i = 0; i < io_Count; i++) + { + io_In[i] = robot.get_digital_in(i); + io_Out[i] = robot.get_digital_out(i); + } + for (int i = 0; i < io_Count; i++)//输入 + { + int ret_Input = io_In[i]; + Label lbl_Current_IO = lbl_Current_Input[i]; + switch (ret_Input)//• -1：io_number 参数错误 • 0：io 输入点没有被触发 • 1：io 输入点被触发 • 3：未初始化 + { + case -1: + if (lbl_Current_Input[i].BackColor != Color.Gray) + lbl_Current_Input[i].BackColor = Color.Gray; + break; + case 0: + if (lbl_Current_Input[i].BackColor != Color.Green) + lbl_Current_Input[i].BackColor = Color.Green; + break; + case 1: + if (lbl_Current_Input[i].BackColor != Color.Red) + lbl_Current_Input[i].BackColor = Color.Red; + break; + case 3: + if (lbl_Current_Input[i].BackColor != Color.Gray) + lbl_Current_Input[i].BackColor = Color.Gray; + break; + } + } + for (int i = 0; i < io_Count; i++)//输出 + { + int ret_Output = io_Out[i]; + Label lbl_Current_IO = lbl_Current_Output[i]; + switch (ret_Output)//• -1：io_number 参数错误 • 0：io 输入点没有被触发 • 1：io 输入点被触发 • 3：未初始化 + { + case -1: + if (lbl_Current_Output[i].BackColor != Color.Gray) + lbl_Current_Output[i].BackColor = Color.Gray; + break; + case 0: + if (lbl_Current_Output[i].BackColor != Color.Green) + lbl_Current_Output[i].BackColor = Color.Green; + break; + case 1: + if (lbl_Current_Output[i].BackColor != Color.Red) + lbl_Current_Output[i].BackColor = Color.Red; + break; + case 3: + if (lbl_Current_Output[i].BackColor != Color.Gray) + lbl_Current_Output[i].BackColor = Color.Gray; + break; + } + } + } + private void lbl_Output_Click(object sender, EventArgs e)//设置输出事件 + { + #region 判断输出编号 + int output_Num = 0; + lbl = (Label)sender; + if (lbl == lbl_OutputState_0) + { + output_Num = 0; + robot.set_digital_out(output_Num, output_State_Flag0); + output_State_Flag0 = !output_State_Flag0; + } + else if (lbl == lbl_OutputState_1) + { + output_Num = 1; + robot.set_digital_out(output_Num, output_State_Flag1); + output_State_Flag1 = !output_State_Flag1; + } + else if (lbl == lbl_OutputState_2) + { + output_Num = 2; + robot.set_digital_out(output_Num, output_State_Flag2); + output_State_Flag2 = !output_State_Flag2; + } + else if (lbl == lbl_OutputState_3) + { + output_Num = 3; + robot.set_digital_out(output_Num, output_State_Flag3); + output_State_Flag3 = !output_State_Flag3; + } + else if (lbl == lbl_OutputState_4) + { + output_Num = 4; + robot.set_digital_out(output_Num, output_State_Flag4); + output_State_Flag4 = !output_State_Flag4; + } + else if (lbl == lbl_OutputState_5) + { + output_Num = 5; + robot.set_digital_out(output_Num, output_State_Flag5); + output_State_Flag5 = !output_State_Flag5; + } + #endregion + } + + private void btn_MouseUp(object sender, MouseEventArgs e)//停止连续移动 + { + if (robot != null&&!chb_Inching.Checked) + { + robot.new_stop_move(); + } + btn = null; + moveFlag = false; + } + + private void btn_Position0_Click(object sender, EventArgs e) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + rit_Position0.Clear(); + rit_Position0.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " "; + pos0 = new float[] { robot.x, robot.y, robot.z, robot.rotation }; + posHand0 = robot.get_lr()/* == 1 ? "R" : "L"*/; + } + + private void btn_Position1_Click(object sender, EventArgs e) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + rit_Position1.Clear(); + rit_Position1.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " "; + pos1 = new float[] { robot.x, robot.y, robot.z, robot.rotation }; + posHand1 = robot.get_lr()/* == 1 ? "R" : "L"*/; + } + + private void btn_Position2_Click(object sender, EventArgs e) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + rit_Position2.Clear(); + rit_Position2.Text = "Coord: X:" + robot.x + "mm " + "Y:" + robot.y + "mm " + "Z:" + robot.z + "mm " + "R:" + robot.rotation + "°" + "Hand:" + (robot.get_lr() == 1 ? "R" : "L") + " "; + pos2 = new float[] { robot.x, robot.y, robot.z, robot.rotation }; + posHand2 = robot.get_lr() /*== 1 ? "R" : "L"*/; + } + + private void btn_Start_Click(object sender, EventArgs e) + { + btn_Pause.Enabled = true; + btn_Resume.Enabled = true; + if (pos0==null|| pos1 == null|| pos2 == null) + { + MessageBox.Show("请先设置3个点位！"); + return; + } + thread_PosMove = new Thread(PosMove); + thread_PosMove.IsBackground = false; + thread_PosMove.Start(); + } + + private static object locker_PosMove = new object(); + public void PosMove() + { + lock (locker_PosMove) + { + while (true) + { + robot.resume_move(); + robot.get_scara_param(); + robot.new_movej_xyz_lr(pos0[0], pos0[1], pos0[2], pos0[3], 50, 0, posHand0); + robot.wait_stop(); + robot.new_movej_xyz_lr(pos1[0], pos1[1], pos1[2], pos1[3], 50, 0, posHand1); + robot.wait_stop(); + robot.new_movej_xyz_lr(pos2[0], pos2[1], pos2[2], pos2[3], 50, 0, posHand2); + robot.wait_stop(); + } + } + } + + private void btn_Pause_Click(object sender, EventArgs e) + { + btn_Stop.Enabled = false; + robot.pause_move(); + } + + private void btn_Resume_Click(object sender, EventArgs e) + { + btn_Stop.Enabled = true; + robot.resume_move(); + } + + private void btn_Stop_Click(object sender, EventArgs e) + { + btn_Pause.Enabled = false; + btn_Resume.Enabled = false; + robot.new_stop_move(); + thread_PosMove.Abort(); + } + + private void btn_Joint_Click(object sender, EventArgs e) + { + if (!isInit) + { + MessageBox.Show("机械臂未初始化"); + return; + } + #region 关节回零 + btn = (Button)sender; + if (btn == null) + { + return; + } + if (btn == btn_joint1) + { + robot.joint_home(1);//使轴回到零位 + + } + else if (btn == btn_joint2) + { + robot.joint_home(2); + } + else if (btn == btn_joint3) + { + robot.joint_home(3); + } + else if (btn == btn_joint4) + { + + robot.joint_home(4); + } + #endregion + } + + private void rit_Coord_TextChanged(object sender, EventArgs e) + { + + } + + private void cob_Robot_ID_SelectedIndexChanged(object sender, EventArgs e) + { + + } + + private void tap_Move_Click(object sender, EventArgs e) + { + + } + + private void button1_Click(object sender, EventArgs e) + { + + } + + private void button3_Click(object sender, EventArgs e) + { + + } + + private void button2_Click(object sender, EventArgs e) + { + + } + + private void button4_Click(object sender, EventArgs e) + { + + } + } +} diff --git a/HitBotCSharpDemo/ShowForm.resx b/HitBotCSharpDemo/ShowForm.resx new file mode 100644 index 0000000..ad3ffa5 --- /dev/null +++ b/HitBotCSharpDemo/ShowForm.resx @@ -0,0 +1,4638 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + text/microsoft-resx + + + 2.0 + + + System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + 17, 17 + + + 39 + + + + + AAABAAEAAAAAAAEAIAAoIAQAFgAAACgAAAAAAQAAAAIAAAEAIAAAAAAAAAAEAAAAAAAAAAAAAAAAAAAA + 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+2025-06-06 15:14:25.055 wait_stop exit_2 diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_254_2025-06-06.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_254_2025-06-06.hilog new file mode 100644 index 0000000..a9c6afb --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_254_2025-06-06.hilog @@ -0,0 +1,10 @@ +2025-06-06 15:14:42.738 wait_stop in +2025-06-06 15:14:42.761 wait_stop exit_2 +2025-06-06 15:14:44.172 wait_stop in +2025-06-06 15:14:44.194 wait_stop exit_2 +2025-06-06 15:14:45.469 wait_stop in +2025-06-06 15:14:45.490 wait_stop exit_2 +2025-06-06 15:16:07.054 wait_stop in +2025-06-06 15:16:07.080 wait_stop exit_2 +2025-06-06 15:47:20.489 wait_stop in +2025-06-06 15:47:20.508 wait_stop exit_2 diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-06.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-06.hilog new file mode 100644 index 0000000..b485ac8 --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-06.hilog @@ -0,0 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SDK_VERSION_2021_09_18_Release +2025-06-06 16:02:33.240 robot connected +2025-06-06 16:02:33.240 1 +2025-06-06 17:36:12.193 ROBOT_ERROR_CODE = 1101 +2025-06-06 17:36:12.194 +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 : 0 0 0 0 0 0 +2025-06-06 17:36:16.648 SDK_VERSION_2021_09_18_Release +2025-06-06 17:36:16.648 robot connected +2025-06-06 17:36:16.648 1 +2025-06-06 17:38:25.667 SDK_VERSION_2021_09_18_Release +2025-06-06 17:38:25.668 robot connected +2025-06-06 17:38:25.668 1 +2025-06-06 17:50:38.390 ROBOT_ERROR_CODE = 1101 +2025-06-06 17:50:38.391 +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 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+2025-06-06 18:02:39.388 initial joint1 121082 +2025-06-06 18:02:39.436 initial joint2 1758976 +2025-06-06 18:02:39.482 initial joint3 -219832 +2025-06-06 18:02:39.529 initial joint4 -25492744 +2025-06-06 18:02:39.543 initial joint1 121082 +2025-06-06 18:02:39.589 initial joint2 1758977 +2025-06-06 18:02:39.636 initial joint3 -219834 +2025-06-06 18:02:39.682 initial joint4 -25492745 +2025-06-06 18:02:39.713 initial joint1 121082 +2025-06-06 18:02:39.760 initial joint2 1758978 +2025-06-06 18:02:39.821 initial joint3 -219837 +2025-06-06 18:02:39.883 initial joint4 -25492746 +2025-06-06 18:02:42.025 initial_thread initialized +2025-06-06 18:02:42.025 servo enable +2025-06-06 18:02:42.025 brake open +2025-06-06 18:02:42.027 set_brake_state 0 1 +2025-06-06 18:02:42.227 robot initialized +2025-06-06 18:02:42.754 get_scara_param 8.314100 60.389801 -75.475304 -1005.720825 +2025-06-06 18:02:42.754 get_scara_real_coor 8.314000 60.389702 -75.476402 -1005.720886 +2025-06-06 18:02:42.755 λɢ +2025-06-06 18:02:42.755 position 121082.867188 1758980.500000 -219837.750000 -25492746.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-06 18:02:42.755 speed 8314.100586 60389.800781 75475.304688 1050268.875000 +2025-06-06 18:02:42.755 set_first_position_after_initial +2025-06-06 18:02:42.757 movej_old start_pos: 8.314100 60.389801 -75.475304 -1005.720886 end_pos: 8.314100 60.389801 -75.475304 -1005.720886 org_sp 10.000000 end_sp 10.000000 +2025-06-06 18:02:43.061 J3 Belt Meilage=40.857704km +2025-06-06 18:02:57.757 wait_stop in +2025-06-06 18:02:57.783 wait_stop out_0 +2025-06-06 18:02:58.474 30 30 30 30 +2025-06-06 18:02:58.475 new_movej_xyz_lr 291.325409 218.155106 -75.475304 -1005.720886 2.000000 0.000000 1 +2025-06-06 18:02:58.476 goal_angle 8.423923 59.953270 +2025-06-06 18:02:58.476 new_movej_angle 8.423923 59.953270 -75.475304 -1005.720886 0.000000 2.000000 +2025-06-06 18:02:58.476 z1 -75.475304 z2 -75.475304 +2025-06-06 18:02:58.477 angle1_1 8.314100 angle2_1 60.389801 z1 -75.475304 r1 -1005.720886 +2025-06-06 18:02:58.477 angle1_2 8.423923 angle2_2 59.953270 z2 -75.475304 r2 -1005.720886 +2025-06-06 18:02:58.477 speed 2.000000 +2025-06-06 18:02:58.477 tcp_distance 0.994416 +2025-06-06 18:02:58.478 new_end_speed 2.000000 j1_acc_t 0.248604 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.483171 +2025-06-06 18:02:58.478 new_end_speed 2.000000 j2_acc_t 0.248604 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.920549 +2025-06-06 18:02:58.479 new_end_speed 2.000000 j3_acc_t 0.248604 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:02:58.479 new_end_speed 2.000000 j4_acc_t 0.248604 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-06 18:02:58.479 end_speed 2.000000 +2025-06-06 18:02:58.479 trail_number0.497208 +2025-06-06 18:02:58.479 tcp_distance 0.994416 +2025-06-06 18:02:58.480 angle1_1 = 8.314100 angle2_1 = 60.389801 z1 = -75.475304 r1 = -1005.720886 angle1_2 = 8.423923 angle2_2 = 59.953270 z2 = -75.475304 r2 = -1005.720886 +2025-06-06 18:02:59.183 wait_stop in +2025-06-06 18:02:59.212 wait_stop out_0 +2025-06-06 18:02:59.274 30 30 30 30 +2025-06-06 18:02:59.274 new_movej_xyz_lr 292.325409 218.155106 -75.475304 -1005.720886 2.000000 0.000000 1 +2025-06-06 18:02:59.275 goal_angle 8.535839 59.513283 +2025-06-06 18:02:59.275 new_movej_angle 8.535839 59.513283 -75.475304 -1005.720886 0.000000 2.000000 +2025-06-06 18:02:59.275 z1 -75.475304 z2 -75.475304 +2025-06-06 18:02:59.275 angle1_1 8.423923 angle2_1 59.953270 z1 -75.475304 r1 -1005.720886 +2025-06-06 18:02:59.275 angle1_2 8.535839 angle2_2 59.513283 z2 -75.475304 r2 -1005.720886 +2025-06-06 18:02:59.275 speed 2.000000 +2025-06-06 18:02:59.276 tcp_distance 0.994409 +2025-06-06 18:02:59.276 new_end_speed 2.000000 j1_acc_t 0.248602 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.492388 +2025-06-06 18:02:59.276 new_end_speed 2.000000 j2_acc_t 0.248602 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.935768 +2025-06-06 18:02:59.276 new_end_speed 2.000000 j3_acc_t 0.248602 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:02:59.276 new_end_speed 2.000000 j4_acc_t 0.248602 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-06 18:02:59.276 end_speed 2.000000 +2025-06-06 18:02:59.277 trail_number0.497204 +2025-06-06 18:02:59.277 tcp_distance 0.994409 +2025-06-06 18:02:59.277 angle1_1 = 8.423923 angle2_1 = 59.953270 z1 = -75.475304 r1 = -1005.720886 angle1_2 = 8.535839 angle2_2 = 59.513283 z2 = -75.475304 r2 = -1005.720886 +2025-06-06 18:02:59.703 wait_stop in +2025-06-06 18:02:59.808 30 30 30 30 +2025-06-06 18:02:59.808 new_movej_xyz_lr 293.325409 218.155106 -75.475304 -1005.720886 2.000000 0.000000 1 +2025-06-06 18:02:59.808 goal_angle 8.649879 59.069782 +2025-06-06 18:02:59.808 new_movej_angle 8.649879 59.069782 -75.475304 -1005.720886 0.000000 2.000000 +2025-06-06 18:02:59.808 z1 -75.475304 z2 -75.475304 +2025-06-06 18:02:59.808 angle1_1 8.535839 angle2_1 59.513283 z1 -75.475304 r1 -1005.720886 +2025-06-06 18:02:59.808 angle1_2 8.649879 angle2_2 59.069782 z2 -75.475304 r2 -1005.720886 +2025-06-06 18:02:59.810 speed 2.000000 +2025-06-06 18:02:59.810 tcp_distance 0.994404 +2025-06-06 18:02:59.810 new_end_speed 2.000000 j1_acc_t 0.248601 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.501734 +2025-06-06 18:02:59.810 new_end_speed 2.000000 j2_acc_t 0.248601 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.951234 +2025-06-06 18:02:59.810 new_end_speed 2.000000 j3_acc_t 0.248601 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:02:59.810 new_end_speed 2.000000 j4_acc_t 0.248601 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-06 18:02:59.811 end_speed 2.000000 +2025-06-06 18:02:59.811 trail_number0.497202 +2025-06-06 18:02:59.811 tcp_distance 0.994404 +2025-06-06 18:02:59.811 wait_stop out_0 +2025-06-06 18:02:59.812 angle1_1 = 8.535839 angle2_1 = 59.513283 z1 = -75.475304 r1 = -1005.720886 angle1_2 = 8.649879 angle2_2 = 59.069782 z2 = -75.475304 r2 = -1005.720886 +2025-06-06 18:03:00.481 wait_stop in +2025-06-06 18:03:00.519 wait_stop out_0 +2025-06-06 18:03:00.588 30 30 30 30 +2025-06-06 18:03:00.588 new_movej_xyz_lr 292.325409 218.155106 -75.475304 -1005.720886 2.000000 0.000000 1 +2025-06-06 18:03:00.588 goal_angle 8.535839 59.513283 +2025-06-06 18:03:00.588 new_movej_angle 8.535839 59.513283 -75.475304 -1005.720886 0.000000 2.000000 +2025-06-06 18:03:00.589 z1 -75.475304 z2 -75.475304 +2025-06-06 18:03:00.589 angle1_1 8.649879 angle2_1 59.069782 z1 -75.475304 r1 -1005.720886 +2025-06-06 18:03:00.589 angle1_2 8.535839 angle2_2 59.513283 z2 -75.475304 r2 -1005.720886 +2025-06-06 18:03:00.589 speed 2.000000 +2025-06-06 18:03:00.589 tcp_distance 0.994435 +2025-06-06 18:03:00.590 new_end_speed 2.000000 j1_acc_t 0.248609 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.501719 +2025-06-06 18:03:00.590 new_end_speed 2.000000 j2_acc_t 0.248609 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.951174 +2025-06-06 18:03:00.590 new_end_speed 2.000000 j3_acc_t 0.248609 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:03:00.590 new_end_speed 2.000000 j4_acc_t 0.248609 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-06 18:03:00.590 end_speed 2.000000 +2025-06-06 18:03:00.590 trail_number0.497217 +2025-06-06 18:03:00.591 tcp_distance 0.994435 +2025-06-06 18:03:00.591 angle1_1 = 8.649879 angle2_1 = 59.069782 z1 = -75.475304 r1 = -1005.720886 angle1_2 = 8.535839 angle2_2 = 59.513283 z2 = -75.475304 r2 = -1005.720886 +2025-06-06 18:03:00.801 wait_stop in +2025-06-06 18:03:00.914 30 30 30 30 +2025-06-06 18:03:00.914 new_movej_xyz_lr 291.325409 218.155106 -75.475304 -1005.720886 2.000000 0.000000 1 +2025-06-06 18:03:00.914 goal_angle 8.423923 59.953270 +2025-06-06 18:03:00.915 new_movej_angle 8.423923 59.953270 -75.475304 -1005.720886 0.000000 2.000000 +2025-06-06 18:03:00.915 z1 -75.475304 z2 -75.475304 +2025-06-06 18:03:00.915 angle1_1 8.535839 angle2_1 59.513283 z1 -75.475304 r1 -1005.720886 +2025-06-06 18:03:00.915 angle1_2 8.423923 angle2_2 59.953270 z2 -75.475304 r2 -1005.720886 +2025-06-06 18:03:00.915 speed 2.000000 +2025-06-06 18:03:00.915 tcp_distance 0.994531 +2025-06-06 18:03:00.915 new_end_speed 2.000000 j1_acc_t 0.248633 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.492328 +2025-06-06 18:03:00.915 new_end_speed 2.000000 j2_acc_t 0.248633 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.935530 +2025-06-06 18:03:00.915 new_end_speed 2.000000 j3_acc_t 0.248633 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:03:00.917 new_end_speed 2.000000 j4_acc_t 0.248633 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-06 18:03:00.917 end_speed 2.000000 +2025-06-06 18:03:00.917 trail_number0.497265 +2025-06-06 18:03:00.917 tcp_distance 0.994531 +2025-06-06 18:03:01.119 angle1_1 = 8.535839 angle2_1 = 59.513283 z1 = -75.475304 r1 = -1005.720886 angle1_2 = 8.423923 angle2_2 = 59.953270 z2 = -75.475304 r2 = -1005.720886 +2025-06-06 18:03:01.308 wait_stop in +2025-06-06 18:03:01.404 30 30 30 30 +2025-06-06 18:03:01.404 new_movej_xyz_lr 290.325409 218.155106 -75.475304 -1005.720886 2.000000 0.000000 1 +2025-06-06 18:03:01.404 goal_angle 8.314094 60.389805 +2025-06-06 18:03:01.404 new_movej_angle 8.314094 60.389805 -75.475304 -1005.720886 0.000000 2.000000 +2025-06-06 18:03:01.406 z1 -75.475304 z2 -75.475304 +2025-06-06 18:03:01.406 angle1_1 8.423923 angle2_1 59.953270 z1 -75.475304 r1 -1005.720886 +2025-06-06 18:03:01.406 angle1_2 8.314094 angle2_2 60.389805 z2 -75.475304 r2 -1005.720886 +2025-06-06 18:03:01.406 speed 2.000000 +2025-06-06 18:03:01.406 tcp_distance 0.994434 +2025-06-06 18:03:01.406 new_end_speed 2.000000 j1_acc_t 0.248608 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.483192 +2025-06-06 18:03:01.406 new_end_speed 2.000000 j2_acc_t 0.248608 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.920532 +2025-06-06 18:03:01.406 new_end_speed 2.000000 j3_acc_t 0.248608 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:03:01.407 new_end_speed 2.000000 j4_acc_t 0.248608 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-06 18:03:01.407 end_speed 2.000000 +2025-06-06 18:03:01.407 trail_number0.497217 +2025-06-06 18:03:01.407 tcp_distance 0.994434 +2025-06-06 18:03:01.656 angle1_1 = 8.423923 angle2_1 = 59.953270 z1 = -75.475304 r1 = -1005.720886 angle1_2 = 8.314094 angle2_2 = 60.389805 z2 = -75.475304 r2 = -1005.720886 +2025-06-06 18:03:02.209 wait_stop out_0 +2025-06-06 18:03:02.210 wait_stop out_0 +2025-06-06 18:03:02.560 wait_stop in +2025-06-06 18:03:02.594 wait_stop out_0 +2025-06-06 18:03:02.654 30 30 30 30 +2025-06-06 18:03:02.655 new_movej_xyz_lr 289.325409 218.155106 -75.475304 -1005.720886 2.000000 0.000000 1 +2025-06-06 18:03:02.655 goal_angle 8.206323 60.822979 +2025-06-06 18:03:02.655 new_movej_angle 8.206323 60.822979 -75.475304 -1005.720886 0.000000 2.000000 +2025-06-06 18:03:02.655 z1 -75.475304 z2 -75.475304 +2025-06-06 18:03:02.655 angle1_1 8.314094 angle2_1 60.389805 z1 -75.475304 r1 -1005.720886 +2025-06-06 18:03:02.656 angle1_2 8.206323 angle2_2 60.822979 z2 -75.475304 r2 -1005.720886 +2025-06-06 18:03:02.656 speed 2.000000 +2025-06-06 18:03:02.656 tcp_distance 0.994529 +2025-06-06 18:03:02.656 new_end_speed 2.000000 j1_acc_t 0.248632 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.474091 +2025-06-06 18:03:02.656 new_end_speed 2.000000 j2_acc_t 0.248632 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.905562 +2025-06-06 18:03:02.656 new_end_speed 2.000000 j3_acc_t 0.248632 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:03:02.657 new_end_speed 2.000000 j4_acc_t 0.248632 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-06 18:03:02.657 end_speed 2.000000 +2025-06-06 18:03:02.657 trail_number0.497265 +2025-06-06 18:03:02.657 tcp_distance 0.994529 +2025-06-06 18:03:02.658 angle1_1 = 8.314094 angle2_1 = 60.389805 z1 = -75.475304 r1 = -1005.720886 angle1_2 = 8.206323 angle2_2 = 60.822979 z2 = -75.475304 r2 = -1005.720886 +2025-06-06 18:03:03.376 wait_stop in +2025-06-06 18:03:03.408 wait_stop out_0 +2025-06-06 18:03:05.578 30 30 30 30 +2025-06-06 18:03:05.578 new_movej_xyz_lr 288.325195 218.155106 -75.475304 -1005.720886 2.000000 0.000000 1 +2025-06-06 18:03:05.578 goal_angle 8.100556 61.252934 +2025-06-06 18:03:05.579 new_movej_angle 8.100556 61.252934 -75.475304 -1005.720886 0.000000 2.000000 +2025-06-06 18:03:05.579 z1 -75.475304 z2 -75.475304 +2025-06-06 18:03:05.579 angle1_1 8.206323 angle2_1 60.822979 z1 -75.475304 r1 -1005.720886 +2025-06-06 18:03:05.579 angle1_2 8.100556 angle2_2 61.252934 z2 -75.475304 r2 -1005.720886 +2025-06-06 18:03:05.579 speed 2.000000 +2025-06-06 18:03:05.579 tcp_distance 0.994613 +2025-06-06 18:03:05.580 new_end_speed 2.000000 j1_acc_t 0.248653 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.465234 +2025-06-06 18:03:05.580 new_end_speed 2.000000 j2_acc_t 0.248653 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 1.891238 +2025-06-06 18:03:05.580 new_end_speed 2.000000 j3_acc_t 0.248653 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:03:05.580 new_end_speed 2.000000 j4_acc_t 0.248653 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000 +2025-06-06 18:03:05.580 end_speed 2.000000 +2025-06-06 18:03:05.580 trail_number0.497307 +2025-06-06 18:03:05.581 tcp_distance 0.994613 +2025-06-06 18:03:05.581 angle1_1 = 8.206323 angle2_1 = 60.822979 z1 = -75.475304 r1 = -1005.720886 angle1_2 = 8.100556 angle2_2 = 61.252934 z2 = -75.475304 r2 = -1005.720886 +2025-06-06 18:03:23.795 wait_stop in +2025-06-06 18:03:23.815 wait_stop exit_2 +2025-06-06 18:03:24.535 30 30 30 30 +2025-06-06 18:03:24.535 new_movej_xyz_lr 316.188293 175.350403 -74.476700 -1013.821472 2.000000 0.000000 1 +2025-06-06 18:03:24.536 goal_angle -0.000036 61.253132 +2025-06-06 18:03:24.536 new_movej_angle -0.000036 61.253132 -74.476700 -1013.821472 0.000000 2.000000 +2025-06-06 18:03:24.536 new_movej_angle return 3 δʼ +2025-06-06 18:03:24.808 wait_stop in +2025-06-06 18:03:24.833 wait_stop exit_2 +2025-06-06 18:03:24.960 30 30 30 30 +2025-06-06 18:03:24.960 new_movej_xyz_lr 316.188202 175.350800 -74.476402 -1013.821411 2.000000 0.000000 1 +2025-06-06 18:03:24.960 goal_angle 0.000054 61.253067 +2025-06-06 18:03:24.960 new_movej_angle 0.000054 61.253067 -74.476402 -1013.821411 0.000000 2.000000 +2025-06-06 18:03:24.961 new_movej_angle return 3 δʼ +2025-06-06 18:03:25.911 wait_stop in +2025-06-06 18:03:25.926 wait_stop exit_2 +2025-06-06 18:03:26.000 30 30 30 30 +2025-06-06 18:03:26.000 new_movej_xyz_lr 316.188293 175.350403 -76.477097 -1013.821472 2.000000 0.000000 1 +2025-06-06 18:03:26.000 goal_angle -0.000036 61.253132 +2025-06-06 18:03:26.000 new_movej_angle -0.000036 61.253132 -76.477097 -1013.821472 0.000000 2.000000 +2025-06-06 18:03:26.001 new_movej_angle return 3 δʼ +2025-06-06 18:03:26.373 wait_stop in +2025-06-06 18:03:26.384 wait_stop exit_2 +2025-06-06 18:03:26.466 30 30 30 30 +2025-06-06 18:03:26.466 new_movej_xyz_lr 316.188599 175.350006 -76.477097 -1013.821472 2.000000 0.000000 1 +2025-06-06 18:03:26.467 goal_angle -0.000096 61.253086 +2025-06-06 18:03:26.467 new_movej_angle -0.000096 61.253086 -76.477097 -1013.821472 0.000000 2.000000 +2025-06-06 18:03:26.467 new_movej_angle return 3 δʼ +2025-06-06 18:03:26.998 wait_stop in +2025-06-06 18:03:27.012 wait_stop exit_2 +2025-06-06 18:03:28.602 30 30 30 30 +2025-06-06 18:03:28.602 new_movej_xyz_lr 316.188293 175.350494 -76.477097 -1013.821472 2.000000 0.000000 1 +2025-06-06 18:03:28.602 goal_angle -0.000012 61.253101 +2025-06-06 18:03:28.602 new_movej_angle -0.000012 61.253101 -76.477097 -1013.821472 0.000000 2.000000 +2025-06-06 18:03:28.603 new_movej_angle return 3 δʼ +2025-06-06 18:03:29.214 wait_stop in +2025-06-06 18:03:29.225 wait_stop exit_2 +2025-06-06 18:03:30.600 30 30 30 30 +2025-06-06 18:03:30.600 new_movej_xyz_lr 316.188507 175.350098 -76.476700 -1013.821472 2.000000 0.000000 1 +2025-06-06 18:03:30.600 goal_angle -0.000085 61.253109 +2025-06-06 18:03:30.600 new_movej_angle -0.000085 61.253109 -76.476700 -1013.821472 0.000000 2.000000 +2025-06-06 18:03:30.601 new_movej_angle return 3 δʼ +2025-06-06 18:04:01.009 wait_stop in +2025-06-06 18:04:01.020 wait_stop exit_2 +2025-06-06 18:04:01.118 30 30 30 30 +2025-06-06 18:04:01.118 new_movej_xyz_lr 317.188110 175.350800 -75.476402 -1013.821411 2.000000 0.000000 1 +2025-06-06 18:04:01.118 goal_angle 0.143972 60.781689 +2025-06-06 18:04:01.118 new_movej_angle 0.143972 60.781689 -75.476402 -1013.821411 0.000000 2.000000 +2025-06-06 18:04:01.118 new_movej_angle return 3 δʼ +2025-06-06 18:04:04.305 jog_move_xyzr return 3 δʼ +2025-06-06 18:04:04.512 jog_move_xyzr return 3 δʼ +2025-06-06 18:04:04.713 jog_move_xyzr return 3 δʼ +2025-06-06 18:04:04.929 jog_move_xyzr return 3 δʼ +2025-06-06 18:04:05.144 jog_move_xyzr return 3 δʼ +2025-06-06 18:04:05.345 jog_move_xyzr return 3 δʼ +2025-06-06 18:04:05.558 wait_stop in +2025-06-06 18:04:05.573 wait_stop exit_2 +2025-06-06 18:04:05.745 jog_move_xyzr return 3 δʼ +2025-06-06 18:04:05.956 wait_stop in +2025-06-06 18:04:05.972 wait_stop exit_2 +2025-06-06 18:04:24.947 SDK_VERSION_V2.0.0.29_Release +2025-06-06 18:04:24.948 robot connected +2025-06-06 18:04:24.948 26 +2025-06-06 18:04:24.948 current generation=26 +2025-06-06 18:04:25.458 0x1a +2025-06-06 18:04:26.379 initial joint2 1784125 +2025-06-06 18:04:26.379 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-06 18:04:26.381 robot WritePID +2025-06-06 18:04:26.685 initial joint1 0 +2025-06-06 18:04:26.731 initial joint2 1784125 +2025-06-06 18:04:26.777 initial joint3 -219843 +2025-06-06 18:04:26.824 initial joint4 -25500135 +2025-06-06 18:04:26.839 initial joint1 0 +2025-06-06 18:04:26.884 initial joint2 1784128 +2025-06-06 18:04:26.931 initial joint3 -219844 +2025-06-06 18:04:26.977 initial joint4 -25500136 +2025-06-06 18:04:26.992 initial joint1 0 +2025-06-06 18:04:27.038 initial joint2 1784132 +2025-06-06 18:04:27.084 initial joint3 -219847 +2025-06-06 18:04:27.130 initial joint4 -25500137 +2025-06-06 18:04:29.249 initial_thread initialized +2025-06-06 18:04:29.250 servo enable +2025-06-06 18:04:29.250 brake open +2025-06-06 18:04:29.250 set_brake_state 0 1 +2025-06-06 18:04:29.451 robot initialized +2025-06-06 18:04:30.005 get_scara_param 0.000000 61.253300 -75.479500 -1013.821289 +2025-06-06 18:04:30.005 get_scara_real_coor 0.000000 61.253399 -75.479500 -1013.821289 +2025-06-06 18:04:30.005 λɢ +2025-06-06 18:04:30.006 position 0.000000 1784131.750000 -219849.984375 -25500138.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-06 18:04:30.006 speed 0.000000 61253.300781 75479.500000 1050573.375000 +2025-06-06 18:04:30.006 set_first_position_after_initial +2025-06-06 18:04:30.006 movej_old start_pos: 0.000000 61.253304 -75.479500 -1013.821350 end_pos: 0.000000 61.253304 -75.479500 -1013.821472 org_sp 10.000000 end_sp 10.000000 +2025-06-06 18:04:30.298 J3 Belt Meilage=40.857719km +2025-06-06 18:04:51.164 _new_stop_move_thread_0 +2025-06-06 18:04:51.165 j1_slow_down_t = 2 +2025-06-06 18:04:51.165 j2_slow_down_t = 3 +2025-06-06 18:04:51.165 j3_slow_down_t = 0 +2025-06-06 18:04:51.165 j4_slow_down_t = 0 +2025-06-06 18:04:51.165 tmp_t[3] = 3 +2025-06-06 18:04:51.166 _new_stop_move_thread_1 +2025-06-06 18:04:51.319 jog_move_xyzr return 99 ͣ +2025-06-06 18:04:51.335 _new_stop_move_thread_2 +2025-06-06 18:04:51.366 _new_stop_move_thread_3 +2025-06-06 18:04:51.367 get_scara_param 3.747000 49.799801 -75.480499 -1013.810791 +2025-06-06 18:04:51.367 get_scara_real_coor 3.747000 49.799801 -75.480499 -1013.810791 +2025-06-06 18:04:51.367 _new_stop_move_thread_4 +2025-06-06 18:04:51.535 wait_stop in +2025-06-06 18:04:51.566 wait_stop out_0 +2025-06-06 18:04:58.039 _new_stop_move_thread_0 +2025-06-06 18:04:58.040 j1_slow_down_t = 1 +2025-06-06 18:04:58.040 j2_slow_down_t = 2 +2025-06-06 18:04:58.040 j3_slow_down_t = 0 +2025-06-06 18:04:58.040 j4_slow_down_t = 0 +2025-06-06 18:04:58.040 tmp_t[3] = 2 +2025-06-06 18:04:58.040 _new_stop_move_thread_1 +2025-06-06 18:04:58.046 jog_move_xyzr return 99 ͣ +2025-06-06 18:04:58.215 _new_stop_move_thread_2 +2025-06-06 18:04:58.246 _new_stop_move_thread_3 +2025-06-06 18:04:58.246 get_scara_param -3.184500 72.827599 -75.480499 -1013.822815 +2025-06-06 18:04:58.247 get_scara_real_coor -3.184500 72.827599 -75.480499 -1013.822815 +2025-06-06 18:04:58.247 _new_stop_move_thread_4 +2025-06-06 18:04:58.261 wait_stop in +2025-06-06 18:04:58.291 wait_stop out_0 +2025-06-06 18:05:17.709 _new_stop_move_thread_0 +2025-06-06 18:05:17.710 j1_slow_down_t = 2 +2025-06-06 18:05:17.710 j2_slow_down_t = 1 +2025-06-06 18:05:17.710 j3_slow_down_t = 0 +2025-06-06 18:05:17.710 j4_slow_down_t = 0 +2025-06-06 18:05:17.710 tmp_t[3] = 2 +2025-06-06 18:05:17.710 _new_stop_move_thread_1 +2025-06-06 18:05:17.781 jog_move_xyzr return 99 ͣ +2025-06-06 18:05:17.875 _new_stop_move_thread_2 +2025-06-06 18:05:17.905 _new_stop_move_thread_3 +2025-06-06 18:05:17.905 get_scara_param -0.604800 70.328598 -75.480797 -1013.858276 +2025-06-06 18:05:17.906 get_scara_real_coor -0.604800 70.328598 -75.480797 -1013.858398 +2025-06-06 18:05:17.906 _new_stop_move_thread_4 +2025-06-06 18:05:17.983 wait_stop in +2025-06-06 18:05:18.013 wait_stop out_0 +2025-06-06 18:05:20.819 _new_stop_move_thread_0 +2025-06-06 18:05:20.819 j1_slow_down_t = 3 +2025-06-06 18:05:20.819 j2_slow_down_t = 1 +2025-06-06 18:05:20.820 j3_slow_down_t = 0 +2025-06-06 18:05:20.820 j4_slow_down_t = 0 +2025-06-06 18:05:20.820 tmp_t[3] = 3 +2025-06-06 18:05:20.820 _new_stop_move_thread_1 +2025-06-06 18:05:20.931 jog_move_xyzr return 99 ͣ +2025-06-06 18:05:20.977 _new_stop_move_thread_2 +2025-06-06 18:05:21.008 _new_stop_move_thread_3 +2025-06-06 18:05:21.008 get_scara_param -4.895400 74.399399 -75.481201 -1013.814270 +2025-06-06 18:05:21.009 get_scara_real_coor -4.895400 74.399399 -75.481201 -1013.814270 +2025-06-06 18:05:21.009 _new_stop_move_thread_4 +2025-06-06 18:05:21.145 wait_stop in +2025-06-06 18:05:21.176 wait_stop out_0 +2025-06-06 18:05:23.816 _new_stop_move_thread_0 +2025-06-06 18:05:23.816 j1_slow_down_t = 0 +2025-06-06 18:05:23.816 j2_slow_down_t = 0 +2025-06-06 18:05:23.816 j3_slow_down_t = 2 +2025-06-06 18:05:23.817 j4_slow_down_t = 0 +2025-06-06 18:05:23.817 tmp_t[3] = 2 +2025-06-06 18:05:23.817 _new_stop_move_thread_1 +2025-06-06 18:05:23.915 jog_move_xyzr return 99 ͣ +2025-06-06 18:05:23.976 _new_stop_move_thread_2 +2025-06-06 18:05:24.007 _new_stop_move_thread_3 +2025-06-06 18:05:24.007 get_scara_param -4.895500 74.399498 -64.590302 -1013.814514 +2025-06-06 18:05:24.007 get_scara_real_coor -4.895500 74.399498 -64.590302 -1013.814514 +2025-06-06 18:05:24.007 _new_stop_move_thread_4 +2025-06-06 18:05:24.129 wait_stop in +2025-06-06 18:05:24.160 wait_stop out_0 +2025-06-06 18:05:25.573 _new_stop_move_thread_0 +2025-06-06 18:05:25.573 j1_slow_down_t = 0 +2025-06-06 18:05:25.573 j2_slow_down_t = 0 +2025-06-06 18:05:25.573 j3_slow_down_t = 2 +2025-06-06 18:05:25.573 j4_slow_down_t = 0 +2025-06-06 18:05:25.574 tmp_t[3] = 2 +2025-06-06 18:05:25.574 _new_stop_move_thread_1 +2025-06-06 18:05:25.605 jog_move_xyzr return 99 ͣ +2025-06-06 18:05:25.715 _new_stop_move_thread_2 +2025-06-06 18:05:25.746 _new_stop_move_thread_3 +2025-06-06 18:05:25.746 get_scara_param -4.895500 74.399498 -69.642998 -1013.814575 +2025-06-06 18:05:25.747 get_scara_real_coor -4.895500 74.399498 -69.642998 -1013.814697 +2025-06-06 18:05:25.747 _new_stop_move_thread_4 +2025-06-06 18:05:25.808 wait_stop in +2025-06-06 18:05:25.839 wait_stop out_0 +2025-06-06 18:05:28.943 _new_stop_move_thread_0 +2025-06-06 18:05:28.943 j1_slow_down_t = 0 +2025-06-06 18:05:28.943 j2_slow_down_t = 0 +2025-06-06 18:05:28.944 j3_slow_down_t = 0 +2025-06-06 18:05:28.944 j4_slow_down_t = 3 +2025-06-06 18:05:28.944 tmp_t[3] = 3 +2025-06-06 18:05:28.944 _new_stop_move_thread_1 +2025-06-06 18:05:29.110 _new_stop_move_thread_2 +2025-06-06 18:05:29.125 jog_move_xyzr return 99 ͣ +2025-06-06 18:05:29.140 _new_stop_move_thread_3 +2025-06-06 18:05:29.140 get_scara_param -4.895700 74.399498 -69.648499 -1000.946411 +2025-06-06 18:05:29.140 get_scara_real_coor -4.895700 74.399498 -69.648499 -1000.946289 +2025-06-06 18:05:29.140 _new_stop_move_thread_4 +2025-06-06 18:05:29.340 wait_stop in +2025-06-06 18:05:29.371 wait_stop out_0 +2025-06-06 18:05:31.161 _new_stop_move_thread_0 +2025-06-06 18:05:31.161 j1_slow_down_t = 0 +2025-06-06 18:05:31.162 j2_slow_down_t = 0 +2025-06-06 18:05:31.162 j3_slow_down_t = 0 +2025-06-06 18:05:31.162 j4_slow_down_t = 3 +2025-06-06 18:05:31.162 tmp_t[3] = 3 +2025-06-06 18:05:31.162 _new_stop_move_thread_1 +2025-06-06 18:05:31.212 jog_move_xyzr return 99 ͣ +2025-06-06 18:05:31.319 _new_stop_move_thread_2 +2025-06-06 18:05:31.349 _new_stop_move_thread_3 +2025-06-06 18:05:31.349 get_scara_param -4.895700 74.399696 -69.648499 -993.689819 +2025-06-06 18:05:31.349 get_scara_real_coor -4.895700 74.399696 -69.648499 -993.689697 +2025-06-06 18:05:31.351 _new_stop_move_thread_4 +2025-06-06 18:05:31.426 wait_stop in +2025-06-06 18:05:31.456 wait_stop out_0 +2025-06-06 18:05:32.973 _new_stop_move_thread_0 +2025-06-06 18:05:32.973 j1_slow_down_t = 0 +2025-06-06 18:05:32.973 j2_slow_down_t = 0 +2025-06-06 18:05:32.973 j3_slow_down_t = 0 +2025-06-06 18:05:32.973 j4_slow_down_t = 2 +2025-06-06 18:05:32.974 tmp_t[3] = 2 +2025-06-06 18:05:32.974 _new_stop_move_thread_1 +2025-06-06 18:05:33.118 _new_stop_move_thread_2 +2025-06-06 18:05:33.148 _new_stop_move_thread_3 +2025-06-06 18:05:33.148 get_scara_param -4.895900 74.399902 -69.648499 -990.482117 +2025-06-06 18:05:33.148 get_scara_real_coor -4.895900 74.399902 -69.648499 -990.482178 +2025-06-06 18:05:33.148 _new_stop_move_thread_4 +2025-06-06 18:05:33.164 wait_stop in +2025-06-06 18:05:33.195 wait_stop out_0 +2025-06-06 18:05:34.179 _new_stop_move_thread_0 +2025-06-06 18:05:34.179 j1_slow_down_t = 0 +2025-06-06 18:05:34.180 j2_slow_down_t = 0 +2025-06-06 18:05:34.180 j3_slow_down_t = 0 +2025-06-06 18:05:34.180 j4_slow_down_t = 3 +2025-06-06 18:05:34.180 tmp_t[3] = 3 +2025-06-06 18:05:34.180 _new_stop_move_thread_1 +2025-06-06 18:05:34.331 jog_move_xyzr return 99 ͣ +2025-06-06 18:05:34.362 _new_stop_move_thread_2 +2025-06-06 18:05:34.392 _new_stop_move_thread_3 +2025-06-06 18:05:34.392 get_scara_param -4.896000 74.400101 -69.648499 -986.809875 +2025-06-06 18:05:34.392 get_scara_real_coor -4.896000 74.400101 -69.648499 -986.809875 +2025-06-06 18:05:34.393 _new_stop_move_thread_4 +2025-06-06 18:05:34.543 wait_stop in +2025-06-06 18:05:34.574 wait_stop out_0 +2025-06-06 18:05:36.943 _new_stop_move_thread_0 +2025-06-06 18:05:36.943 j1_slow_down_t = 0 +2025-06-06 18:05:36.944 j2_slow_down_t = 0 +2025-06-06 18:05:36.944 j3_slow_down_t = 0 +2025-06-06 18:05:36.944 j4_slow_down_t = 2 +2025-06-06 18:05:36.944 tmp_t[3] = 2 +2025-06-06 18:05:36.944 _new_stop_move_thread_1 +2025-06-06 18:05:37.008 jog_move_xyzr return 99 ͣ +2025-06-06 18:05:37.099 _new_stop_move_thread_2 +2025-06-06 18:05:37.130 _new_stop_move_thread_3 +2025-06-06 18:05:37.130 get_scara_param -4.896100 74.400200 -69.648499 -983.930786 +2025-06-06 18:05:37.130 get_scara_real_coor -4.896100 74.400200 -69.648499 -983.931030 +2025-06-06 18:05:37.131 _new_stop_move_thread_4 +2025-06-06 18:05:37.907 _new_stop_move_thread_0 +2025-06-06 18:05:37.907 j1_slow_down_t = 0 +2025-06-06 18:05:37.907 j2_slow_down_t = 0 +2025-06-06 18:05:37.908 j3_slow_down_t = 0 +2025-06-06 18:05:37.908 j4_slow_down_t = 5 +2025-06-06 18:05:37.908 tmp_t[3] = 5 +2025-06-06 18:05:37.908 _new_stop_move_thread_1 +2025-06-06 18:05:38.038 jog_move_xyzr return 99 ͣ +2025-06-06 18:05:38.054 jog_move_xyzr return 99 ͣ +2025-06-06 18:05:38.084 _new_stop_move_thread_2 +2025-06-06 18:05:38.115 _new_stop_move_thread_3 +2025-06-06 18:05:38.115 get_scara_param -4.896400 74.400299 -69.648499 -979.053589 +2025-06-06 18:05:38.116 get_scara_real_coor -4.896400 74.400299 -69.648499 -979.053711 +2025-06-06 18:05:38.116 _new_stop_move_thread_4 +2025-06-06 18:05:38.254 wait_stop in +2025-06-06 18:05:38.269 wait_stop in +2025-06-06 18:05:38.285 wait_stop out_0 +2025-06-06 18:05:38.300 wait_stop out_0 +2025-06-06 18:07:03.456 SDK_VERSION_V2.0.0.29_Release +2025-06-06 18:07:03.456 robot connected +2025-06-06 18:07:03.456 26 +2025-06-06 18:07:03.456 current generation=26 +2025-06-06 18:07:03.967 0x1a +2025-06-06 18:07:04.902 initial joint2 2167070 +2025-06-06 18:07:04.902 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-06 18:07:04.902 robot WritePID +2025-06-06 18:07:05.213 initial joint1 -71305 +2025-06-06 18:07:05.258 initial joint2 2167070 +2025-06-06 18:07:05.304 initial joint3 -202866 +2025-06-06 18:07:05.366 initial joint4 -24732721 +2025-06-06 18:07:05.381 initial joint1 -71305 +2025-06-06 18:07:05.442 initial joint2 2167072 +2025-06-06 18:07:05.504 initial joint3 -202866 +2025-06-06 18:07:05.550 initial joint4 -24732722 +2025-06-06 18:07:05.565 initial joint1 -71304 +2025-06-06 18:07:05.611 initial joint2 2167073 +2025-06-06 18:07:05.658 initial joint3 -202866 +2025-06-06 18:07:05.704 initial joint4 -24732724 +2025-06-06 18:07:07.912 initial_thread initialized +2025-06-06 18:07:07.914 servo enable +2025-06-06 18:07:07.914 brake open +2025-06-06 18:07:07.914 set_brake_state 0 1 +2025-06-06 18:07:08.128 robot initialized +2025-06-06 18:07:08.684 get_scara_param -4.896000 74.400597 -69.648804 -979.212524 +2025-06-06 18:07:08.684 get_scara_real_coor -4.896000 74.400597 -69.648804 -979.212585 +2025-06-06 18:07:08.684 set_first_position_after_initial +2025-06-06 18:07:08.685 movej_old start_pos: -4.896000 74.400597 -69.648804 -979.212524 end_pos: -4.896000 74.400505 -69.648804 -979.212524 org_sp 10.000000 end_sp 0.715388 +2025-06-06 18:07:08.977 J3 Belt Meilage=40.857746km +2025-06-06 18:07:12.700 wait_stop in +2025-06-06 18:07:12.739 wait_stop out_0 +2025-06-06 18:07:13.805 30 30 30 30 +2025-06-06 18:07:13.806 new_movej_xyz_lr 289.223999 168.563507 -69.648804 -978.212524 2.000000 0.000000 1 +2025-06-06 18:07:13.806 goal_angle -4.896007 74.400520 +2025-06-06 18:07:13.806 new_movej_angle -4.896007 74.400520 -69.648804 -978.212524 0.000000 2.000000 +2025-06-06 18:07:13.807 z1 -69.648804 z2 -69.648804 +2025-06-06 18:07:13.807 angle1_1 -4.896000 angle2_1 74.400505 z1 -69.648804 r1 -979.212524 +2025-06-06 18:07:13.807 angle1_2 -4.896007 angle2_2 74.400520 z2 -69.648804 r2 -978.212524 +2025-06-06 18:07:13.807 speed 2.000000 +2025-06-06 18:07:13.807 tcp_distance 0.000000 +2025-06-06 18:07:13.807 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000029 +2025-06-06 18:07:13.808 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000067 +2025-06-06 18:07:13.808 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:07:13.808 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:07:13.808 end_speed 2.000000 +2025-06-06 18:07:13.808 trail_number0.500000 +2025-06-06 18:07:13.809 tcp_distance 0.000000 +2025-06-06 18:07:13.809 angle1_1 = -4.896000 angle2_1 = 74.400505 z1 = -69.648804 r1 = -979.212524 angle1_2 = -4.896007 angle2_2 = 74.400520 z2 = -69.648804 r2 = -978.212524 +2025-06-06 18:07:15.418 wait_stop in +2025-06-06 18:07:15.458 wait_stop out_0 +2025-06-06 18:07:16.837 30 30 30 30 +2025-06-06 18:07:16.838 new_movej_xyz_lr 289.223999 168.563507 -69.648804 -979.212524 2.000000 0.000000 1 +2025-06-06 18:07:16.838 goal_angle -4.896007 74.400520 +2025-06-06 18:07:16.838 new_movej_angle -4.896007 74.400520 -69.648804 -979.212524 0.000000 2.000000 +2025-06-06 18:07:16.838 z1 -69.648804 z2 -69.648804 +2025-06-06 18:07:16.838 angle1_1 -4.896007 angle2_1 74.400520 z1 -69.648804 r1 -978.212524 +2025-06-06 18:07:16.839 angle1_2 -4.896007 angle2_2 74.400520 z2 -69.648804 r2 -979.212524 +2025-06-06 18:07:16.839 speed 2.000000 +2025-06-06 18:07:16.839 tcp_distance 0.000000 +2025-06-06 18:07:16.839 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:07:16.839 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:07:16.839 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:07:16.840 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:07:16.840 end_speed 2.000000 +2025-06-06 18:07:16.840 trail_number0.500000 +2025-06-06 18:07:16.840 tcp_distance 0.000000 +2025-06-06 18:07:16.841 angle1_1 = -4.896007 angle2_1 = 74.400520 z1 = -69.648804 r1 = -978.212524 angle1_2 = -4.896007 angle2_2 = 74.400520 z2 = -69.648804 r2 = -979.212524 +2025-06-06 18:07:17.689 wait_stop in +2025-06-06 18:07:17.729 wait_stop out_0 +2025-06-06 18:07:17.786 30 30 30 30 +2025-06-06 18:07:17.786 new_movej_xyz_lr 289.223999 168.563507 -69.648804 -980.212524 2.000000 0.000000 1 +2025-06-06 18:07:17.787 goal_angle -4.896007 74.400520 +2025-06-06 18:07:17.787 new_movej_angle -4.896007 74.400520 -69.648804 -980.212524 0.000000 2.000000 +2025-06-06 18:07:17.787 z1 -69.648804 z2 -69.648804 +2025-06-06 18:07:17.787 angle1_1 -4.896007 angle2_1 74.400520 z1 -69.648804 r1 -979.212524 +2025-06-06 18:07:17.787 angle1_2 -4.896007 angle2_2 74.400520 z2 -69.648804 r2 -980.212524 +2025-06-06 18:07:17.787 speed 2.000000 +2025-06-06 18:07:17.787 tcp_distance 0.000000 +2025-06-06 18:07:17.789 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:07:17.789 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:07:17.789 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:07:17.789 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:07:17.789 end_speed 2.000000 +2025-06-06 18:07:17.790 trail_number0.500000 +2025-06-06 18:07:17.790 tcp_distance 0.000000 +2025-06-06 18:07:17.790 angle1_1 = -4.896007 angle2_1 = 74.400520 z1 = -69.648804 r1 = -979.212524 angle1_2 = -4.896007 angle2_2 = 74.400520 z2 = -69.648804 r2 = -980.212524 +2025-06-06 18:07:18.394 wait_stop in +2025-06-06 18:07:18.435 wait_stop out_0 +2025-06-06 18:07:18.495 30 30 30 30 +2025-06-06 18:07:18.495 new_movej_xyz_lr 289.223999 168.563507 -69.648804 -981.212524 2.000000 0.000000 1 +2025-06-06 18:07:18.495 goal_angle -4.896007 74.400520 +2025-06-06 18:07:18.495 new_movej_angle -4.896007 74.400520 -69.648804 -981.212524 0.000000 2.000000 +2025-06-06 18:07:18.495 z1 -69.648804 z2 -69.648804 +2025-06-06 18:07:18.496 angle1_1 -4.896007 angle2_1 74.400520 z1 -69.648804 r1 -980.212524 +2025-06-06 18:07:18.496 angle1_2 -4.896007 angle2_2 74.400520 z2 -69.648804 r2 -981.212524 +2025-06-06 18:07:18.496 speed 2.000000 +2025-06-06 18:07:18.496 tcp_distance 0.000000 +2025-06-06 18:07:18.496 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:07:18.497 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:07:18.497 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:07:18.497 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:07:18.497 end_speed 2.000000 +2025-06-06 18:07:18.498 trail_number0.500000 +2025-06-06 18:07:18.498 tcp_distance 0.000000 +2025-06-06 18:07:18.498 angle1_1 = -4.896007 angle2_1 = 74.400520 z1 = -69.648804 r1 = -980.212524 angle1_2 = -4.896007 angle2_2 = 74.400520 z2 = -69.648804 r2 = -981.212524 +2025-06-06 18:07:19.055 wait_stop in +2025-06-06 18:07:19.094 wait_stop out_0 +2025-06-06 18:07:19.163 30 30 30 30 +2025-06-06 18:07:19.163 new_movej_xyz_lr 289.223999 168.563507 -69.648804 -982.212524 2.000000 0.000000 1 +2025-06-06 18:07:19.163 goal_angle -4.896007 74.400520 +2025-06-06 18:07:19.163 new_movej_angle -4.896007 74.400520 -69.648804 -982.212524 0.000000 2.000000 +2025-06-06 18:07:19.164 z1 -69.648804 z2 -69.648804 +2025-06-06 18:07:19.164 angle1_1 -4.896007 angle2_1 74.400520 z1 -69.648804 r1 -981.212524 +2025-06-06 18:07:19.164 angle1_2 -4.896007 angle2_2 74.400520 z2 -69.648804 r2 -982.212524 +2025-06-06 18:07:19.164 speed 2.000000 +2025-06-06 18:07:19.164 tcp_distance 0.000000 +2025-06-06 18:07:19.164 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:07:19.165 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:07:19.165 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:07:19.165 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:07:19.165 end_speed 2.000000 +2025-06-06 18:07:19.165 trail_number0.500000 +2025-06-06 18:07:19.166 tcp_distance 0.000000 +2025-06-06 18:07:19.166 angle1_1 = -4.896007 angle2_1 = 74.400520 z1 = -69.648804 r1 = -981.212524 angle1_2 = -4.896007 angle2_2 = 74.400520 z2 = -69.648804 r2 = -982.212524 +2025-06-06 18:07:23.017 _new_stop_move_thread_0 +2025-06-06 18:07:23.017 j1_slow_down_t = 0 +2025-06-06 18:07:23.017 j2_slow_down_t = 0 +2025-06-06 18:07:23.017 j3_slow_down_t = 0 +2025-06-06 18:07:23.017 j4_slow_down_t = 2 +2025-06-06 18:07:23.019 tmp_t[3] = 2 +2025-06-06 18:07:23.019 _new_stop_move_thread_1 +2025-06-06 18:07:23.152 _new_stop_move_thread_2 +2025-06-06 18:07:23.168 jog_move_xyzr return 99 ͣ +2025-06-06 18:07:23.182 _new_stop_move_thread_3 +2025-06-06 18:07:23.182 get_scara_param -4.896000 74.400703 -69.648804 -979.873474 +2025-06-06 18:07:23.183 get_scara_real_coor -4.896000 74.400703 -69.648804 -979.873474 +2025-06-06 18:07:23.183 _new_stop_move_thread_4 +2025-06-06 18:07:23.382 wait_stop in +2025-06-06 18:07:23.413 wait_stop out_0 +2025-06-06 18:07:24.754 _new_stop_move_thread_0 +2025-06-06 18:07:24.754 j1_slow_down_t = 0 +2025-06-06 18:07:24.754 j2_slow_down_t = 0 +2025-06-06 18:07:24.754 j3_slow_down_t = 0 +2025-06-06 18:07:24.755 j4_slow_down_t = 2 +2025-06-06 18:07:24.755 tmp_t[3] = 2 +2025-06-06 18:07:24.755 _new_stop_move_thread_1 +2025-06-06 18:07:24.899 jog_move_xyzr return 99 ͣ +2025-06-06 18:07:24.899 _new_stop_move_thread_2 +2025-06-06 18:07:24.929 _new_stop_move_thread_3 +2025-06-06 18:07:24.929 get_scara_param -4.896100 74.401001 -69.648804 -977.533386 +2025-06-06 18:07:24.930 get_scara_real_coor -4.896100 74.401001 -69.648804 -977.533386 +2025-06-06 18:07:24.930 _new_stop_move_thread_4 +2025-06-06 18:07:25.114 wait_stop in +2025-06-06 18:07:25.145 wait_stop out_0 +2025-06-06 18:08:37.121 ROBOT_ERROR_CODE = 1004 +2025-06-06 18:08:37.121 +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 : 9122 9690 9500 9688 9690 0 +2025-06-06 18:08:41.017 SDK_VERSION_V2.0.0.29_Release +2025-06-06 18:08:41.017 robot connected +2025-06-06 18:08:41.017 26 +2025-06-06 18:08:41.017 current generation=26 +2025-06-06 18:08:41.636 0x1a +2025-06-06 18:08:42.566 initial joint2 2148195 +2025-06-06 18:08:42.566 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-06 18:08:42.566 robot WritePID +2025-06-06 18:08:42.873 initial joint1 -91314 +2025-06-06 18:08:42.920 initial joint2 2148195 +2025-06-06 18:08:42.967 initial joint3 -203100 +2025-06-06 18:08:43.013 initial joint4 -25759654 +2025-06-06 18:08:43.028 initial joint1 -91293 +2025-06-06 18:08:43.075 initial joint2 2148194 +2025-06-06 18:08:43.135 initial joint3 -203100 +2025-06-06 18:08:43.197 initial joint4 -25759653 +2025-06-06 18:08:43.227 initial joint1 -91315 +2025-06-06 18:08:43.274 initial joint2 2148196 +2025-06-06 18:08:43.321 initial joint3 -203101 +2025-06-06 18:08:43.368 initial joint4 -25759653 +2025-06-06 18:08:45.545 initial_thread initialized +2025-06-06 18:08:45.545 servo enable +2025-06-06 18:08:45.545 brake open +2025-06-06 18:08:45.545 set_brake_state 0 1 +2025-06-06 18:08:45.761 robot initialized +2025-06-06 18:08:46.331 get_scara_param -6.269800 73.752502 -69.729500 -1023.283386 +2025-06-06 18:08:46.332 get_scara_real_coor -6.271400 73.752502 -69.729500 -1023.284973 +2025-06-06 18:08:46.332 λɢ +2025-06-06 18:08:46.332 position -91310.585938 2148197.250000 -203101.890625 -25759654.000000 -71305.460938 2167066.250000 -202865.953125 -24779150.000000 +2025-06-06 18:08:46.332 speed 1373.642944 647.815735 81.002716 40395.523438 +2025-06-06 18:08:46.332 set_first_position_after_initial +2025-06-06 18:08:46.333 movej_old start_pos: -6.269800 73.752502 -69.729500 -1023.283386 end_pos: -6.269800 73.752502 -69.729500 -1023.283386 org_sp 10.000000 end_sp 10.000000 +2025-06-06 18:08:46.625 J3 Belt Meilage=40.857754km +2025-06-06 18:09:34.609 ROBOT_ERROR_CODE = 1004 +2025-06-06 18:09:34.609 +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 : 3739 3919 3729 3917 3919 0 +2025-06-06 18:09:38.445 SDK_VERSION_V2.0.0.29_Release +2025-06-06 18:09:38.446 robot connected +2025-06-06 18:09:38.446 26 +2025-06-06 18:09:38.446 current generation=26 +2025-06-06 18:09:39.074 0x1a +2025-06-06 18:09:40.015 initial joint2 2151080 +2025-06-06 18:09:40.015 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-06 18:09:40.015 robot WritePID +2025-06-06 18:09:40.319 initial joint1 -90678 +2025-06-06 18:09:40.365 initial joint2 2151078 +2025-06-06 18:09:40.412 initial joint3 -203332 +2025-06-06 18:09:40.458 initial joint4 -23092798 +2025-06-06 18:09:40.474 initial joint1 -90677 +2025-06-06 18:09:40.519 initial joint2 2151079 +2025-06-06 18:09:40.565 initial joint3 -203332 +2025-06-06 18:09:40.612 initial joint4 -23092797 +2025-06-06 18:09:40.627 initial joint1 -90678 +2025-06-06 18:09:40.689 initial joint2 2151079 +2025-06-06 18:09:40.750 initial joint3 -203332 +2025-06-06 18:09:40.811 initial joint4 -23092798 +2025-06-06 18:09:42.947 initial_thread initialized +2025-06-06 18:09:42.947 servo enable +2025-06-06 18:09:42.947 brake open +2025-06-06 18:09:42.948 set_brake_state 0 1 +2025-06-06 18:09:43.161 robot initialized +2025-06-06 18:09:43.717 get_scara_param -6.226400 73.851501 -69.808502 -913.309387 +2025-06-06 18:09:43.717 get_scara_real_coor -6.226100 73.851501 -69.808800 -913.309326 +2025-06-06 18:09:43.717 λɢ +2025-06-06 18:09:43.717 position -90678.523438 2151081.000000 -203332.000000 -23092796.000000 -71305.460938 2167066.250000 -202865.953125 -24779150.000000 +2025-06-06 18:09:43.718 speed 1330.242676 548.809998 160.004501 69475.648438 +2025-06-06 18:09:43.718 set_first_position_after_initial +2025-06-06 18:09:43.718 movej_old start_pos: -6.226400 73.851501 -69.808502 -913.309387 end_pos: -6.226400 73.851501 -69.808502 -913.309387 org_sp 10.000000 end_sp 10.000000 +2025-06-06 18:09:44.006 J3 Belt Meilage=40.857758km +2025-06-06 18:09:53.525 _new_stop_move_thread_0 +2025-06-06 18:09:53.525 j1_slow_down_t = 0 +2025-06-06 18:09:53.526 j2_slow_down_t = 0 +2025-06-06 18:09:53.526 j3_slow_down_t = 0 +2025-06-06 18:09:53.526 j4_slow_down_t = 2 +2025-06-06 18:09:53.526 tmp_t[3] = 2 +2025-06-06 18:09:53.526 _new_stop_move_thread_1 +2025-06-06 18:09:53.592 jog_move_xyzr return 99 ͣ +2025-06-06 18:09:53.684 _new_stop_move_thread_2 +2025-06-06 18:09:53.715 _new_stop_move_thread_3 +2025-06-06 18:09:53.715 get_scara_param -6.226000 73.851700 -69.808800 -910.384277 +2025-06-06 18:09:53.715 get_scara_real_coor -6.226000 73.851700 -69.808800 -910.384216 +2025-06-06 18:09:53.716 _new_stop_move_thread_4 +2025-06-06 18:09:53.807 wait_stop in +2025-06-06 18:09:53.838 wait_stop out_0 +2025-06-06 18:09:55.339 _new_stop_move_thread_0 +2025-06-06 18:09:55.340 j1_slow_down_t = 0 +2025-06-06 18:09:55.340 j2_slow_down_t = 0 +2025-06-06 18:09:55.340 j3_slow_down_t = 0 +2025-06-06 18:09:55.340 j4_slow_down_t = 2 +2025-06-06 18:09:55.340 tmp_t[3] = 2 +2025-06-06 18:09:55.341 _new_stop_move_thread_1 +2025-06-06 18:09:55.501 _new_stop_move_thread_2 +2025-06-06 18:09:55.502 jog_move_xyzr return 99 ͣ +2025-06-06 18:09:55.532 _new_stop_move_thread_3 +2025-06-06 18:09:55.532 get_scara_param -6.226000 73.851997 -69.808502 -909.024170 +2025-06-06 18:09:55.532 get_scara_real_coor -6.226000 73.851997 -69.808502 -909.024170 +2025-06-06 18:09:55.533 _new_stop_move_thread_4 +2025-06-06 18:09:55.717 wait_stop in +2025-06-06 18:09:55.748 wait_stop out_0 +2025-06-06 18:09:56.219 _new_stop_move_thread_0 +2025-06-06 18:09:56.219 j1_slow_down_t = 0 +2025-06-06 18:09:56.219 j2_slow_down_t = 0 +2025-06-06 18:09:56.220 j3_slow_down_t = 0 +2025-06-06 18:09:56.220 j4_slow_down_t = 1 +2025-06-06 18:09:56.220 tmp_t[3] = 1 +2025-06-06 18:09:56.220 _new_stop_move_thread_1 +2025-06-06 18:09:56.253 jog_move_xyzr return 99 ͣ +2025-06-06 18:09:56.376 _new_stop_move_thread_2 +2025-06-06 18:09:56.407 _new_stop_move_thread_3 +2025-06-06 18:09:56.407 get_scara_param -6.225800 73.852203 -69.808800 -907.916321 +2025-06-06 18:09:56.407 get_scara_real_coor -6.225800 73.852203 -69.808800 -907.916321 +2025-06-06 18:09:56.408 _new_stop_move_thread_4 +2025-06-06 18:09:56.469 wait_stop in +2025-06-06 18:09:56.500 wait_stop out_0 +2025-06-06 18:09:57.253 _new_stop_move_thread_0 +2025-06-06 18:09:57.253 j1_slow_down_t = 0 +2025-06-06 18:09:57.253 j2_slow_down_t = 0 +2025-06-06 18:09:57.254 j3_slow_down_t = 0 +2025-06-06 18:09:57.254 j4_slow_down_t = 1 +2025-06-06 18:09:57.254 tmp_t[3] = 1 +2025-06-06 18:09:57.254 _new_stop_move_thread_1 +2025-06-06 18:09:57.288 jog_move_xyzr return 99 ͣ +2025-06-06 18:09:57.426 _new_stop_move_thread_2 +2025-06-06 18:09:57.455 _new_stop_move_thread_3 +2025-06-06 18:09:57.455 get_scara_param -6.225700 73.852501 -69.808502 -906.868225 +2025-06-06 18:09:57.455 get_scara_real_coor -6.225700 73.852501 -69.808502 -906.868225 +2025-06-06 18:09:57.456 _new_stop_move_thread_4 +2025-06-06 18:09:57.502 wait_stop in +2025-06-06 18:09:57.534 wait_stop out_0 +2025-06-06 18:10:02.211 wait_stop in +2025-06-06 18:10:02.239 wait_stop out_0 +2025-06-06 18:10:02.342 30 30 30 30 +2025-06-06 18:10:02.343 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -907.868225 2.000000 0.000000 1 +2025-06-06 18:10:02.343 goal_angle -6.225744 73.852539 +2025-06-06 18:10:02.343 new_movej_angle -6.225744 73.852539 -69.808502 -907.868225 0.000000 2.000000 +2025-06-06 18:10:02.344 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:02.344 angle1_1 -6.225746 angle2_1 73.852539 z1 -69.808502 r1 -906.868164 +2025-06-06 18:10:02.344 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -907.868225 +2025-06-06 18:10:02.344 speed 2.000000 +2025-06-06 18:10:02.344 tcp_distance 0.000000 +2025-06-06 18:10:02.344 new_end_speed 2.000000 j1_acc_t 0.250015 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000008 +2025-06-06 18:10:02.345 new_end_speed 2.000000 j2_acc_t 0.250015 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:02.345 new_end_speed 2.000000 j3_acc_t 0.250015 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:02.345 new_end_speed 2.000000 j4_acc_t 0.250015 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:02.345 end_speed 2.000000 +2025-06-06 18:10:02.345 trail_number0.500031 +2025-06-06 18:10:02.345 tcp_distance 0.000000 +2025-06-06 18:10:02.346 angle1_1 = -6.225746 angle2_1 = 73.852539 z1 = -69.808502 r1 = -906.868164 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -907.868225 +2025-06-06 18:10:02.597 wait_stop in +2025-06-06 18:10:02.900 wait_stop out_0 +2025-06-06 18:10:03.056 30 30 30 30 +2025-06-06 18:10:03.057 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -908.868225 2.000000 0.000000 1 +2025-06-06 18:10:03.057 goal_angle -6.225744 73.852539 +2025-06-06 18:10:03.057 new_movej_angle -6.225744 73.852539 -69.808502 -908.868225 0.000000 2.000000 +2025-06-06 18:10:03.057 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:03.057 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -907.868225 +2025-06-06 18:10:03.058 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -908.868225 +2025-06-06 18:10:03.058 speed 2.000000 +2025-06-06 18:10:03.058 tcp_distance 0.000000 +2025-06-06 18:10:03.058 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:03.058 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:03.058 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:03.059 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:03.059 end_speed 2.000000 +2025-06-06 18:10:03.059 trail_number0.500000 +2025-06-06 18:10:03.059 tcp_distance 0.000000 +2025-06-06 18:10:03.059 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -907.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -908.868225 +2025-06-06 18:10:03.532 wait_stop in +2025-06-06 18:10:03.599 wait_stop out_0 +2025-06-06 18:10:03.600 30 30 30 30 +2025-06-06 18:10:03.601 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -909.868225 2.000000 0.000000 1 +2025-06-06 18:10:03.601 goal_angle -6.225744 73.852539 +2025-06-06 18:10:03.601 new_movej_angle -6.225744 73.852539 -69.808502 -909.868225 0.000000 2.000000 +2025-06-06 18:10:03.601 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:03.601 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -908.868225 +2025-06-06 18:10:03.602 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -909.868225 +2025-06-06 18:10:03.602 speed 2.000000 +2025-06-06 18:10:03.602 tcp_distance 0.000000 +2025-06-06 18:10:03.602 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:03.602 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:03.602 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:03.603 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:03.603 end_speed 2.000000 +2025-06-06 18:10:03.603 trail_number0.500000 +2025-06-06 18:10:03.603 tcp_distance 0.000000 +2025-06-06 18:10:03.603 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -908.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -909.868225 +2025-06-06 18:10:03.989 wait_stop in +2025-06-06 18:10:04.067 30 30 30 30 +2025-06-06 18:10:04.067 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -910.868225 2.000000 0.000000 1 +2025-06-06 18:10:04.067 goal_angle -6.225744 73.852539 +2025-06-06 18:10:04.068 new_movej_angle -6.225744 73.852539 -69.808502 -910.868225 0.000000 2.000000 +2025-06-06 18:10:04.068 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:04.068 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -909.868225 +2025-06-06 18:10:04.068 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -910.868225 +2025-06-06 18:10:04.068 speed 2.000000 +2025-06-06 18:10:04.068 tcp_distance 0.000000 +2025-06-06 18:10:04.068 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:04.069 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:04.069 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:04.069 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:04.069 end_speed 2.000000 +2025-06-06 18:10:04.069 trail_number0.500000 +2025-06-06 18:10:04.069 tcp_distance 0.000000 +2025-06-06 18:10:04.124 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -909.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -910.868225 +2025-06-06 18:10:04.287 wait_stop in +2025-06-06 18:10:04.376 30 30 30 30 +2025-06-06 18:10:04.376 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -911.868225 2.000000 0.000000 1 +2025-06-06 18:10:04.376 goal_angle -6.225744 73.852539 +2025-06-06 18:10:04.376 new_movej_angle -6.225744 73.852539 -69.808502 -911.868225 0.000000 2.000000 +2025-06-06 18:10:04.377 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:04.377 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -910.868225 +2025-06-06 18:10:04.377 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -911.868225 +2025-06-06 18:10:04.377 speed 2.000000 +2025-06-06 18:10:04.377 tcp_distance 0.000000 +2025-06-06 18:10:04.377 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:04.377 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:04.377 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:04.377 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:04.377 end_speed 2.000000 +2025-06-06 18:10:04.379 trail_number0.500000 +2025-06-06 18:10:04.379 tcp_distance 0.000000 +2025-06-06 18:10:04.645 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -910.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -911.868225 +2025-06-06 18:10:04.646 wait_stop in +2025-06-06 18:10:04.719 30 30 30 30 +2025-06-06 18:10:04.719 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -912.831482 2.000000 0.000000 1 +2025-06-06 18:10:04.719 goal_angle -6.225744 73.852539 +2025-06-06 18:10:04.719 new_movej_angle -6.225744 73.852539 -69.808502 -912.831482 0.000000 2.000000 +2025-06-06 18:10:04.719 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:04.720 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -911.868225 +2025-06-06 18:10:04.720 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -912.831482 +2025-06-06 18:10:04.720 speed 2.000000 +2025-06-06 18:10:04.720 tcp_distance 0.000000 +2025-06-06 18:10:04.720 new_end_speed 2.000000 j1_acc_t 0.240814 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:04.720 new_end_speed 2.000000 j2_acc_t 0.240814 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:04.721 new_end_speed 2.000000 j3_acc_t 0.240814 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:04.721 new_end_speed 2.000000 j4_acc_t 0.240814 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:04.721 end_speed 2.000000 +2025-06-06 18:10:04.721 trail_number0.481628 +2025-06-06 18:10:04.721 tcp_distance 0.000000 +2025-06-06 18:10:04.864 wait_stop in +2025-06-06 18:10:04.959 30 30 30 30 +2025-06-06 18:10:04.960 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -912.868225 2.000000 0.000000 1 +2025-06-06 18:10:04.960 goal_angle -6.225744 73.852539 +2025-06-06 18:10:04.960 new_movej_angle -6.225744 73.852539 -69.808502 -912.868225 0.000000 2.000000 +2025-06-06 18:10:04.960 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:04.961 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -912.831482 +2025-06-06 18:10:04.961 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -912.868225 +2025-06-06 18:10:04.961 speed 2.000000 +2025-06-06 18:10:04.961 tcp_distance 0.000000 +2025-06-06 18:10:04.961 new_end_speed 2.000000 j1_acc_t 0.009186 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:04.961 new_end_speed 2.000000 j2_acc_t 0.009186 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:04.962 new_end_speed 2.000000 j3_acc_t 0.009186 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:04.962 new_end_speed 2.000000 j4_acc_t 0.009186 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:04.962 end_speed 2.000000 +2025-06-06 18:10:04.962 trail_number0.018372 +2025-06-06 18:10:04.962 tcp_distance 0.000000 +2025-06-06 18:10:05.068 wait_stop in +2025-06-06 18:10:05.120 30 30 30 30 +2025-06-06 18:10:05.120 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -912.868225 2.000000 0.000000 1 +2025-06-06 18:10:05.121 goal_angle -6.225744 73.852539 +2025-06-06 18:10:05.121 new_movej_angle -6.225744 73.852539 -69.808502 -912.868225 0.000000 2.000000 +2025-06-06 18:10:05.175 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -911.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -912.831482 +2025-06-06 18:10:05.231 wait_stop in +2025-06-06 18:10:05.268 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -912.831482 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -912.868225 +2025-06-06 18:10:05.500 30 30 30 30 +2025-06-06 18:10:05.500 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -913.868225 2.000000 0.000000 1 +2025-06-06 18:10:05.500 goal_angle -6.225744 73.852539 +2025-06-06 18:10:05.500 new_movej_angle -6.225744 73.852539 -69.808502 -913.868225 0.000000 2.000000 +2025-06-06 18:10:05.501 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:05.501 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -912.868225 +2025-06-06 18:10:05.501 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -913.868225 +2025-06-06 18:10:05.501 speed 2.000000 +2025-06-06 18:10:05.501 tcp_distance 0.000000 +2025-06-06 18:10:05.501 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:05.502 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:05.502 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:05.502 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:05.502 end_speed 2.000000 +2025-06-06 18:10:05.502 trail_number0.500000 +2025-06-06 18:10:05.502 tcp_distance 0.000000 +2025-06-06 18:10:05.577 wait_stop in +2025-06-06 18:10:05.646 30 30 30 30 +2025-06-06 18:10:05.646 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -913.868225 2.000000 0.000000 1 +2025-06-06 18:10:05.646 goal_angle -6.225744 73.852539 +2025-06-06 18:10:05.646 new_movej_angle -6.225744 73.852539 -69.808502 -913.868225 0.000000 2.000000 +2025-06-06 18:10:05.715 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -912.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -913.868225 +2025-06-06 18:10:06.259 wait_stop out_0 +2025-06-06 18:10:06.260 wait_stop out_0 +2025-06-06 18:10:06.260 wait_stop out_0 +2025-06-06 18:10:06.260 wait_stop out_0 +2025-06-06 18:10:06.261 wait_stop out_0 +2025-06-06 18:10:06.261 wait_stop out_0 +2025-06-06 18:10:06.262 wait_stop out_0 +2025-06-06 18:10:06.374 wait_stop in +2025-06-06 18:10:06.412 wait_stop out_0 +2025-06-06 18:10:06.455 30 30 30 30 +2025-06-06 18:10:06.456 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -914.868225 2.000000 0.000000 1 +2025-06-06 18:10:06.456 goal_angle -6.225744 73.852539 +2025-06-06 18:10:06.456 new_movej_angle -6.225744 73.852539 -69.808502 -914.868225 0.000000 2.000000 +2025-06-06 18:10:06.456 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:06.457 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -913.868225 +2025-06-06 18:10:06.457 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -914.868225 +2025-06-06 18:10:06.457 speed 2.000000 +2025-06-06 18:10:06.457 tcp_distance 0.000000 +2025-06-06 18:10:06.457 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:06.458 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:06.458 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:06.458 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:06.458 end_speed 2.000000 +2025-06-06 18:10:06.458 trail_number0.500000 +2025-06-06 18:10:06.458 tcp_distance 0.000000 +2025-06-06 18:10:06.458 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -913.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -914.868225 +2025-06-06 18:10:06.543 wait_stop in +2025-06-06 18:10:06.614 30 30 30 30 +2025-06-06 18:10:06.614 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -915.868225 2.000000 0.000000 1 +2025-06-06 18:10:06.614 goal_angle -6.225744 73.852539 +2025-06-06 18:10:06.614 new_movej_angle -6.225744 73.852539 -69.808502 -915.868225 0.000000 2.000000 +2025-06-06 18:10:06.615 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:06.615 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -914.868225 +2025-06-06 18:10:06.615 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -915.868225 +2025-06-06 18:10:06.615 speed 2.000000 +2025-06-06 18:10:06.615 tcp_distance 0.000000 +2025-06-06 18:10:06.615 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:06.616 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:06.616 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:06.616 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:06.616 end_speed 2.000000 +2025-06-06 18:10:06.616 trail_number0.500000 +2025-06-06 18:10:06.616 tcp_distance 0.000000 +2025-06-06 18:10:06.709 wait_stop in +2025-06-06 18:10:06.767 30 30 30 30 +2025-06-06 18:10:06.768 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -915.868225 2.000000 0.000000 1 +2025-06-06 18:10:06.768 goal_angle -6.225744 73.852539 +2025-06-06 18:10:06.768 new_movej_angle -6.225744 73.852539 -69.808502 -915.868225 0.000000 2.000000 +2025-06-06 18:10:06.848 wait_stop in +2025-06-06 18:10:06.921 30 30 30 30 +2025-06-06 18:10:06.921 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -915.868225 2.000000 0.000000 1 +2025-06-06 18:10:06.921 goal_angle -6.225744 73.852539 +2025-06-06 18:10:06.922 new_movej_angle -6.225744 73.852539 -69.808502 -915.868225 0.000000 2.000000 +2025-06-06 18:10:06.984 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -914.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -915.868225 +2025-06-06 18:10:07.001 wait_stop in +2025-06-06 18:10:07.079 30 30 30 30 +2025-06-06 18:10:07.079 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -916.868225 2.000000 0.000000 1 +2025-06-06 18:10:07.079 goal_angle -6.225744 73.852539 +2025-06-06 18:10:07.081 new_movej_angle -6.225744 73.852539 -69.808502 -916.868225 0.000000 2.000000 +2025-06-06 18:10:07.081 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:07.081 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -915.868225 +2025-06-06 18:10:07.081 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -916.868225 +2025-06-06 18:10:07.082 speed 2.000000 +2025-06-06 18:10:07.082 tcp_distance 0.000000 +2025-06-06 18:10:07.082 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:07.082 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:07.082 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:07.082 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:07.082 end_speed 2.000000 +2025-06-06 18:10:07.082 trail_number0.500000 +2025-06-06 18:10:07.083 tcp_distance 0.000000 +2025-06-06 18:10:07.156 wait_stop in +2025-06-06 18:10:07.226 30 30 30 30 +2025-06-06 18:10:07.226 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -916.868225 2.000000 0.000000 1 +2025-06-06 18:10:07.226 goal_angle -6.225744 73.852539 +2025-06-06 18:10:07.226 new_movej_angle -6.225744 73.852539 -69.808502 -916.868225 0.000000 2.000000 +2025-06-06 18:10:07.306 wait_stop in +2025-06-06 18:10:07.376 30 30 30 30 +2025-06-06 18:10:07.377 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -916.868225 2.000000 0.000000 1 +2025-06-06 18:10:07.377 goal_angle -6.225744 73.852539 +2025-06-06 18:10:07.377 new_movej_angle -6.225744 73.852539 -69.808502 -916.868225 0.000000 2.000000 +2025-06-06 18:10:07.508 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -915.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -916.868225 +2025-06-06 18:10:08.063 wait_stop out_0 +2025-06-06 18:10:08.063 wait_stop out_0 +2025-06-06 18:10:08.064 wait_stop out_0 +2025-06-06 18:10:08.079 wait_stop out_0 +2025-06-06 18:10:08.080 wait_stop out_0 +2025-06-06 18:10:08.080 wait_stop out_0 +2025-06-06 18:10:10.182 wait_stop in +2025-06-06 18:10:10.214 wait_stop out_0 +2025-06-06 18:10:10.273 30 30 30 30 +2025-06-06 18:10:10.273 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -917.868225 2.000000 0.000000 1 +2025-06-06 18:10:10.273 goal_angle -6.225744 73.852539 +2025-06-06 18:10:10.273 new_movej_angle -6.225744 73.852539 -69.808502 -917.868225 0.000000 2.000000 +2025-06-06 18:10:10.273 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:10.274 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -916.868225 +2025-06-06 18:10:10.274 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -917.868225 +2025-06-06 18:10:10.274 speed 2.000000 +2025-06-06 18:10:10.274 tcp_distance 0.000000 +2025-06-06 18:10:10.274 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:10.274 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:10.275 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:10.275 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:10.275 end_speed 2.000000 +2025-06-06 18:10:10.275 trail_number0.500000 +2025-06-06 18:10:10.275 tcp_distance 0.000000 +2025-06-06 18:10:10.276 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -916.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -917.868225 +2025-06-06 18:10:10.692 wait_stop in +2025-06-06 18:10:10.787 30 30 30 30 +2025-06-06 18:10:10.787 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -918.868225 2.000000 0.000000 1 +2025-06-06 18:10:10.788 goal_angle -6.225744 73.852539 +2025-06-06 18:10:10.788 new_movej_angle -6.225744 73.852539 -69.808502 -918.868225 0.000000 2.000000 +2025-06-06 18:10:10.788 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:10.788 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -917.868225 +2025-06-06 18:10:10.788 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -918.868225 +2025-06-06 18:10:10.788 speed 2.000000 +2025-06-06 18:10:10.788 tcp_distance 0.000000 +2025-06-06 18:10:10.788 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:10.788 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:10.789 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:10.789 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:10.789 end_speed 2.000000 +2025-06-06 18:10:10.789 trail_number0.500000 +2025-06-06 18:10:10.789 tcp_distance 0.000000 +2025-06-06 18:10:10.816 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -917.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -918.868225 +2025-06-06 18:10:11.032 wait_stop in +2025-06-06 18:10:11.113 30 30 30 30 +2025-06-06 18:10:11.113 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -919.868225 2.000000 0.000000 1 +2025-06-06 18:10:11.114 goal_angle -6.225744 73.852539 +2025-06-06 18:10:11.114 new_movej_angle -6.225744 73.852539 -69.808502 -919.868225 0.000000 2.000000 +2025-06-06 18:10:11.114 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:11.114 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -918.868225 +2025-06-06 18:10:11.114 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -919.868225 +2025-06-06 18:10:11.114 speed 2.000000 +2025-06-06 18:10:11.115 tcp_distance 0.000000 +2025-06-06 18:10:11.115 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:11.115 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:11.115 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:11.115 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:11.115 end_speed 2.000000 +2025-06-06 18:10:11.116 trail_number0.500000 +2025-06-06 18:10:11.116 tcp_distance 0.000000 +2025-06-06 18:10:11.229 wait_stop in +2025-06-06 18:10:11.272 30 30 30 30 +2025-06-06 18:10:11.272 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -919.868225 2.000000 0.000000 1 +2025-06-06 18:10:11.272 goal_angle -6.225744 73.852539 +2025-06-06 18:10:11.272 new_movej_angle -6.225744 73.852539 -69.808502 -919.868225 0.000000 2.000000 +2025-06-06 18:10:11.340 wait_stop in +2025-06-06 18:10:11.355 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -918.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -919.868225 +2025-06-06 18:10:11.427 30 30 30 30 +2025-06-06 18:10:11.427 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -920.831482 2.000000 0.000000 1 +2025-06-06 18:10:11.427 goal_angle -6.225744 73.852539 +2025-06-06 18:10:11.427 new_movej_angle -6.225744 73.852539 -69.808502 -920.831482 0.000000 2.000000 +2025-06-06 18:10:11.427 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:11.428 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -919.868225 +2025-06-06 18:10:11.428 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -920.831482 +2025-06-06 18:10:11.428 speed 2.000000 +2025-06-06 18:10:11.428 tcp_distance 0.000000 +2025-06-06 18:10:11.428 new_end_speed 2.000000 j1_acc_t 0.240814 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:11.428 new_end_speed 2.000000 j2_acc_t 0.240814 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:11.429 new_end_speed 2.000000 j3_acc_t 0.240814 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:11.429 new_end_speed 2.000000 j4_acc_t 0.240814 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:11.429 end_speed 2.000000 +2025-06-06 18:10:11.429 trail_number0.481628 +2025-06-06 18:10:11.429 tcp_distance 0.000000 +2025-06-06 18:10:11.895 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -919.868225 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -920.831482 +2025-06-06 18:10:12.451 wait_stop out_0 +2025-06-06 18:10:12.452 wait_stop out_0 +2025-06-06 18:10:12.452 wait_stop out_0 +2025-06-06 18:10:12.452 wait_stop out_0 +2025-06-06 18:10:15.285 wait_stop in +2025-06-06 18:10:15.325 wait_stop out_0 +2025-06-06 18:10:15.375 30 30 30 30 +2025-06-06 18:10:15.376 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -921.831482 2.000000 0.000000 1 +2025-06-06 18:10:15.376 goal_angle -6.225744 73.852539 +2025-06-06 18:10:15.376 new_movej_angle -6.225744 73.852539 -69.808502 -921.831482 0.000000 2.000000 +2025-06-06 18:10:15.376 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:15.376 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -920.831482 +2025-06-06 18:10:15.377 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -921.831482 +2025-06-06 18:10:15.377 speed 2.000000 +2025-06-06 18:10:15.377 tcp_distance 0.000000 +2025-06-06 18:10:15.377 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:15.377 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:15.377 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:15.378 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:15.378 end_speed 2.000000 +2025-06-06 18:10:15.378 trail_number0.500000 +2025-06-06 18:10:15.378 tcp_distance 0.000000 +2025-06-06 18:10:15.379 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -920.831482 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -921.831482 +2025-06-06 18:10:15.844 wait_stop in +2025-06-06 18:10:15.924 wait_stop out_0 +2025-06-06 18:10:15.944 30 30 30 30 +2025-06-06 18:10:15.944 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -922.831482 2.000000 0.000000 1 +2025-06-06 18:10:15.945 goal_angle -6.225744 73.852539 +2025-06-06 18:10:15.945 new_movej_angle -6.225744 73.852539 -69.808502 -922.831482 0.000000 2.000000 +2025-06-06 18:10:15.945 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:15.945 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -921.831482 +2025-06-06 18:10:15.945 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -922.831482 +2025-06-06 18:10:15.946 speed 2.000000 +2025-06-06 18:10:15.946 tcp_distance 0.000000 +2025-06-06 18:10:15.946 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:15.946 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:15.946 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:15.946 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:15.946 end_speed 2.000000 +2025-06-06 18:10:15.946 trail_number0.500000 +2025-06-06 18:10:15.948 tcp_distance 0.000000 +2025-06-06 18:10:15.948 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -921.831482 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -922.831482 +2025-06-06 18:10:16.299 wait_stop in +2025-06-06 18:10:16.393 30 30 30 30 +2025-06-06 18:10:16.393 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -923.831482 2.000000 0.000000 1 +2025-06-06 18:10:16.394 goal_angle -6.225744 73.852539 +2025-06-06 18:10:16.394 new_movej_angle -6.225744 73.852539 -69.808502 -923.831482 0.000000 2.000000 +2025-06-06 18:10:16.394 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:16.394 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -922.831482 +2025-06-06 18:10:16.394 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -923.831482 +2025-06-06 18:10:16.394 speed 2.000000 +2025-06-06 18:10:16.395 tcp_distance 0.000000 +2025-06-06 18:10:16.395 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:16.395 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:16.395 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:16.395 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:16.396 end_speed 2.000000 +2025-06-06 18:10:16.396 trail_number0.500000 +2025-06-06 18:10:16.396 tcp_distance 0.000000 +2025-06-06 18:10:16.497 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -922.831482 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -923.831482 +2025-06-06 18:10:16.506 wait_stop in +2025-06-06 18:10:16.587 30 30 30 30 +2025-06-06 18:10:16.587 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -924.830383 2.000000 0.000000 1 +2025-06-06 18:10:16.587 goal_angle -6.225744 73.852539 +2025-06-06 18:10:16.587 new_movej_angle -6.225744 73.852539 -69.808502 -924.830383 0.000000 2.000000 +2025-06-06 18:10:16.587 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:16.588 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -923.831482 +2025-06-06 18:10:16.588 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -924.830383 +2025-06-06 18:10:16.588 speed 2.000000 +2025-06-06 18:10:16.588 tcp_distance 0.000000 +2025-06-06 18:10:16.588 new_end_speed 2.000000 j1_acc_t 0.249725 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:16.588 new_end_speed 2.000000 j2_acc_t 0.249725 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:16.588 new_end_speed 2.000000 j3_acc_t 0.249725 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:16.589 new_end_speed 2.000000 j4_acc_t 0.249725 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:16.589 end_speed 2.000000 +2025-06-06 18:10:16.589 trail_number0.499451 +2025-06-06 18:10:16.589 tcp_distance 0.000000 +2025-06-06 18:10:16.691 wait_stop in +2025-06-06 18:10:16.747 30 30 30 30 +2025-06-06 18:10:16.747 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -924.831482 2.000000 0.000000 1 +2025-06-06 18:10:16.747 goal_angle -6.225744 73.852539 +2025-06-06 18:10:16.748 new_movej_angle -6.225744 73.852539 -69.808502 -924.831482 0.000000 2.000000 +2025-06-06 18:10:16.748 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:16.748 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -924.830383 +2025-06-06 18:10:16.748 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -924.831482 +2025-06-06 18:10:16.748 speed 2.000000 +2025-06-06 18:10:16.748 tcp_distance 0.000000 +2025-06-06 18:10:16.749 new_end_speed 2.000000 j1_acc_t 0.005000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:16.749 new_end_speed 2.000000 j2_acc_t 0.005000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:16.749 new_end_speed 2.000000 j3_acc_t 0.005000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:16.749 new_end_speed 2.000000 j4_acc_t 0.005000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.240326 +2025-06-06 18:10:16.749 end_speed 2.000000 +2025-06-06 18:10:16.750 trail_number0.010000 +2025-06-06 18:10:16.750 tcp_distance 0.000000 +2025-06-06 18:10:16.847 wait_stop in +2025-06-06 18:10:16.904 30 30 30 30 +2025-06-06 18:10:16.904 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -924.831482 2.000000 0.000000 1 +2025-06-06 18:10:16.904 goal_angle -6.225744 73.852539 +2025-06-06 18:10:16.904 new_movej_angle -6.225744 73.852539 -69.808502 -924.831482 0.000000 2.000000 +2025-06-06 18:10:16.978 wait_stop in +2025-06-06 18:10:17.036 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -923.831482 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -924.830383 +2025-06-06 18:10:17.055 30 30 30 30 +2025-06-06 18:10:17.055 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -925.118286 2.000000 0.000000 1 +2025-06-06 18:10:17.056 goal_angle -6.225744 73.852539 +2025-06-06 18:10:17.056 new_movej_angle -6.225744 73.852539 -69.808502 -925.118286 0.000000 2.000000 +2025-06-06 18:10:17.056 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:17.056 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -924.831482 +2025-06-06 18:10:17.056 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -925.118286 +2025-06-06 18:10:17.057 speed 2.000000 +2025-06-06 18:10:17.057 tcp_distance 0.000000 +2025-06-06 18:10:17.057 new_end_speed 2.000000 j1_acc_t 0.071701 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:17.057 new_end_speed 2.000000 j2_acc_t 0.071701 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:17.057 new_end_speed 2.000000 j3_acc_t 0.071701 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:17.058 new_end_speed 2.000000 j4_acc_t 0.071701 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:17.058 end_speed 2.000000 +2025-06-06 18:10:17.058 trail_number0.143402 +2025-06-06 18:10:17.058 tcp_distance 0.000000 +2025-06-06 18:10:17.127 wait_stop in +2025-06-06 18:10:17.143 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -924.830383 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -924.831482 +2025-06-06 18:10:17.143 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -924.831482 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -925.118286 +2025-06-06 18:10:17.203 30 30 30 30 +2025-06-06 18:10:17.203 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -926.118286 2.000000 0.000000 1 +2025-06-06 18:10:17.203 goal_angle -6.225744 73.852539 +2025-06-06 18:10:17.203 new_movej_angle -6.225744 73.852539 -69.808502 -926.118286 0.000000 2.000000 +2025-06-06 18:10:17.204 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:17.204 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -925.118286 +2025-06-06 18:10:17.204 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -926.118286 +2025-06-06 18:10:17.204 speed 2.000000 +2025-06-06 18:10:17.204 tcp_distance 0.000000 +2025-06-06 18:10:17.205 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:17.205 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:17.205 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:17.205 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:17.205 end_speed 2.000000 +2025-06-06 18:10:17.205 trail_number0.500000 +2025-06-06 18:10:17.206 tcp_distance 0.000000 +2025-06-06 18:10:17.295 wait_stop in +2025-06-06 18:10:17.347 30 30 30 30 +2025-06-06 18:10:17.347 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -926.118286 2.000000 0.000000 1 +2025-06-06 18:10:17.348 goal_angle -6.225744 73.852539 +2025-06-06 18:10:17.348 new_movej_angle -6.225744 73.852539 -69.808502 -926.118286 0.000000 2.000000 +2025-06-06 18:10:17.670 wait_stop in +2025-06-06 18:10:17.729 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -925.118286 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -926.118286 +2025-06-06 18:10:17.878 30 30 30 30 +2025-06-06 18:10:17.878 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -927.118286 2.000000 0.000000 1 +2025-06-06 18:10:17.878 goal_angle -6.225744 73.852539 +2025-06-06 18:10:17.878 new_movej_angle -6.225744 73.852539 -69.808502 -927.118286 0.000000 2.000000 +2025-06-06 18:10:17.878 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:17.879 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -926.118286 +2025-06-06 18:10:17.879 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -927.118286 +2025-06-06 18:10:17.879 speed 2.000000 +2025-06-06 18:10:17.879 tcp_distance 0.000000 +2025-06-06 18:10:17.880 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:17.880 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:17.880 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:17.880 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:17.880 end_speed 2.000000 +2025-06-06 18:10:17.880 trail_number0.500000 +2025-06-06 18:10:17.881 tcp_distance 0.000000 +2025-06-06 18:10:17.955 wait_stop in +2025-06-06 18:10:18.057 30 30 30 30 +2025-06-06 18:10:18.057 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -927.118286 2.000000 0.000000 1 +2025-06-06 18:10:18.057 goal_angle -6.225744 73.852539 +2025-06-06 18:10:18.057 new_movej_angle -6.225744 73.852539 -69.808502 -927.118286 0.000000 2.000000 +2025-06-06 18:10:18.153 wait_stop in +2025-06-06 18:10:18.221 30 30 30 30 +2025-06-06 18:10:18.222 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -927.118286 2.000000 0.000000 1 +2025-06-06 18:10:18.222 goal_angle -6.225744 73.852539 +2025-06-06 18:10:18.222 new_movej_angle -6.225744 73.852539 -69.808502 -927.118286 0.000000 2.000000 +2025-06-06 18:10:18.270 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -926.118286 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -927.118286 +2025-06-06 18:10:18.295 wait_stop in +2025-06-06 18:10:18.384 30 30 30 30 +2025-06-06 18:10:18.384 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -928.117188 2.000000 0.000000 1 +2025-06-06 18:10:18.384 goal_angle -6.225744 73.852539 +2025-06-06 18:10:18.385 new_movej_angle -6.225744 73.852539 -69.808502 -928.117188 0.000000 2.000000 +2025-06-06 18:10:18.385 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:18.385 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -927.118286 +2025-06-06 18:10:18.385 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -928.117188 +2025-06-06 18:10:18.385 speed 2.000000 +2025-06-06 18:10:18.385 tcp_distance 0.000000 +2025-06-06 18:10:18.386 new_end_speed 2.000000 j1_acc_t 0.249725 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:18.386 new_end_speed 2.000000 j2_acc_t 0.249725 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:18.386 new_end_speed 2.000000 j3_acc_t 0.249725 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:18.386 new_end_speed 2.000000 j4_acc_t 0.249725 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:18.386 end_speed 2.000000 +2025-06-06 18:10:18.386 trail_number0.499451 +2025-06-06 18:10:18.387 tcp_distance 0.000000 +2025-06-06 18:10:18.455 wait_stop in +2025-06-06 18:10:18.532 30 30 30 30 +2025-06-06 18:10:18.532 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -928.118286 2.000000 0.000000 1 +2025-06-06 18:10:18.532 goal_angle -6.225744 73.852539 +2025-06-06 18:10:18.532 new_movej_angle -6.225744 73.852539 -69.808502 -928.118286 0.000000 2.000000 +2025-06-06 18:10:18.532 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:18.532 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -928.117188 +2025-06-06 18:10:18.532 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -928.118286 +2025-06-06 18:10:18.532 speed 2.000000 +2025-06-06 18:10:18.532 tcp_distance 0.000000 +2025-06-06 18:10:18.532 new_end_speed 2.000000 j1_acc_t 0.005000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:18.533 new_end_speed 2.000000 j2_acc_t 0.005000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:18.533 new_end_speed 2.000000 j3_acc_t 0.005000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:18.533 new_end_speed 2.000000 j4_acc_t 0.005000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.240326 +2025-06-06 18:10:18.533 end_speed 2.000000 +2025-06-06 18:10:18.533 trail_number0.010000 +2025-06-06 18:10:18.533 tcp_distance 0.000000 +2025-06-06 18:10:18.602 wait_stop in +2025-06-06 18:10:18.665 30 30 30 30 +2025-06-06 18:10:18.665 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -928.118286 2.000000 0.000000 1 +2025-06-06 18:10:18.665 goal_angle -6.225744 73.852539 +2025-06-06 18:10:18.665 new_movej_angle -6.225744 73.852539 -69.808502 -928.118286 0.000000 2.000000 +2025-06-06 18:10:18.743 wait_stop in +2025-06-06 18:10:18.810 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -927.118286 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -928.117188 +2025-06-06 18:10:18.816 30 30 30 30 +2025-06-06 18:10:18.816 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -928.405090 2.000000 0.000000 1 +2025-06-06 18:10:18.816 goal_angle -6.225744 73.852539 +2025-06-06 18:10:18.816 new_movej_angle -6.225744 73.852539 -69.808502 -928.405090 0.000000 2.000000 +2025-06-06 18:10:18.817 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:18.817 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -928.118286 +2025-06-06 18:10:18.817 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -928.405090 +2025-06-06 18:10:18.817 speed 2.000000 +2025-06-06 18:10:18.817 tcp_distance 0.000000 +2025-06-06 18:10:18.817 new_end_speed 2.000000 j1_acc_t 0.071701 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:18.818 new_end_speed 2.000000 j2_acc_t 0.071701 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:18.818 new_end_speed 2.000000 j3_acc_t 0.071701 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:18.818 new_end_speed 2.000000 j4_acc_t 0.071701 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:18.818 end_speed 2.000000 +2025-06-06 18:10:18.818 trail_number0.143402 +2025-06-06 18:10:18.818 tcp_distance 0.000000 +2025-06-06 18:10:18.904 wait_stop in +2025-06-06 18:10:18.934 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -928.117188 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -928.118286 +2025-06-06 18:10:18.934 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -928.118286 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -928.405090 +2025-06-06 18:10:18.969 30 30 30 30 +2025-06-06 18:10:18.969 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -929.405090 2.000000 0.000000 1 +2025-06-06 18:10:18.969 goal_angle -6.225744 73.852539 +2025-06-06 18:10:18.969 new_movej_angle -6.225744 73.852539 -69.808502 -929.405090 0.000000 2.000000 +2025-06-06 18:10:18.970 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:18.970 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -928.405090 +2025-06-06 18:10:18.970 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -929.405090 +2025-06-06 18:10:18.970 speed 2.000000 +2025-06-06 18:10:18.970 tcp_distance 0.000000 +2025-06-06 18:10:18.970 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:18.971 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:18.971 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:18.971 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:18.971 end_speed 2.000000 +2025-06-06 18:10:18.971 trail_number0.500000 +2025-06-06 18:10:18.971 tcp_distance 0.000000 +2025-06-06 18:10:19.057 wait_stop in +2025-06-06 18:10:19.124 30 30 30 30 +2025-06-06 18:10:19.125 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -929.405090 2.000000 0.000000 1 +2025-06-06 18:10:19.125 goal_angle -6.225744 73.852539 +2025-06-06 18:10:19.125 new_movej_angle -6.225744 73.852539 -69.808502 -929.405090 0.000000 2.000000 +2025-06-06 18:10:19.219 wait_stop in +2025-06-06 18:10:19.276 30 30 30 30 +2025-06-06 18:10:19.277 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -929.405090 2.000000 0.000000 1 +2025-06-06 18:10:19.277 goal_angle -6.225744 73.852539 +2025-06-06 18:10:19.277 new_movej_angle -6.225744 73.852539 -69.808502 -929.405090 0.000000 2.000000 +2025-06-06 18:10:19.355 wait_stop in +2025-06-06 18:10:19.437 30 30 30 30 +2025-06-06 18:10:19.437 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -929.405090 2.000000 0.000000 1 +2025-06-06 18:10:19.437 goal_angle -6.225744 73.852539 +2025-06-06 18:10:19.437 new_movej_angle -6.225744 73.852539 -69.808502 -929.405090 0.000000 2.000000 +2025-06-06 18:10:19.507 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -928.405090 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -929.405090 +2025-06-06 18:10:19.517 wait_stop in +2025-06-06 18:10:19.600 30 30 30 30 +2025-06-06 18:10:19.600 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -930.368408 2.000000 0.000000 1 +2025-06-06 18:10:19.600 goal_angle -6.225744 73.852539 +2025-06-06 18:10:19.600 new_movej_angle -6.225744 73.852539 -69.808502 -930.368408 0.000000 2.000000 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wait_stop in +2025-06-06 18:10:19.743 30 30 30 30 +2025-06-06 18:10:19.743 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -930.405090 2.000000 0.000000 1 +2025-06-06 18:10:19.743 goal_angle -6.225744 73.852539 +2025-06-06 18:10:19.744 new_movej_angle -6.225744 73.852539 -69.808502 -930.405090 0.000000 2.000000 +2025-06-06 18:10:19.744 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:19.744 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -930.368408 +2025-06-06 18:10:19.744 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -930.405090 +2025-06-06 18:10:19.744 speed 2.000000 +2025-06-06 18:10:19.744 tcp_distance 0.000000 +2025-06-06 18:10:19.745 new_end_speed 2.000000 j1_acc_t 0.009171 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:19.745 new_end_speed 2.000000 j2_acc_t 0.009171 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:19.745 new_end_speed 2.000000 j3_acc_t 0.009171 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:19.745 new_end_speed 2.000000 j4_acc_t 0.009171 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:19.745 end_speed 2.000000 +2025-06-06 18:10:19.745 trail_number0.018341 +2025-06-06 18:10:19.746 tcp_distance 0.000000 +2025-06-06 18:10:19.846 wait_stop in +2025-06-06 18:10:19.902 30 30 30 30 +2025-06-06 18:10:19.902 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -930.405090 2.000000 0.000000 1 +2025-06-06 18:10:19.902 goal_angle -6.225744 73.852539 +2025-06-06 18:10:19.902 new_movej_angle -6.225744 73.852539 -69.808502 -930.405090 0.000000 2.000000 +2025-06-06 18:10:20.005 wait_stop in +2025-06-06 18:10:20.045 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -929.405090 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -930.368408 +2025-06-06 18:10:20.059 30 30 30 30 +2025-06-06 18:10:20.059 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -930.710693 2.000000 0.000000 1 +2025-06-06 18:10:20.059 goal_angle -6.225744 73.852539 +2025-06-06 18:10:20.059 new_movej_angle -6.225744 73.852539 -69.808502 -930.710693 0.000000 2.000000 +2025-06-06 18:10:20.059 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:20.061 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -930.405090 +2025-06-06 18:10:20.061 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -930.710693 +2025-06-06 18:10:20.061 speed 2.000000 +2025-06-06 18:10:20.061 tcp_distance 0.000000 +2025-06-06 18:10:20.061 new_end_speed 2.000000 j1_acc_t 0.076401 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:20.061 new_end_speed 2.000000 j2_acc_t 0.076401 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:20.061 new_end_speed 2.000000 j3_acc_t 0.076401 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:20.062 new_end_speed 2.000000 j4_acc_t 0.076401 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:20.062 end_speed 2.000000 +2025-06-06 18:10:20.062 trail_number0.152802 +2025-06-06 18:10:20.062 tcp_distance 0.000000 +2025-06-06 18:10:20.138 wait_stop in +2025-06-06 18:10:20.139 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -930.368408 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -930.405090 +2025-06-06 18:10:20.139 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -930.405090 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -930.710693 +2025-06-06 18:10:20.223 30 30 30 30 +2025-06-06 18:10:20.223 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -931.710693 2.000000 0.000000 1 +2025-06-06 18:10:20.223 goal_angle -6.225744 73.852539 +2025-06-06 18:10:20.223 new_movej_angle -6.225744 73.852539 -69.808502 -931.710693 0.000000 2.000000 +2025-06-06 18:10:20.224 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:20.224 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -930.710693 +2025-06-06 18:10:20.224 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -931.710693 +2025-06-06 18:10:20.224 speed 2.000000 +2025-06-06 18:10:20.224 tcp_distance 0.000000 +2025-06-06 18:10:20.224 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:20.224 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:20.225 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:20.225 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:20.225 end_speed 2.000000 +2025-06-06 18:10:20.225 trail_number0.500000 +2025-06-06 18:10:20.225 tcp_distance 0.000000 +2025-06-06 18:10:20.317 wait_stop in +2025-06-06 18:10:20.391 30 30 30 30 +2025-06-06 18:10:20.392 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -931.710693 2.000000 0.000000 1 +2025-06-06 18:10:20.392 goal_angle -6.225744 73.852539 +2025-06-06 18:10:20.392 new_movej_angle -6.225744 73.852539 -69.808502 -931.710693 0.000000 2.000000 +2025-06-06 18:10:20.661 wait_stop in +2025-06-06 18:10:20.717 30 30 30 30 +2025-06-06 18:10:20.717 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -931.710693 2.000000 0.000000 1 +2025-06-06 18:10:20.717 goal_angle -6.225744 73.852539 +2025-06-06 18:10:20.717 new_movej_angle -6.225744 73.852539 -69.808502 -931.710693 0.000000 2.000000 +2025-06-06 18:10:20.729 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -930.710693 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -931.710693 +2025-06-06 18:10:20.823 wait_stop in +2025-06-06 18:10:20.913 30 30 30 30 +2025-06-06 18:10:20.913 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -932.710693 2.000000 0.000000 1 +2025-06-06 18:10:20.913 goal_angle -6.225744 73.852539 +2025-06-06 18:10:20.913 new_movej_angle -6.225744 73.852539 -69.808502 -932.710693 0.000000 2.000000 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wait_stop in +2025-06-06 18:10:21.089 30 30 30 30 +2025-06-06 18:10:21.090 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -932.710693 2.000000 0.000000 1 +2025-06-06 18:10:21.090 goal_angle -6.225744 73.852539 +2025-06-06 18:10:21.090 new_movej_angle -6.225744 73.852539 -69.808502 -932.710693 0.000000 2.000000 +2025-06-06 18:10:21.181 wait_stop in +2025-06-06 18:10:21.267 30 30 30 30 +2025-06-06 18:10:21.267 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -932.710693 2.000000 0.000000 1 +2025-06-06 18:10:21.268 goal_angle -6.225744 73.852539 +2025-06-06 18:10:21.268 new_movej_angle -6.225744 73.852539 -69.808502 -932.710693 0.000000 2.000000 +2025-06-06 18:10:21.271 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -931.710693 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -932.710693 +2025-06-06 18:10:21.360 wait_stop in +2025-06-06 18:10:21.441 30 30 30 30 +2025-06-06 18:10:21.442 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -933.710693 2.000000 0.000000 1 +2025-06-06 18:10:21.442 goal_angle -6.225744 73.852539 +2025-06-06 18:10:21.442 new_movej_angle -6.225744 73.852539 -69.808502 -933.710693 0.000000 2.000000 +2025-06-06 18:10:21.442 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:21.442 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -932.710693 +2025-06-06 18:10:21.442 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -933.710693 +2025-06-06 18:10:21.442 speed 2.000000 +2025-06-06 18:10:21.442 tcp_distance 0.000000 +2025-06-06 18:10:21.444 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:21.444 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:21.444 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:21.444 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:21.444 end_speed 2.000000 +2025-06-06 18:10:21.445 trail_number0.500000 +2025-06-06 18:10:21.445 tcp_distance 0.000000 +2025-06-06 18:10:21.522 wait_stop in +2025-06-06 18:10:21.613 30 30 30 30 +2025-06-06 18:10:21.613 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -933.710693 2.000000 0.000000 1 +2025-06-06 18:10:21.613 goal_angle -6.225744 73.852539 +2025-06-06 18:10:21.613 new_movej_angle -6.225744 73.852539 -69.808502 -933.710693 0.000000 2.000000 +2025-06-06 18:10:21.704 wait_stop in +2025-06-06 18:10:21.811 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -932.710693 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -933.710693 +2025-06-06 18:10:21.813 30 30 30 30 +2025-06-06 18:10:21.813 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -933.996887 2.000000 0.000000 1 +2025-06-06 18:10:21.813 goal_angle -6.225744 73.852539 +2025-06-06 18:10:21.813 new_movej_angle -6.225744 73.852539 -69.808502 -933.996887 0.000000 2.000000 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wait_stop in +2025-06-06 18:10:21.933 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -933.710693 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -933.996887 +2025-06-06 18:10:21.989 30 30 30 30 +2025-06-06 18:10:21.989 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -934.996887 2.000000 0.000000 1 +2025-06-06 18:10:21.989 goal_angle -6.225744 73.852539 +2025-06-06 18:10:21.989 new_movej_angle -6.225744 73.852539 -69.808502 -934.996887 0.000000 2.000000 +2025-06-06 18:10:21.990 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:21.990 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -933.996887 +2025-06-06 18:10:21.990 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -934.996887 +2025-06-06 18:10:21.990 speed 2.000000 +2025-06-06 18:10:21.990 tcp_distance 0.000000 +2025-06-06 18:10:21.991 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:21.991 new_end_speed 2.000000 j2_acc_t 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18:10:22.336 goal_angle -6.225744 73.852539 +2025-06-06 18:10:22.336 new_movej_angle -6.225744 73.852539 -69.808502 -934.996887 0.000000 2.000000 +2025-06-06 18:10:22.445 wait_stop in +2025-06-06 18:10:22.497 30 30 30 30 +2025-06-06 18:10:22.498 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -934.996887 2.000000 0.000000 1 +2025-06-06 18:10:22.498 goal_angle -6.225744 73.852539 +2025-06-06 18:10:22.498 new_movej_angle -6.225744 73.852539 -69.808502 -934.996887 0.000000 2.000000 +2025-06-06 18:10:22.518 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -933.996887 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -934.996887 +2025-06-06 18:10:22.601 wait_stop in +2025-06-06 18:10:22.678 30 30 30 30 +2025-06-06 18:10:22.678 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -935.996887 2.000000 0.000000 1 +2025-06-06 18:10:22.678 goal_angle -6.225744 73.852539 +2025-06-06 18:10:22.679 new_movej_angle -6.225744 73.852539 -69.808502 -935.996887 0.000000 2.000000 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wait_stop in +2025-06-06 18:10:22.864 30 30 30 30 +2025-06-06 18:10:22.865 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -935.996887 2.000000 0.000000 1 +2025-06-06 18:10:22.865 goal_angle -6.225744 73.852539 +2025-06-06 18:10:22.865 new_movej_angle -6.225744 73.852539 -69.808502 -935.996887 0.000000 2.000000 +2025-06-06 18:10:22.943 wait_stop in +2025-06-06 18:10:23.027 30 30 30 30 +2025-06-06 18:10:23.028 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -935.996887 2.000000 0.000000 1 +2025-06-06 18:10:23.028 goal_angle -6.225744 73.852539 +2025-06-06 18:10:23.028 new_movej_angle -6.225744 73.852539 -69.808502 -935.996887 0.000000 2.000000 +2025-06-06 18:10:23.042 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -934.996887 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -935.996887 +2025-06-06 18:10:23.105 wait_stop in +2025-06-06 18:10:23.181 30 30 30 30 +2025-06-06 18:10:23.182 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -936.996887 2.000000 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4.375000 +2025-06-06 18:10:23.184 end_speed 2.000000 +2025-06-06 18:10:23.184 trail_number0.500000 +2025-06-06 18:10:23.184 tcp_distance 0.000000 +2025-06-06 18:10:23.283 wait_stop in +2025-06-06 18:10:23.345 30 30 30 30 +2025-06-06 18:10:23.346 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -936.996887 2.000000 0.000000 1 +2025-06-06 18:10:23.346 goal_angle -6.225744 73.852539 +2025-06-06 18:10:23.346 new_movej_angle -6.225744 73.852539 -69.808502 -936.996887 0.000000 2.000000 +2025-06-06 18:10:23.446 wait_stop in +2025-06-06 18:10:23.516 30 30 30 30 +2025-06-06 18:10:23.516 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -936.996887 2.000000 0.000000 1 +2025-06-06 18:10:23.516 goal_angle -6.225744 73.852539 +2025-06-06 18:10:23.516 new_movej_angle -6.225744 73.852539 -69.808502 -936.996887 0.000000 2.000000 +2025-06-06 18:10:23.568 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -935.996887 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -936.996887 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0.000000 2.000000 +2025-06-06 18:10:25.057 wait_stop in +2025-06-06 18:10:25.151 30 30 30 30 +2025-06-06 18:10:25.151 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -939.996887 2.000000 0.000000 1 +2025-06-06 18:10:25.151 goal_angle -6.225744 73.852539 +2025-06-06 18:10:25.151 new_movej_angle -6.225744 73.852539 -69.808502 -939.996887 0.000000 2.000000 +2025-06-06 18:10:25.172 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -938.996887 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -939.996887 +2025-06-06 18:10:25.248 wait_stop in +2025-06-06 18:10:25.326 30 30 30 30 +2025-06-06 18:10:25.326 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -940.996887 2.000000 0.000000 1 +2025-06-06 18:10:25.326 goal_angle -6.225744 73.852539 +2025-06-06 18:10:25.326 new_movej_angle -6.225744 73.852539 -69.808502 -940.996887 0.000000 2.000000 +2025-06-06 18:10:25.326 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:25.327 angle1_1 -6.225744 angle2_1 73.852539 z1 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-69.808502 -940.996887 2.000000 0.000000 1 +2025-06-06 18:10:25.494 goal_angle -6.225744 73.852539 +2025-06-06 18:10:25.494 new_movej_angle -6.225744 73.852539 -69.808502 -940.996887 0.000000 2.000000 +2025-06-06 18:10:25.585 wait_stop in +2025-06-06 18:10:25.654 30 30 30 30 +2025-06-06 18:10:25.654 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -940.996887 2.000000 0.000000 1 +2025-06-06 18:10:25.654 goal_angle -6.225744 73.852539 +2025-06-06 18:10:25.654 new_movej_angle -6.225744 73.852539 -69.808502 -940.996887 0.000000 2.000000 +2025-06-06 18:10:25.712 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -939.996887 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -940.996887 +2025-06-06 18:10:25.770 wait_stop in +2025-06-06 18:10:25.879 30 30 30 30 +2025-06-06 18:10:25.879 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -941.996887 2.000000 0.000000 1 +2025-06-06 18:10:25.879 goal_angle -6.225744 73.852539 +2025-06-06 18:10:25.879 new_movej_angle 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73.852539 +2025-06-06 18:10:28.868 new_movej_angle -6.225744 73.852539 -69.808502 -947.283081 0.000000 2.000000 +2025-06-06 18:10:28.868 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:28.868 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -947.281982 +2025-06-06 18:10:28.868 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -947.283081 +2025-06-06 18:10:28.869 speed 2.000000 +2025-06-06 18:10:28.869 tcp_distance 0.000000 +2025-06-06 18:10:28.869 new_end_speed 2.000000 j1_acc_t 0.005000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:28.869 new_end_speed 2.000000 j2_acc_t 0.005000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:28.869 new_end_speed 2.000000 j3_acc_t 0.005000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:28.869 new_end_speed 2.000000 j4_acc_t 0.005000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.240326 +2025-06-06 18:10:28.870 end_speed 2.000000 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-6.225744 73.852539 +2025-06-06 18:10:29.306 new_movej_angle -6.225744 73.852539 -69.808502 -948.283081 0.000000 2.000000 +2025-06-06 18:10:29.306 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:29.307 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -947.283081 +2025-06-06 18:10:29.307 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -948.283081 +2025-06-06 18:10:29.307 speed 2.000000 +2025-06-06 18:10:29.307 tcp_distance 0.000000 +2025-06-06 18:10:29.307 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:29.308 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:29.308 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:29.308 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:29.308 end_speed 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30 30 30 +2025-06-06 18:10:29.985 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -949.283081 2.000000 0.000000 1 +2025-06-06 18:10:29.985 goal_angle -6.225744 73.852539 +2025-06-06 18:10:29.985 new_movej_angle -6.225744 73.852539 -69.808502 -949.283081 0.000000 2.000000 +2025-06-06 18:10:29.986 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:29.986 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -949.281982 +2025-06-06 18:10:29.986 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -949.283081 +2025-06-06 18:10:29.986 speed 2.000000 +2025-06-06 18:10:29.986 tcp_distance 0.000000 +2025-06-06 18:10:29.986 new_end_speed 2.000000 j1_acc_t 0.005000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:29.987 new_end_speed 2.000000 j2_acc_t 0.005000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:29.987 new_end_speed 2.000000 j3_acc_t 0.005000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:29.987 new_end_speed 2.000000 j4_acc_t 0.005000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.240326 +2025-06-06 18:10:29.987 end_speed 2.000000 +2025-06-06 18:10:29.987 trail_number0.010000 +2025-06-06 18:10:29.987 tcp_distance 0.000000 +2025-06-06 18:10:30.088 wait_stop in +2025-06-06 18:10:30.183 30 30 30 30 +2025-06-06 18:10:30.184 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -949.283081 2.000000 0.000000 1 +2025-06-06 18:10:30.184 goal_angle -6.225744 73.852539 +2025-06-06 18:10:30.184 new_movej_angle -6.225744 73.852539 -69.808502 -949.283081 0.000000 2.000000 +2025-06-06 18:10:30.185 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -948.283081 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -949.281982 +2025-06-06 18:10:30.294 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -949.281982 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -949.283081 +2025-06-06 18:10:30.298 wait_stop in +2025-06-06 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-6.225744 73.852539 +2025-06-06 18:10:30.820 new_movej_angle -6.225744 73.852539 -69.808502 -951.283081 0.000000 2.000000 +2025-06-06 18:10:30.820 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:30.820 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -950.283081 +2025-06-06 18:10:30.821 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -951.283081 +2025-06-06 18:10:30.821 speed 2.000000 +2025-06-06 18:10:30.821 tcp_distance 0.000000 +2025-06-06 18:10:30.821 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:30.822 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:30.822 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:30.822 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:30.822 end_speed 2.000000 +2025-06-06 18:10:30.822 trail_number0.500000 +2025-06-06 18:10:30.822 tcp_distance 0.000000 +2025-06-06 18:10:30.913 wait_stop in +2025-06-06 18:10:31.004 30 30 30 30 +2025-06-06 18:10:31.004 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -951.283081 2.000000 0.000000 1 +2025-06-06 18:10:31.004 goal_angle -6.225744 73.852539 +2025-06-06 18:10:31.004 new_movej_angle -6.225744 73.852539 -69.808502 -951.283081 0.000000 2.000000 +2025-06-06 18:10:31.115 wait_stop in +2025-06-06 18:10:31.185 30 30 30 30 +2025-06-06 18:10:31.185 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -951.283081 2.000000 0.000000 1 +2025-06-06 18:10:31.185 goal_angle -6.225744 73.852539 +2025-06-06 18:10:31.185 new_movej_angle -6.225744 73.852539 -69.808502 -951.283081 0.000000 2.000000 +2025-06-06 18:10:31.247 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -950.283081 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -951.283081 +2025-06-06 18:10:31.300 wait_stop in 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j3_max_sp 0.000000 +2025-06-06 18:10:31.407 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:31.407 end_speed 2.000000 +2025-06-06 18:10:31.407 trail_number0.500000 +2025-06-06 18:10:31.407 tcp_distance 0.000000 +2025-06-06 18:10:31.501 wait_stop in +2025-06-06 18:10:31.620 30 30 30 30 +2025-06-06 18:10:31.620 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -952.283081 2.000000 0.000000 1 +2025-06-06 18:10:31.620 goal_angle -6.225744 73.852539 +2025-06-06 18:10:31.621 new_movej_angle -6.225744 73.852539 -69.808502 -952.283081 0.000000 2.000000 +2025-06-06 18:10:31.718 wait_stop in +2025-06-06 18:10:31.787 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -951.283081 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -952.283081 +2025-06-06 18:10:31.794 30 30 30 30 +2025-06-06 18:10:31.795 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -952.704407 2.000000 0.000000 1 +2025-06-06 18:10:31.795 goal_angle -6.225744 73.852539 +2025-06-06 18:10:31.795 new_movej_angle -6.225744 73.852539 -69.808502 -952.704407 0.000000 2.000000 +2025-06-06 18:10:31.795 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:31.795 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -952.283081 +2025-06-06 18:10:31.795 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -952.704407 +2025-06-06 18:10:31.796 speed 2.000000 +2025-06-06 18:10:31.796 tcp_distance 0.000000 +2025-06-06 18:10:31.796 new_end_speed 2.000000 j1_acc_t 0.105331 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:31.796 new_end_speed 2.000000 j2_acc_t 0.105331 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:31.796 new_end_speed 2.000000 j3_acc_t 0.105331 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:31.796 new_end_speed 2.000000 j4_acc_t 0.105331 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 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wait_stop in +2025-06-06 18:10:32.532 30 30 30 30 +2025-06-06 18:10:32.532 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -953.704407 2.000000 0.000000 1 +2025-06-06 18:10:32.532 goal_angle -6.225744 73.852539 +2025-06-06 18:10:32.532 new_movej_angle -6.225744 73.852539 -69.808502 -953.704407 0.000000 2.000000 +2025-06-06 18:10:32.537 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -952.704407 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -953.704407 +2025-06-06 18:10:32.643 wait_stop in +2025-06-06 18:10:32.746 30 30 30 30 +2025-06-06 18:10:32.746 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -954.704407 2.000000 0.000000 1 +2025-06-06 18:10:32.746 goal_angle -6.225744 73.852539 +2025-06-06 18:10:32.746 new_movej_angle -6.225744 73.852539 -69.808502 -954.704407 0.000000 2.000000 +2025-06-06 18:10:32.746 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:32.747 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -953.704407 +2025-06-06 18:10:32.747 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18:10:32.982 goal_angle -6.225744 73.852539 +2025-06-06 18:10:32.982 new_movej_angle -6.225744 73.852539 -69.808502 -954.704407 0.000000 2.000000 +2025-06-06 18:10:33.064 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -953.704407 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -954.704407 +2025-06-06 18:10:33.081 wait_stop in +2025-06-06 18:10:33.179 30 30 30 30 +2025-06-06 18:10:33.179 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -955.704407 2.000000 0.000000 1 +2025-06-06 18:10:33.179 goal_angle -6.225744 73.852539 +2025-06-06 18:10:33.179 new_movej_angle -6.225744 73.852539 -69.808502 -955.704407 0.000000 2.000000 +2025-06-06 18:10:33.179 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:33.179 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -954.704407 +2025-06-06 18:10:33.180 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -955.704407 +2025-06-06 18:10:33.180 speed 2.000000 +2025-06-06 18:10:33.180 tcp_distance 0.000000 +2025-06-06 18:10:33.181 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:33.181 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:33.181 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:33.181 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:33.181 end_speed 2.000000 +2025-06-06 18:10:33.181 trail_number0.500000 +2025-06-06 18:10:33.181 tcp_distance 0.000000 +2025-06-06 18:10:33.295 wait_stop in +2025-06-06 18:10:33.392 30 30 30 30 +2025-06-06 18:10:33.393 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -955.704407 2.000000 0.000000 1 +2025-06-06 18:10:33.393 goal_angle -6.225744 73.852539 +2025-06-06 18:10:33.393 new_movej_angle -6.225744 73.852539 -69.808502 -955.704407 0.000000 2.000000 +2025-06-06 18:10:33.499 wait_stop in +2025-06-06 18:10:33.586 30 30 30 30 +2025-06-06 18:10:33.587 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -955.704407 2.000000 0.000000 1 +2025-06-06 18:10:33.587 goal_angle -6.225744 73.852539 +2025-06-06 18:10:33.587 new_movej_angle -6.225744 73.852539 -69.808502 -955.704407 0.000000 2.000000 +2025-06-06 18:10:33.592 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -954.704407 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -955.704407 +2025-06-06 18:10:33.696 wait_stop in +2025-06-06 18:10:33.793 30 30 30 30 +2025-06-06 18:10:33.794 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -956.704407 2.000000 0.000000 1 +2025-06-06 18:10:33.794 goal_angle -6.225744 73.852539 +2025-06-06 18:10:33.794 new_movej_angle -6.225744 73.852539 -69.808502 -956.704407 0.000000 2.000000 +2025-06-06 18:10:33.794 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:33.794 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -955.704407 +2025-06-06 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+2025-06-06 18:10:34.580 wait_stop in +2025-06-06 18:10:34.671 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -956.704407 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -957.704407 +2025-06-06 18:10:34.689 30 30 30 30 +2025-06-06 18:10:34.690 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -957.990601 2.000000 0.000000 1 +2025-06-06 18:10:34.690 goal_angle -6.225744 73.852539 +2025-06-06 18:10:34.690 new_movej_angle -6.225744 73.852539 -69.808502 -957.990601 0.000000 2.000000 +2025-06-06 18:10:34.691 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:34.691 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -957.704407 +2025-06-06 18:10:34.691 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -957.990601 +2025-06-06 18:10:34.691 speed 2.000000 +2025-06-06 18:10:34.691 tcp_distance 0.000000 +2025-06-06 18:10:34.692 new_end_speed 2.000000 j1_acc_t 0.071548 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:34.692 new_end_speed 2.000000 j2_acc_t 0.071548 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:34.692 new_end_speed 2.000000 j3_acc_t 0.071548 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:34.692 new_end_speed 2.000000 j4_acc_t 0.071548 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:34.692 end_speed 2.000000 +2025-06-06 18:10:34.692 trail_number0.143097 +2025-06-06 18:10:34.693 tcp_distance 0.000000 +2025-06-06 18:10:34.795 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -957.704407 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -957.990601 +2025-06-06 18:10:34.814 wait_stop in +2025-06-06 18:10:34.925 30 30 30 30 +2025-06-06 18:10:34.925 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -958.990601 2.000000 0.000000 1 +2025-06-06 18:10:34.925 goal_angle -6.225744 73.852539 +2025-06-06 18:10:34.926 new_movej_angle -6.225744 73.852539 -69.808502 -958.990601 0.000000 2.000000 +2025-06-06 18:10:34.926 z1 -69.808502 z2 -69.808502 +2025-06-06 18:10:34.926 angle1_1 -6.225744 angle2_1 73.852539 z1 -69.808502 r1 -957.990601 +2025-06-06 18:10:34.926 angle1_2 -6.225744 angle2_2 73.852539 z2 -69.808502 r2 -958.990601 +2025-06-06 18:10:34.926 speed 2.000000 +2025-06-06 18:10:34.926 tcp_distance 0.000000 +2025-06-06 18:10:34.927 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-06 18:10:34.927 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-06 18:10:34.927 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-06 18:10:34.927 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-06 18:10:34.927 end_speed 2.000000 +2025-06-06 18:10:34.927 trail_number0.500000 +2025-06-06 18:10:34.927 tcp_distance 0.000000 +2025-06-06 18:10:35.057 wait_stop in +2025-06-06 18:10:35.178 30 30 30 30 +2025-06-06 18:10:35.178 new_movej_xyz_lr 294.830109 161.086700 -69.808502 -958.990601 2.000000 0.000000 1 +2025-06-06 18:10:35.178 goal_angle -6.225744 73.852539 +2025-06-06 18:10:35.178 new_movej_angle -6.225744 73.852539 -69.808502 -958.990601 0.000000 2.000000 +2025-06-06 18:10:35.366 angle1_1 = -6.225744 angle2_1 = 73.852539 z1 = -69.808502 r1 = -957.990601 angle1_2 = -6.225744 angle2_2 = 73.852539 z2 = -69.808502 r2 = -958.990601 +2025-06-06 18:10:35.922 wait_stop out_0 +2025-06-06 18:10:35.923 wait_stop out_0 +2025-06-06 18:10:35.923 wait_stop out_0 +2025-06-06 18:10:35.923 wait_stop out_0 +2025-06-06 18:10:35.923 wait_stop out_0 +2025-06-06 18:10:35.924 wait_stop out_0 +2025-06-06 18:10:35.924 wait_stop out_0 +2025-06-06 18:10:35.924 wait_stop out_0 +2025-06-06 18:10:35.924 wait_stop out_0 +2025-06-06 18:10:35.926 wait_stop out_0 +2025-06-06 18:10:35.926 wait_stop out_0 +2025-06-06 18:10:35.926 wait_stop out_0 +2025-06-06 18:10:35.926 wait_stop out_0 +2025-06-06 18:10:35.926 wait_stop out_0 +2025-06-06 18:10:35.927 wait_stop out_0 +2025-06-06 18:10:35.927 wait_stop out_0 +2025-06-06 18:10:35.927 wait_stop out_0 +2025-06-06 18:10:35.927 wait_stop out_0 +2025-06-06 18:10:35.928 wait_stop out_0 +2025-06-06 18:10:35.928 wait_stop out_0 +2025-06-06 18:10:35.929 wait_stop out_0 +2025-06-06 18:10:35.929 wait_stop out_0 +2025-06-06 18:10:35.929 wait_stop out_0 +2025-06-06 18:10:35.929 wait_stop out_0 +2025-06-06 18:10:35.929 wait_stop out_0 +2025-06-06 18:10:35.931 wait_stop out_0 +2025-06-06 18:10:35.931 wait_stop out_0 +2025-06-06 18:10:35.931 wait_stop out_0 +2025-06-06 18:10:35.931 wait_stop out_0 +2025-06-06 18:10:35.932 wait_stop out_0 +2025-06-06 18:10:35.933 wait_stop out_0 +2025-06-06 18:10:35.933 wait_stop out_0 +2025-06-06 18:10:35.933 wait_stop out_0 +2025-06-06 18:10:35.933 wait_stop out_0 +2025-06-06 18:10:35.934 wait_stop out_0 +2025-06-06 18:10:35.934 wait_stop out_0 +2025-06-06 18:10:35.935 wait_stop out_0 +2025-06-06 18:10:35.935 wait_stop out_0 +2025-06-06 18:10:35.935 wait_stop out_0 +2025-06-06 18:10:35.936 wait_stop out_0 +2025-06-06 18:10:35.939 wait_stop out_0 +2025-06-06 18:10:35.943 wait_stop out_0 +2025-06-06 18:10:35.945 wait_stop out_0 +2025-06-06 18:10:35.946 wait_stop out_0 +2025-06-06 18:10:35.950 wait_stop out_0 +2025-06-06 18:10:35.962 wait_stop out_0 +2025-06-06 18:10:35.962 wait_stop out_0 +2025-06-06 18:10:35.964 wait_stop out_0 +2025-06-06 18:10:35.973 wait_stop out_0 +2025-06-06 18:10:35.980 wait_stop out_0 +2025-06-06 18:10:35.986 wait_stop out_0 +2025-06-06 18:10:35.986 wait_stop out_0 +2025-06-06 18:10:35.990 wait_stop out_0 +2025-06-06 18:10:35.995 wait_stop out_0 +2025-06-06 18:10:35.996 wait_stop out_0 +2025-06-06 18:10:35.998 wait_stop out_0 +2025-06-06 18:10:36.000 wait_stop out_0 +2025-06-06 18:10:36.002 wait_stop out_0 +2025-06-06 18:10:36.003 wait_stop out_0 +2025-06-06 18:10:36.004 wait_stop out_0 +2025-06-06 18:10:36.012 wait_stop out_0 +2025-06-06 18:10:36.019 wait_stop out_0 +2025-06-06 18:10:36.026 wait_stop out_0 +2025-06-06 18:10:36.030 wait_stop out_0 +2025-06-06 18:10:36.030 wait_stop out_0 +2025-06-06 18:10:36.031 wait_stop out_0 +2025-06-06 18:10:36.033 wait_stop out_0 +2025-06-06 18:10:36.034 wait_stop out_0 +2025-06-06 18:10:36.041 wait_stop out_0 +2025-06-06 18:10:36.041 wait_stop out_0 +2025-06-06 18:10:36.042 wait_stop out_0 +2025-06-06 18:10:36.044 wait_stop out_0 +2025-06-06 18:10:36.046 wait_stop out_0 +2025-06-06 18:10:36.046 wait_stop out_0 +2025-06-06 18:10:36.047 wait_stop out_0 +2025-06-06 18:10:36.049 wait_stop out_0 +2025-06-06 18:10:36.050 wait_stop out_0 +2025-06-06 18:10:36.050 wait_stop out_0 +2025-06-06 18:10:36.050 wait_stop out_0 +2025-06-06 18:10:36.052 wait_stop out_0 +2025-06-06 18:10:36.053 wait_stop out_0 +2025-06-06 18:10:36.054 wait_stop out_0 +2025-06-06 18:10:36.057 wait_stop out_0 +2025-06-06 18:10:36.058 wait_stop out_0 +2025-06-06 18:10:36.061 wait_stop out_0 +2025-06-06 18:10:36.063 wait_stop out_0 +2025-06-06 18:10:36.066 wait_stop out_0 +2025-06-06 18:10:36.068 wait_stop out_0 +2025-06-06 18:10:36.070 wait_stop out_0 +2025-06-06 18:10:36.070 wait_stop out_0 +2025-06-06 18:10:36.070 wait_stop out_0 +2025-06-06 18:10:36.070 wait_stop out_0 +2025-06-06 18:10:36.071 wait_stop out_0 +2025-06-06 18:10:36.072 wait_stop out_0 +2025-06-06 18:10:36.072 wait_stop out_0 +2025-06-06 18:10:36.073 wait_stop out_0 +2025-06-06 18:10:36.073 wait_stop out_0 +2025-06-06 18:10:36.073 wait_stop out_0 +2025-06-06 18:13:35.679 ROBOT_ERROR_CODE = 1004 +2025-06-06 18:13:35.679 +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 : 3762 3014 3014 3014 3011 0 +2025-06-06 18:13:39.610 SDK_VERSION_V2.0.0.29_Release +2025-06-06 18:13:39.610 robot connected +2025-06-06 18:13:39.610 26 +2025-06-06 18:13:39.610 current generation=26 +2025-06-06 18:13:40.177 0x1a +2025-06-06 18:13:41.059 initial joint2 2145752 +2025-06-06 18:13:41.059 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-06 18:13:41.059 robot WritePID +2025-06-06 18:13:41.366 initial joint1 -41359 +2025-06-06 18:13:41.429 initial joint2 2145754 +2025-06-06 18:13:41.474 initial joint3 -203563 +2025-06-06 18:13:41.521 initial joint4 -27044136 +2025-06-06 18:13:41.536 initial joint1 -41359 +2025-06-06 18:13:41.582 initial joint2 2145752 +2025-06-06 18:13:41.629 initial joint3 -203563 +2025-06-06 18:13:41.675 initial joint4 -27044137 +2025-06-06 18:13:41.691 initial joint1 -41358 +2025-06-06 18:13:41.738 initial joint2 2145754 +2025-06-06 18:13:41.784 initial joint3 -203564 +2025-06-06 18:13:41.831 initial joint4 -27044137 +2025-06-06 18:13:44.017 initial_thread initialized +2025-06-06 18:13:44.017 servo enable +2025-06-06 18:13:44.017 brake open +2025-06-06 18:13:44.019 set_brake_state 0 1 +2025-06-06 18:13:44.233 robot initialized +2025-06-06 18:13:44.801 get_scara_param -2.839700 73.668701 -69.888100 -1072.822632 +2025-06-06 18:13:44.802 get_scara_real_coor -2.839800 73.668701 -69.888397 -1072.822754 +2025-06-06 18:13:44.802 λɢ +2025-06-06 18:13:44.802 position -41356.128906 2145756.500000 -203563.843750 -27044138.000000 -90668.968750 2151111.000000 -203332.000000 -24014546.000000 +2025-06-06 18:13:44.802 speed 3386.044189 183.832169 79.597237 124815.351563 +2025-06-06 18:13:44.802 set_first_position_after_initial +2025-06-06 18:13:44.803 movej_old start_pos: -2.839700 73.668701 -69.888100 -1072.822632 end_pos: -2.839700 73.668701 -69.888100 -1072.822632 org_sp 10.000000 end_sp 10.000000 +2025-06-06 18:13:45.107 J3 Belt Meilage=40.857780km diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-07.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-07.hilog new file mode 100644 index 0000000..73a85ab --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-07.hilog @@ -0,0 +1,957 @@ +2025-06-07 10:04:30.065 SDK_VERSION_V2.0.0.29_Release +2025-06-07 10:04:30.065 robot connected +2025-06-07 10:04:30.065 26 +2025-06-07 10:04:30.065 current generation=26 +2025-06-07 10:04:30.580 0x1a +2025-06-07 10:04:30.580 initial return 3 ĩ˹ؽڲ޶Χʹjoint_homeʹؽǿƻ +2025-06-07 10:04:35.411 SDK_VERSION_V2.0.0.29_Release +2025-06-07 10:04:35.423 robot connected +2025-06-07 10:04:35.423 26 +2025-06-07 10:04:35.423 current generation=26 +2025-06-07 10:04:35.930 0x1a +2025-06-07 10:04:36.766 initial joint2 2145761 +2025-06-07 10:04:36.766 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-07 10:04:36.766 robot WritePID +2025-06-07 10:04:37.073 initial joint1 -41355 +2025-06-07 10:04:37.138 initial joint2 2145763 +2025-06-07 10:04:37.173 initial joint3 -203564 +2025-06-07 10:04:37.235 initial joint4 -27044139 +2025-06-07 10:04:37.263 initial joint1 -41356 +2025-06-07 10:04:37.317 initial joint2 2145765 +2025-06-07 10:04:37.373 initial joint3 -203565 +2025-06-07 10:04:37.425 initial joint4 -27044139 +2025-06-07 10:04:37.443 initial joint1 -41355 +2025-06-07 10:04:37.502 initial joint2 2145767 +2025-06-07 10:04:37.545 initial joint3 -203565 +2025-06-07 10:04:37.585 initial joint4 -27044141 +2025-06-07 10:04:39.832 initial_thread initialized +2025-06-07 10:04:39.832 servo enable +2025-06-07 10:04:39.833 brake open +2025-06-07 10:04:39.833 set_brake_state 0 1 +2025-06-07 10:04:40.041 robot initialized +2025-06-07 10:04:40.603 get_scara_param -2.839400 73.669098 -69.888397 -1072.822388 +2025-06-07 10:04:40.603 get_scara_real_coor -2.839600 73.669098 -69.888802 -1072.822510 +2025-06-07 10:04:40.603 λɢ +2025-06-07 10:04:40.603 position -41351.761719 2145768.000000 -203564.718750 -27044144.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-07 10:04:40.603 speed 2839.400146 73669.093750 69888.398438 1114184.500000 +2025-06-07 10:04:40.603 set_first_position_after_initial +2025-06-07 10:04:40.603 movej_old start_pos: -2.839400 73.669098 -69.888397 -1072.822388 end_pos: -2.839400 73.669098 -69.888397 -1072.822388 org_sp 10.000000 end_sp 10.000000 +2025-06-07 10:04:40.924 J3 Belt Meilage=40.867260km +2025-06-07 10:04:51.646 _new_stop_move_thread_0 +2025-06-07 10:04:51.646 j1_slow_down_t = 1 +2025-06-07 10:04:51.646 j2_slow_down_t = 2 +2025-06-07 10:04:51.646 j3_slow_down_t = 0 +2025-06-07 10:04:51.646 j4_slow_down_t = 0 +2025-06-07 10:04:51.646 tmp_t[3] = 2 +2025-06-07 10:04:51.648 _new_stop_move_thread_1 +2025-06-07 10:04:51.676 ROBOT_ERROR_CODE = 1002 +2025-06-07 10:04:51.676 +0 : 9999 9999 9999 9999 9999 0 +1 : 9999 9999 9999 9999 9999 0 +2 : 9999 9999 9999 9999 9999 0 +3 : 9999 9999 9999 9999 9999 0 +4 : 9999 9999 9999 9999 9999 0 +5 : 9999 9999 9999 9999 9999 0 +6 : 9999 9999 9999 9999 9999 0 +7 : 9999 9999 9999 9999 9999 0 +8 : 9999 9999 9999 9999 9999 0 +9 : 9999 9999 9999 9999 9999 0 +10 : 9999 9999 9999 9999 9999 0 +11 : 9999 9999 9999 9999 9999 0 +12 : 9999 9999 9999 9999 9999 0 +13 : 9999 9999 9999 9999 9999 0 +14 : 9999 9999 9999 9999 9999 0 +15 : 9999 9999 9999 9999 9999 0 +2025-06-07 10:04:51.796 _new_stop_move_thread_2 +2025-06-07 10:04:51.828 _new_stop_move_thread_3 +2025-06-07 10:04:51.828 jog_move_xyzr return 99 ͣ +2025-06-07 10:04:51.828 get_scara_param -0.071000 63.085201 -69.888802 -1072.807617 +2025-06-07 10:04:51.828 get_scara_real_coor -0.071000 63.085201 -69.888802 -1072.807617 +2025-06-07 10:04:51.829 _new_stop_move_thread_4 +2025-06-07 10:04:52.032 wait_stop in +2025-06-07 10:04:52.048 wait_stop exit_2 +2025-06-07 10:04:53.537 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:53.659 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:53.746 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:53.875 wait_stop in +2025-06-07 10:04:53.891 wait_stop exit_2 +2025-06-07 10:04:53.963 wait_stop in +2025-06-07 10:04:53.978 wait_stop exit_2 +2025-06-07 10:04:55.897 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:56.101 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:56.308 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:56.512 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:56.721 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:56.928 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:57.130 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:57.332 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:57.542 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:57.758 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:57.960 wait_stop in +2025-06-07 10:04:57.976 wait_stop exit_2 +2025-06-07 10:04:57.976 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:58.196 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:58.397 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:58.607 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:58.815 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:59.020 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:59.228 jog_move_xyzr return 3 δʼ +2025-06-07 10:04:59.435 wait_stop in +2025-06-07 10:04:59.450 wait_stop exit_2 +2025-06-07 10:15:02.792 SDK_VERSION_V2.0.0.29_Release +2025-06-07 10:15:02.792 robot connected +2025-06-07 10:15:02.792 26 +2025-06-07 10:15:02.792 current generation=26 +2025-06-07 10:15:03.310 0x1a +2025-06-07 10:15:04.120 initial joint2 1837130 +2025-06-07 10:15:04.120 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-07 10:15:04.121 robot WritePID +2025-06-07 10:15:04.436 initial joint1 -820 +2025-06-07 10:15:04.486 initial joint2 1837130 +2025-06-07 10:15:04.551 initial joint3 -203566 +2025-06-07 10:15:04.587 initial joint4 -26957379 +2025-06-07 10:15:04.624 initial joint1 -819 +2025-06-07 10:15:04.657 initial joint2 1837131 +2025-06-07 10:15:04.705 initial joint3 -203566 +2025-06-07 10:15:04.747 initial joint4 -26957380 +2025-06-07 10:15:04.779 initial joint1 -819 +2025-06-07 10:15:04.850 initial joint2 1837132 +2025-06-07 10:15:04.898 initial joint3 -203566 +2025-06-07 10:15:04.959 initial joint4 -26957382 +2025-06-07 10:15:07.185 initial_thread initialized +2025-06-07 10:15:07.185 servo enable +2025-06-07 10:15:07.185 brake open +2025-06-07 10:15:07.185 set_brake_state 0 1 +2025-06-07 10:15:07.388 robot initialized +2025-06-07 10:15:07.673 initial return 0 е۲ +2025-06-07 10:15:11.550 SDK_VERSION_V2.0.0.29_Release +2025-06-07 10:15:11.550 robot connected +2025-06-07 10:15:11.550 26 +2025-06-07 10:15:11.550 current generation=26 +2025-06-07 10:15:12.067 0x1a +2025-06-07 10:15:12.951 initial joint2 1837136 +2025-06-07 10:15:12.951 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-07 10:15:12.951 robot WritePID +2025-06-07 10:15:13.256 initial joint1 -820 +2025-06-07 10:15:13.310 initial joint2 1837135 +2025-06-07 10:15:13.358 initial joint3 -203566 +2025-06-07 10:15:13.387 initial joint4 -26957383 +2025-06-07 10:15:13.419 initial joint1 -820 +2025-06-07 10:15:13.470 initial joint2 1837138 +2025-06-07 10:15:13.535 initial joint3 -203566 +2025-06-07 10:15:13.586 initial joint4 -26957384 +2025-06-07 10:15:13.619 initial joint1 -820 +2025-06-07 10:15:13.673 initial joint2 1837140 +2025-06-07 10:15:13.722 initial joint3 -203567 +2025-06-07 10:15:13.771 initial joint4 -26957385 +2025-06-07 10:15:15.914 initial_thread initialized +2025-06-07 10:15:15.914 servo enable +2025-06-07 10:15:15.914 brake open +2025-06-07 10:15:15.914 set_brake_state 0 1 +2025-06-07 10:15:16.126 robot initialized +2025-06-07 10:15:16.419 initial return 0 е۲ +2025-06-07 10:20:58.691 SDK_VERSION_V2.0.0.29_Release +2025-06-07 10:20:58.691 robot connected +2025-06-07 10:20:58.691 26 +2025-06-07 10:20:58.691 current generation=26 +2025-06-07 10:20:58.706 ROBOT_ERROR_CODE = 1004 +2025-06-07 10:20:58.706 +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 +2025-06-07 10:20:59.259 0x1a +2025-06-07 10:21:00.099 initial joint2 1840243 +2025-06-07 10:21:00.099 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-07 10:21:00.099 robot WritePID +2025-06-07 10:21:00.411 initial joint1 9885 +2025-06-07 10:21:00.467 initial joint2 1840242 +2025-06-07 10:21:00.517 initial joint3 -203775 +2025-06-07 10:21:00.571 initial joint4 -26957253 +2025-06-07 10:21:00.587 initial joint1 9886 +2025-06-07 10:21:00.636 initial joint2 1840243 +2025-06-07 10:21:00.683 initial joint3 -203776 +2025-06-07 10:21:00.729 initial joint4 -26957253 +2025-06-07 10:21:00.755 initial joint1 9886 +2025-06-07 10:21:00.803 initial joint2 1840242 +2025-06-07 10:21:00.845 initial joint3 -203776 +2025-06-07 10:21:00.899 initial joint4 -26957254 +2025-06-07 10:21:03.026 initial_thread initialized +2025-06-07 10:21:03.026 servo enable +2025-06-07 10:21:03.026 brake open +2025-06-07 10:21:03.026 set_brake_state 0 1 +2025-06-07 10:21:03.238 robot initialized +2025-06-07 10:21:03.815 get_scara_param 0.678800 63.179699 -69.961197 -1072.018066 +2025-06-07 10:21:03.815 get_scara_real_coor 0.678800 63.179699 -69.961197 -1072.018066 +2025-06-07 10:21:03.815 λɢ +2025-06-07 10:21:03.815 position 9885.741211 1840242.125000 -203776.750000 -26957254.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-07 10:21:03.815 speed 678.799988 63179.703125 69961.195313 1110604.625000 +2025-06-07 10:21:03.816 set_first_position_after_initial +2025-06-07 10:21:03.816 movej_old start_pos: 0.678800 63.179699 -69.961197 -1072.018066 end_pos: 0.678800 63.179699 -69.961197 -1072.018066 org_sp 10.000000 end_sp 10.000000 +2025-06-07 10:21:04.091 J3 Belt Meilage=40.867378km +2025-06-07 10:21:17.610 _new_stop_move_thread_0 +2025-06-07 10:21:17.610 j1_slow_down_t = 0 +2025-06-07 10:21:17.624 j2_slow_down_t = 1 +2025-06-07 10:21:17.624 j3_slow_down_t = 0 +2025-06-07 10:21:17.624 j4_slow_down_t = 0 +2025-06-07 10:21:17.624 tmp_t[3] = 1 +2025-06-07 10:21:17.624 _new_stop_move_thread_1 +2025-06-07 10:21:17.674 jog_move_xyzr return 99 ͣ +2025-06-07 10:21:17.690 ROBOT_ERROR_CODE = 1002 +2025-06-07 10:21:17.690 +0 : 9999 9999 9999 9999 9999 0 +1 : 9999 9999 9999 9999 9999 0 +2 : 9999 9999 9999 9999 9999 0 +3 : 9999 9999 9999 9999 9999 0 +4 : 9999 9999 9999 9999 9999 0 +5 : 9999 9999 9999 9999 9999 0 +6 : 9999 9999 9999 9999 9999 0 +7 : 9999 9999 9999 9999 9999 0 +8 : 9999 9999 9999 9999 9999 0 +9 : 9999 9999 9999 9999 9999 0 +10 : 9999 9999 9999 9999 9999 0 +11 : 9999 9999 9999 9999 9999 0 +12 : 9999 9999 9999 9999 9999 0 +13 : 9999 9999 9999 9999 9999 0 +14 : 9999 9999 9999 9999 9999 0 +15 : 9999 9999 9999 10000 10000 0 +2025-06-07 10:21:17.790 _new_stop_move_thread_2 +2025-06-07 10:21:17.810 _new_stop_move_thread_3 +2025-06-07 10:21:17.810 get_scara_param -4.522900 90.507103 -69.961197 -1072.033813 +2025-06-07 10:21:17.810 get_scara_real_coor -4.522900 90.507103 -69.961197 -1072.033813 +2025-06-07 10:21:17.811 _new_stop_move_thread_4 +2025-06-07 10:21:17.883 wait_stop in +2025-06-07 10:21:17.906 wait_stop exit_2 +2025-06-07 10:21:19.535 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:19.742 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:19.949 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:20.164 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:20.367 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:20.575 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:20.788 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:21.005 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:21.208 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:21.422 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:21.629 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:21.844 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:22.058 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:22.261 wait_stop in +2025-06-07 10:21:22.277 wait_stop exit_2 +2025-06-07 10:21:23.918 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:24.135 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:24.338 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:24.549 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:24.759 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:24.963 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:25.165 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:25.367 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:25.571 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:25.780 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:25.981 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:26.188 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:26.396 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:26.603 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:26.816 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:27.022 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:27.237 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:27.439 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:27.643 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:27.851 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:28.054 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:28.256 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:28.472 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:28.681 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:28.893 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:29.106 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:29.309 wait_stop in +2025-06-07 10:21:29.330 wait_stop exit_2 +2025-06-07 10:21:29.596 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:29.803 wait_stop in +2025-06-07 10:21:29.817 wait_stop exit_2 +2025-06-07 10:21:31.074 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:31.294 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:31.504 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:31.713 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:31.918 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:32.132 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:32.345 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:32.546 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:32.755 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:32.976 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:33.195 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:33.397 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:33.605 wait_stop in +2025-06-07 10:21:33.616 wait_stop exit_2 +2025-06-07 10:21:35.896 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:36.113 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:36.325 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:36.530 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:36.742 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:36.954 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:37.156 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:37.370 wait_stop in +2025-06-07 10:21:37.386 wait_stop exit_2 +2025-06-07 10:21:39.010 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:39.213 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:39.431 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:39.645 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:39.855 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:40.063 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:40.271 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:40.472 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:40.684 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:40.896 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:41.109 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:41.310 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:41.523 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:41.728 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:41.938 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:42.143 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:42.353 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:42.568 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:42.771 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:42.980 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:43.186 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:43.394 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:43.600 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:43.801 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:44.011 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:44.222 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:44.428 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:44.638 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:44.852 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:45.060 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:45.276 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:45.484 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:45.687 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:45.894 wait_stop in +2025-06-07 10:21:45.916 wait_stop exit_2 +2025-06-07 10:21:48.298 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:48.505 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:48.712 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:48.918 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:49.123 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:49.336 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:49.539 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:49.749 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:49.955 jog_move_xyzr return 3 δʼ +2025-06-07 10:21:50.163 wait_stop in +2025-06-07 10:21:50.181 wait_stop exit_2 +2025-06-07 10:21:57.431 wait_stop in +2025-06-07 10:21:57.446 wait_stop exit_2 +2025-06-07 10:21:57.546 30 30 30 30 +2025-06-07 10:21:57.546 new_movej_xyz_lr 232.287292 182.148102 -69.960899 -1072.017944 2.000000 0.000000 1 +2025-06-07 10:21:57.546 goal_angle -4.544236 90.823456 +2025-06-07 10:21:57.546 new_movej_angle -4.544236 90.823456 -69.960899 -1072.017944 0.000000 2.000000 +2025-06-07 10:21:57.546 new_movej_angle return 3 δʼ +2025-06-07 10:21:58.095 wait_stop in +2025-06-07 10:21:58.106 wait_stop exit_2 +2025-06-07 10:21:58.229 30 30 30 30 +2025-06-07 10:21:58.229 new_movej_xyz_lr 232.287399 182.148102 -69.961197 -1072.017944 2.000000 0.000000 1 +2025-06-07 10:21:58.229 goal_angle -4.544234 90.823410 +2025-06-07 10:21:58.229 new_movej_angle -4.544234 90.823410 -69.961197 -1072.017944 0.000000 2.000000 +2025-06-07 10:21:58.229 new_movej_angle return 3 δʼ +2025-06-07 10:21:58.435 wait_stop in +2025-06-07 10:21:58.460 wait_stop exit_2 +2025-06-07 10:21:58.541 30 30 30 30 +2025-06-07 10:21:58.541 new_movej_xyz_lr 232.287292 182.148102 -69.961197 -1072.017944 2.000000 0.000000 1 +2025-06-07 10:21:58.541 goal_angle -4.544236 90.823456 +2025-06-07 10:21:58.541 new_movej_angle -4.544236 90.823456 -69.961197 -1072.017944 0.000000 2.000000 +2025-06-07 10:21:58.541 new_movej_angle return 3 δʼ +2025-06-07 10:21:58.769 wait_stop in +2025-06-07 10:21:58.785 wait_stop exit_2 +2025-06-07 10:21:58.872 30 30 30 30 +2025-06-07 10:21:58.872 new_movej_xyz_lr 232.287399 182.148102 -69.961197 -1072.018066 2.000000 0.000000 1 +2025-06-07 10:21:58.872 goal_angle -4.544234 90.823410 +2025-06-07 10:21:58.872 new_movej_angle -4.544234 90.823410 -69.961197 -1072.018066 0.000000 2.000000 +2025-06-07 10:21:58.872 new_movej_angle return 3 δʼ +2025-06-07 10:21:58.937 wait_stop in +2025-06-07 10:21:58.967 wait_stop exit_2 +2025-06-07 10:21:59.044 30 30 30 30 +2025-06-07 10:21:59.044 new_movej_xyz_lr 232.287598 182.147903 -69.961197 -1072.018066 2.000000 0.000000 1 +2025-06-07 10:21:59.044 goal_angle -4.544282 90.823402 +2025-06-07 10:21:59.044 new_movej_angle -4.544282 90.823402 -69.961197 -1072.018066 0.000000 2.000000 +2025-06-07 10:21:59.044 new_movej_angle return 3 δʼ +2025-06-07 10:21:59.179 wait_stop in +2025-06-07 10:21:59.195 wait_stop exit_2 +2025-06-07 10:21:59.289 30 30 30 30 +2025-06-07 10:21:59.289 new_movej_xyz_lr 232.287201 182.148102 -69.961197 -1072.017822 2.000000 0.000000 1 +2025-06-07 10:21:59.289 goal_angle -4.544238 90.823479 +2025-06-07 10:21:59.289 new_movej_angle -4.544238 90.823479 -69.961197 -1072.017822 0.000000 2.000000 +2025-06-07 10:21:59.289 new_movej_angle return 3 δʼ +2025-06-07 10:22:01.289 SDK_VERSION_V2.0.0.29_Release +2025-06-07 10:22:01.289 robot connected +2025-06-07 10:22:01.289 26 +2025-06-07 10:22:01.289 current generation=26 +2025-06-07 10:22:01.795 0x1a +2025-06-07 10:22:02.651 initial joint2 2636592 +2025-06-07 10:22:02.651 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-07 10:22:02.652 robot WritePID +2025-06-07 10:22:02.966 initial joint1 -65925 +2025-06-07 10:22:03.016 initial joint2 2636591 +2025-06-07 10:22:03.063 initial joint3 -203777 +2025-06-07 10:22:03.100 initial joint4 -27229077 +2025-06-07 10:22:03.116 initial joint1 -65924 +2025-06-07 10:22:03.153 initial joint2 2636593 +2025-06-07 10:22:03.209 initial joint3 -203777 +2025-06-07 10:22:03.263 initial joint4 -27229079 +2025-06-07 10:22:03.279 initial joint1 -65924 +2025-06-07 10:22:03.325 initial joint2 2636594 +2025-06-07 10:22:03.367 initial joint3 -203778 +2025-06-07 10:22:03.413 initial joint4 -27229079 +2025-06-07 10:22:05.574 initial_thread initialized +2025-06-07 10:22:05.574 servo enable +2025-06-07 10:22:05.574 brake open +2025-06-07 10:22:05.574 set_brake_state 0 1 +2025-06-07 10:22:05.777 robot initialized +2025-06-07 10:22:06.067 initial return 0 е۲ +2025-06-07 10:22:16.240 SDK_VERSION_V2.0.0.29_Release +2025-06-07 10:22:16.240 robot connected +2025-06-07 10:22:16.240 26 +2025-06-07 10:22:16.240 current generation=26 +2025-06-07 10:22:16.752 0x1a +2025-06-07 10:22:17.595 initial joint2 2636594 +2025-06-07 10:22:17.595 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-07 10:22:17.595 robot WritePID +2025-06-07 10:22:17.906 initial joint1 -65924 +2025-06-07 10:22:17.946 initial joint2 2636598 +2025-06-07 10:22:18.009 initial joint3 -203779 +2025-06-07 10:22:18.050 initial joint4 -27229082 +2025-06-07 10:22:18.065 initial joint1 -65924 +2025-06-07 10:22:18.119 initial joint2 2636598 +2025-06-07 10:22:18.152 initial joint3 -203779 +2025-06-07 10:22:18.200 initial joint4 -27229084 +2025-06-07 10:22:18.216 initial joint1 -65924 +2025-06-07 10:22:18.269 initial joint2 2636600 +2025-06-07 10:22:18.317 initial joint3 -203779 +2025-06-07 10:22:18.353 initial joint4 -27229086 +2025-06-07 10:22:20.587 initial_thread initialized +2025-06-07 10:22:20.587 servo enable +2025-06-07 10:22:20.587 brake open +2025-06-07 10:22:20.589 set_brake_state 0 1 +2025-06-07 10:22:20.790 robot initialized +2025-06-07 10:22:21.080 initial return 0 е۲ +2025-06-07 10:22:26.484 SDK_VERSION_V2.0.0.29_Release +2025-06-07 10:22:26.484 robot connected +2025-06-07 10:22:26.484 26 +2025-06-07 10:22:26.484 current generation=26 +2025-06-07 10:22:26.515 ROBOT_ERROR_CODE = 1002 +2025-06-07 10:22:26.515 +0 : 9999 9999 9999 9999 9999 0 +1 : 9999 9999 9999 9999 9999 0 +2 : 9999 9999 9999 9999 9999 0 +3 : 9999 9999 9999 9999 9999 0 +4 : 9999 9999 9999 9999 9999 0 +5 : 9999 9999 9999 9999 9999 0 +6 : 9999 9999 9999 9999 9999 0 +7 : 9999 9999 9999 9999 9999 0 +8 : 9999 9999 9999 9999 9999 0 +9 : 9999 9999 9999 9999 9999 0 +10 : 9999 9999 9999 9999 9999 0 +11 : 9999 9999 9999 9999 9999 0 +12 : 9999 9999 9999 9999 9999 0 +13 : 9999 9999 9999 9999 9999 0 +14 : 9999 9999 9999 9999 9999 0 +15 : 9999 9999 9999 9999 9999 0 +2025-06-07 10:22:26.990 0x1a +2025-06-07 10:22:27.862 initial joint2 2636605 +2025-06-07 10:22:27.862 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-07 10:22:27.862 robot WritePID +2025-06-07 10:22:28.172 initial joint1 -65924 +2025-06-07 10:22:28.219 initial joint2 2636603 +2025-06-07 10:22:28.275 initial joint3 -203779 +2025-06-07 10:22:28.322 initial joint4 -27229088 +2025-06-07 10:22:28.337 initial joint1 -65924 +2025-06-07 10:22:28.367 initial joint2 2636604 +2025-06-07 10:22:28.415 initial joint3 -203779 +2025-06-07 10:22:28.463 initial joint4 -27229089 +2025-06-07 10:22:28.467 initial joint1 -65924 +2025-06-07 10:22:28.516 initial joint2 2636605 +2025-06-07 10:22:28.563 initial joint3 -203780 +2025-06-07 10:22:28.602 initial joint4 -27229090 +2025-06-07 10:22:30.795 initial_thread initialized +2025-06-07 10:22:30.795 servo enable +2025-06-07 10:22:30.795 brake open +2025-06-07 10:22:30.795 set_brake_state 0 1 +2025-06-07 10:22:31.013 robot initialized +2025-06-07 10:22:31.303 initial return 0 е۲ +2025-06-07 10:24:08.560 SDK_VERSION_V2.0.0.29_Release +2025-06-07 10:24:08.563 robot connected +2025-06-07 10:24:08.563 26 +2025-06-07 10:24:08.563 current generation=26 +2025-06-07 10:24:08.576 ROBOT_ERROR_CODE = 1004 +2025-06-07 10:24:08.576 +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 +2025-06-07 10:24:09.137 0x1a +2025-06-07 10:24:09.984 initial joint2 4420333 +2025-06-07 10:24:09.984 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-07 10:24:09.984 robot WritePID +2025-06-07 10:24:10.295 initial joint1 -802385 +2025-06-07 10:24:10.331 initial joint2 4420333 +2025-06-07 10:24:10.383 initial joint3 -203994 +2025-06-07 10:24:10.431 initial joint4 -25196203 +2025-06-07 10:24:10.447 initial joint1 -802390 +2025-06-07 10:24:10.497 initial joint2 4420334 +2025-06-07 10:24:10.544 initial joint3 -203994 +2025-06-07 10:24:10.586 initial joint4 -25196203 +2025-06-07 10:24:10.620 initial joint1 -802392 +2025-06-07 10:24:10.658 initial joint2 4420332 +2025-06-07 10:24:10.718 initial joint3 -203994 +2025-06-07 10:24:10.766 initial joint4 -25196202 +2025-06-07 10:24:12.947 initial_thread initialized +2025-06-07 10:24:12.947 servo enable +2025-06-07 10:24:12.947 brake open +2025-06-07 10:24:12.947 set_brake_state 0 1 +2025-06-07 10:24:13.153 robot initialized +2025-06-07 10:24:13.722 get_scara_param -55.095798 151.759995 -70.036102 -1002.091370 +2025-06-07 10:24:13.722 get_scara_real_coor -55.095402 151.760101 -70.036102 -1002.090881 +2025-06-07 10:24:13.722 λɢ +2025-06-07 10:24:13.722 position -802390.750000 4420330.500000 -203994.937500 -25196202.000000 -64014.496094 2583271.500000 -203776.750000 -27205600.000000 +2025-06-07 10:24:13.722 speed 50700.273438 63070.417969 74.908737 82784.648438 +2025-06-07 10:24:13.722 set_first_position_after_initial +2025-06-07 10:24:13.722 movej_old start_pos: -55.095802 151.760010 -70.036102 -1002.091370 end_pos: -55.095802 151.760010 -70.036102 -1002.091370 org_sp 10.000000 end_sp 10.000000 +2025-06-07 10:24:14.044 J3 Belt Meilage=40.867413km +2025-06-07 10:24:21.030 _new_stop_move_thread_0 +2025-06-07 10:24:21.030 j1_slow_down_t = 5 +2025-06-07 10:24:21.030 j2_slow_down_t = 0 +2025-06-07 10:24:21.030 j3_slow_down_t = 0 +2025-06-07 10:24:21.030 j4_slow_down_t = 1 +2025-06-07 10:24:21.030 tmp_t[3] = 5 +2025-06-07 10:24:21.030 _new_stop_move_thread_1 +2025-06-07 10:24:21.094 jog_move_xyzr return 99 ͣ +2025-06-07 10:24:21.198 _new_stop_move_thread_2 +2025-06-07 10:24:21.230 _new_stop_move_thread_3 +2025-06-07 10:24:21.230 get_scara_param -51.476898 151.360901 -70.036102 -1002.197388 +2025-06-07 10:24:21.230 get_scara_real_coor -51.476898 151.360901 -70.036102 -1002.197388 +2025-06-07 10:24:21.230 _new_stop_move_thread_4 +2025-06-07 10:24:21.298 wait_stop in +2025-06-07 10:24:21.327 wait_stop out_0 +2025-06-07 10:24:23.911 _new_stop_move_thread_0 +2025-06-07 10:24:23.911 j1_slow_down_t = 5 +2025-06-07 10:24:23.911 j2_slow_down_t = 0 +2025-06-07 10:24:23.911 j3_slow_down_t = 0 +2025-06-07 10:24:23.911 j4_slow_down_t = 2 +2025-06-07 10:24:23.911 tmp_t[3] = 5 +2025-06-07 10:24:23.911 _new_stop_move_thread_1 +2025-06-07 10:24:24.017 jog_move_xyzr return 99 ͣ +2025-06-07 10:24:24.080 _new_stop_move_thread_2 +2025-06-07 10:24:24.111 _new_stop_move_thread_3 +2025-06-07 10:24:24.111 get_scara_param -55.798599 151.822205 -70.035698 -1002.062073 +2025-06-07 10:24:24.111 get_scara_real_coor -55.798599 151.822205 -70.035698 -1002.062073 +2025-06-07 10:24:24.111 _new_stop_move_thread_4 +2025-06-07 10:24:24.229 wait_stop in +2025-06-07 10:24:24.257 wait_stop out_0 +2025-06-07 10:24:26.804 _new_stop_move_thread_0 +2025-06-07 10:24:26.804 j1_slow_down_t = 0 +2025-06-07 10:24:26.804 j2_slow_down_t = 1 +2025-06-07 10:24:26.804 j3_slow_down_t = 0 +2025-06-07 10:24:26.804 j4_slow_down_t = 0 +2025-06-07 10:24:26.804 tmp_t[3] = 1 +2025-06-07 10:24:26.804 _new_stop_move_thread_1 +2025-06-07 10:24:26.871 jog_move_xyzr return 99 ͣ +2025-06-07 10:24:26.972 _new_stop_move_thread_2 +2025-06-07 10:24:27.004 _new_stop_move_thread_3 +2025-06-07 10:24:27.004 get_scara_param -56.198200 149.010498 -70.036102 -1002.018677 +2025-06-07 10:24:27.004 get_scara_real_coor -56.198200 149.010498 -70.036102 -1002.018677 +2025-06-07 10:24:27.004 _new_stop_move_thread_4 +2025-06-07 10:24:27.087 wait_stop in +2025-06-07 10:24:27.119 wait_stop out_0 +2025-06-07 10:24:29.240 _new_stop_move_thread_0 +2025-06-07 10:24:29.240 j1_slow_down_t = 0 +2025-06-07 10:24:29.240 j2_slow_down_t = 1 +2025-06-07 10:24:29.240 j3_slow_down_t = 0 +2025-06-07 10:24:29.240 j4_slow_down_t = 0 +2025-06-07 10:24:29.240 tmp_t[3] = 1 +2025-06-07 10:24:29.240 _new_stop_move_thread_1 +2025-06-07 10:24:29.348 jog_move_xyzr return 99 ͣ +2025-06-07 10:24:29.385 _new_stop_move_thread_2 +2025-06-07 10:24:29.407 _new_stop_move_thread_3 +2025-06-07 10:24:29.407 get_scara_param -55.988602 150.770004 -70.036102 -1002.056824 +2025-06-07 10:24:29.407 get_scara_real_coor -55.988602 150.770004 -70.036102 -1002.056824 +2025-06-07 10:24:29.407 _new_stop_move_thread_4 +2025-06-07 10:24:29.550 wait_stop in +2025-06-07 10:24:29.576 wait_stop out_0 +2025-06-07 10:24:34.996 _new_stop_move_thread_0 +2025-06-07 10:24:34.996 j1_slow_down_t = 0 +2025-06-07 10:24:34.996 j2_slow_down_t = 0 +2025-06-07 10:24:34.996 j3_slow_down_t = 3 +2025-06-07 10:24:34.996 j4_slow_down_t = 0 +2025-06-07 10:24:34.996 tmp_t[3] = 3 +2025-06-07 10:24:34.996 _new_stop_move_thread_1 +2025-06-07 10:24:35.105 jog_move_xyzr return 99 ͣ +2025-06-07 10:24:35.155 _new_stop_move_thread_2 +2025-06-07 10:24:35.191 _new_stop_move_thread_3 +2025-06-07 10:24:35.191 get_scara_param -55.988602 150.770203 -32.480000 -1002.057007 +2025-06-07 10:24:35.191 get_scara_real_coor -55.988602 150.770203 -32.480000 -1002.056885 +2025-06-07 10:24:35.191 _new_stop_move_thread_4 +2025-06-07 10:24:35.311 wait_stop in +2025-06-07 10:24:35.343 wait_stop out_0 +2025-06-07 10:24:42.402 _new_stop_move_thread_0 +2025-06-07 10:24:42.402 j1_slow_down_t = 0 +2025-06-07 10:24:42.402 j2_slow_down_t = 0 +2025-06-07 10:24:42.402 j3_slow_down_t = 2 +2025-06-07 10:24:42.402 j4_slow_down_t = 0 +2025-06-07 10:24:42.403 tmp_t[3] = 2 +2025-06-07 10:24:42.403 _new_stop_move_thread_1 +2025-06-07 10:24:42.486 jog_move_xyzr return 99 ͣ +2025-06-07 10:24:42.573 _new_stop_move_thread_2 +2025-06-07 10:24:42.603 _new_stop_move_thread_3 +2025-06-07 10:24:42.603 get_scara_param -55.988602 150.770401 -60.393501 -1002.057129 +2025-06-07 10:24:42.603 get_scara_real_coor -55.988602 150.770401 -60.393501 -1002.057129 +2025-06-07 10:24:42.603 _new_stop_move_thread_4 +2025-06-07 10:24:42.689 wait_stop in +2025-06-07 10:24:42.727 wait_stop out_0 +2025-06-07 10:24:44.935 _new_stop_move_thread_0 +2025-06-07 10:24:44.935 j1_slow_down_t = 0 +2025-06-07 10:24:44.936 j2_slow_down_t = 0 +2025-06-07 10:24:44.936 j3_slow_down_t = 0 +2025-06-07 10:24:44.936 j4_slow_down_t = 2 +2025-06-07 10:24:44.936 tmp_t[3] = 2 +2025-06-07 10:24:44.936 _new_stop_move_thread_1 +2025-06-07 10:24:45.069 _new_stop_move_thread_2 +2025-06-07 10:24:45.094 _new_stop_move_thread_3 +2025-06-07 10:24:45.094 get_scara_param -55.988800 150.770706 -60.398998 -997.534424 +2025-06-07 10:24:45.094 get_scara_real_coor -55.988800 150.770706 -60.398998 -997.534485 +2025-06-07 10:24:45.094 _new_stop_move_thread_4 +2025-06-07 10:24:45.110 wait_stop in +2025-06-07 10:24:45.161 wait_stop out_0 +2025-06-07 10:24:45.369 _new_stop_move_thread_0 +2025-06-07 10:24:45.369 j1_slow_down_t = 0 +2025-06-07 10:24:45.369 j2_slow_down_t = 0 +2025-06-07 10:24:45.369 j3_slow_down_t = 0 +2025-06-07 10:24:45.369 j4_slow_down_t = 0 +2025-06-07 10:24:45.369 tmp_t[3] = 0 +2025-06-07 10:24:45.369 _new_stop_move_thread_1 +2025-06-07 10:24:45.430 jog_move_xyzr return 99 ͣ +2025-06-07 10:24:45.528 _new_stop_move_thread_2 +2025-06-07 10:24:45.550 _new_stop_move_thread_3 +2025-06-07 10:24:45.550 get_scara_param -55.987701 150.770798 -60.398701 -997.077026 +2025-06-07 10:24:45.550 get_scara_real_coor -55.987701 150.770798 -60.398701 -997.077087 +2025-06-07 10:24:45.550 _new_stop_move_thread_4 +2025-06-07 10:24:45.637 wait_stop in +2025-06-07 10:24:45.664 wait_stop out_0 +2025-06-07 10:24:47.431 wait_stop in +2025-06-07 10:24:47.471 wait_stop out_0 +2025-06-07 10:24:47.543 30 30 30 30 +2025-06-07 10:24:47.543 new_movej_xyz_lr 106.384499 16.941401 -60.398701 -998.077026 2.000000 0.000000 1 +2025-06-07 10:24:47.543 goal_angle -55.987816 150.770889 +2025-06-07 10:24:47.543 new_movej_angle -55.987816 150.770889 -60.398701 -998.077026 0.000000 2.000000 +2025-06-07 10:24:47.545 z1 -60.398712 z2 -60.398701 +2025-06-07 10:24:47.545 angle1_1 -55.987770 angle2_1 150.770874 z1 -60.398712 r1 -997.077026 +2025-06-07 10:24:47.546 angle1_2 -55.987816 angle2_2 150.770889 z2 -60.398701 r2 -998.077026 +2025-06-07 10:24:47.546 speed 2.000000 +2025-06-07 10:24:47.546 tcp_distance 0.000011 +2025-06-07 10:24:47.547 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000200 +2025-06-07 10:24:47.547 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000067 +2025-06-07 10:24:47.547 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000050 +2025-06-07 10:24:47.547 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-07 10:24:47.547 end_speed 2.000000 +2025-06-07 10:24:47.547 trail_number0.500000 +2025-06-07 10:24:47.547 tcp_distance 0.000011 +2025-06-07 10:24:47.547 angle1_1 = -55.987770 angle2_1 = 150.770874 z1 = -60.398712 r1 = -997.077026 angle1_2 = -55.987816 angle2_2 = 150.770889 z2 = -60.398701 r2 = -998.077026 +2025-06-07 10:24:48.208 wait_stop in +2025-06-07 10:24:48.240 wait_stop out_0 +2025-06-07 10:24:48.316 30 30 30 30 +2025-06-07 10:24:48.316 new_movej_xyz_lr 106.384499 16.941401 -60.398701 -999.077026 2.000000 0.000000 1 +2025-06-07 10:24:48.316 goal_angle -55.987816 150.770889 +2025-06-07 10:24:48.316 new_movej_angle -55.987816 150.770889 -60.398701 -999.077026 0.000000 2.000000 +2025-06-07 10:24:48.316 z1 -60.398701 z2 -60.398701 +2025-06-07 10:24:48.316 angle1_1 -55.987816 angle2_1 150.770889 z1 -60.398701 r1 -998.077026 +2025-06-07 10:24:48.316 angle1_2 -55.987816 angle2_2 150.770889 z2 -60.398701 r2 -999.077026 +2025-06-07 10:24:48.317 speed 2.000000 +2025-06-07 10:24:48.317 tcp_distance 0.000000 +2025-06-07 10:24:48.317 new_end_speed 2.000000 j1_acc_t 0.250000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.000000 +2025-06-07 10:24:48.317 new_end_speed 2.000000 j2_acc_t 0.250000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.000000 +2025-06-07 10:24:48.317 new_end_speed 2.000000 j3_acc_t 0.250000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000 +2025-06-07 10:24:48.317 new_end_speed 2.000000 j4_acc_t 0.250000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 4.375000 +2025-06-07 10:24:48.317 end_speed 2.000000 +2025-06-07 10:24:48.317 trail_number0.500000 +2025-06-07 10:24:48.317 tcp_distance 0.000000 +2025-06-07 10:24:48.317 angle1_1 = -55.987816 angle2_1 = 150.770889 z1 = -60.398701 r1 = -998.077026 angle1_2 = -55.987816 angle2_2 = 150.770889 z2 = -60.398701 r2 = -999.077026 +2025-06-07 10:25:01.304 _new_stop_move_thread_0 +2025-06-07 10:25:01.304 j1_slow_down_t = 0 +2025-06-07 10:25:01.304 j2_slow_down_t = 1 +2025-06-07 10:25:01.304 j3_slow_down_t = 0 +2025-06-07 10:25:01.304 j4_slow_down_t = 0 +2025-06-07 10:25:01.304 tmp_t[3] = 1 +2025-06-07 10:25:01.304 _new_stop_move_thread_1 +2025-06-07 10:25:01.307 jog_move_xyzr return 99 ͣ +2025-06-07 10:25:01.458 _new_stop_move_thread_2 +2025-06-07 10:25:01.488 _new_stop_move_thread_3 +2025-06-07 10:25:01.489 get_scara_param -55.927700 140.694107 -60.398701 -999.049622 +2025-06-07 10:25:01.489 get_scara_real_coor -55.927700 140.694107 -60.398701 -999.049622 +2025-06-07 10:25:01.489 _new_stop_move_thread_4 +2025-06-07 10:25:01.519 wait_stop in +2025-06-07 10:25:01.545 wait_stop out_0 +2025-06-07 10:25:08.527 _new_stop_move_thread_0 +2025-06-07 10:25:08.529 j1_slow_down_t = 4 +2025-06-07 10:25:08.529 j2_slow_down_t = 0 +2025-06-07 10:25:08.529 j3_slow_down_t = 0 +2025-06-07 10:25:08.529 j4_slow_down_t = 1 +2025-06-07 10:25:08.529 tmp_t[3] = 4 +2025-06-07 10:25:08.529 _new_stop_move_thread_1 +2025-06-07 10:25:08.545 jog_move_xyzr return 99 ͣ +2025-06-07 10:25:08.702 _new_stop_move_thread_2 +2025-06-07 10:25:08.742 _new_stop_move_thread_3 +2025-06-07 10:25:08.742 get_scara_param -35.016899 136.153000 -60.398998 -999.102478 +2025-06-07 10:25:08.742 get_scara_real_coor -35.016899 136.153000 -60.398998 -999.102417 +2025-06-07 10:25:08.742 _new_stop_move_thread_4 +2025-06-07 10:25:08.757 wait_stop in +2025-06-07 10:25:08.787 wait_stop out_0 +2025-06-07 10:25:13.512 _new_stop_move_thread_0 +2025-06-07 10:25:13.512 j1_slow_down_t = 0 +2025-06-07 10:25:13.512 j2_slow_down_t = 1 +2025-06-07 10:25:13.512 j3_slow_down_t = 0 +2025-06-07 10:25:13.512 j4_slow_down_t = 0 +2025-06-07 10:25:13.512 tmp_t[3] = 1 +2025-06-07 10:25:13.512 _new_stop_move_thread_1 +2025-06-07 10:25:13.560 jog_move_xyzr return 99 ͣ +2025-06-07 10:25:13.663 _new_stop_move_thread_2 +2025-06-07 10:25:13.687 _new_stop_move_thread_3 +2025-06-07 10:25:13.687 get_scara_param -36.198200 127.745399 -60.399399 -999.056885 +2025-06-07 10:25:13.687 get_scara_real_coor -36.198200 127.745399 -60.399399 -999.056824 +2025-06-07 10:25:13.687 _new_stop_move_thread_4 +2025-06-07 10:25:13.771 wait_stop in +2025-06-07 10:25:13.802 wait_stop out_0 +2025-06-07 10:25:19.275 _new_stop_move_thread_0 +2025-06-07 10:25:19.275 j1_slow_down_t = 0 +2025-06-07 10:25:19.275 j2_slow_down_t = 0 +2025-06-07 10:25:19.275 j3_slow_down_t = 2 +2025-06-07 10:25:19.275 j4_slow_down_t = 0 +2025-06-07 10:25:19.275 tmp_t[3] = 2 +2025-06-07 10:25:19.275 _new_stop_move_thread_1 +2025-06-07 10:25:19.432 _new_stop_move_thread_2 +2025-06-07 10:25:19.467 _new_stop_move_thread_3 +2025-06-07 10:25:19.467 get_scara_param -36.198200 127.745499 -23.785000 -999.056885 +2025-06-07 10:25:19.467 get_scara_real_coor -36.198200 127.745499 -23.785000 -999.056885 +2025-06-07 10:25:19.467 _new_stop_move_thread_4 +2025-06-07 10:25:19.482 wait_stop in +2025-06-07 10:25:19.522 wait_stop out_0 +2025-06-07 10:25:22.392 _new_stop_move_thread_0 +2025-06-07 10:25:22.392 j1_slow_down_t = 0 +2025-06-07 10:25:22.393 j2_slow_down_t = 0 +2025-06-07 10:25:22.393 j3_slow_down_t = 2 +2025-06-07 10:25:22.393 j4_slow_down_t = 0 +2025-06-07 10:25:22.393 tmp_t[3] = 2 +2025-06-07 10:25:22.393 _new_stop_move_thread_1 +2025-06-07 10:25:22.447 jog_move_xyzr return 99 ͣ +2025-06-07 10:25:22.550 _new_stop_move_thread_2 +2025-06-07 10:25:22.587 _new_stop_move_thread_3 +2025-06-07 10:25:22.587 get_scara_param -36.198101 127.745796 -30.248400 -999.056580 +2025-06-07 10:25:22.587 get_scara_real_coor -36.198101 127.745796 -30.248400 -999.056580 +2025-06-07 10:25:22.587 _new_stop_move_thread_4 +2025-06-07 10:25:22.654 wait_stop in +2025-06-07 10:25:22.689 wait_stop out_0 +2025-06-07 10:25:26.281 _new_stop_move_thread_0 +2025-06-07 10:25:26.281 j1_slow_down_t = 0 +2025-06-07 10:25:26.281 j2_slow_down_t = 0 +2025-06-07 10:25:26.281 j3_slow_down_t = 0 +2025-06-07 10:25:26.281 j4_slow_down_t = 2 +2025-06-07 10:25:26.281 tmp_t[3] = 2 +2025-06-07 10:25:26.281 _new_stop_move_thread_1 +2025-06-07 10:25:26.358 jog_move_xyzr return 99 ͣ +2025-06-07 10:25:26.421 _new_stop_move_thread_2 +2025-06-07 10:25:26.460 _new_stop_move_thread_3 +2025-06-07 10:25:26.460 get_scara_param -36.198101 127.746002 -30.253201 -996.304504 +2025-06-07 10:25:26.460 get_scara_real_coor -36.198101 127.746002 -30.253201 -996.304382 +2025-06-07 10:25:26.460 _new_stop_move_thread_4 +2025-06-07 10:25:26.574 wait_stop in +2025-06-07 10:25:26.605 wait_stop out_0 +2025-06-07 11:11:18.903 SDK_VERSION_V2.0.0.29_Release +2025-06-07 11:11:18.903 robot connected +2025-06-07 11:11:18.903 26 +2025-06-07 11:11:18.903 current generation=26 +2025-06-07 11:11:19.421 0x1a +2025-06-07 11:11:20.368 initial joint2 3720871 +2025-06-07 11:11:20.369 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-07 11:11:20.369 robot WritePID +2025-06-07 11:11:20.674 initial joint1 -527173 +2025-06-07 11:11:20.721 initial joint2 3720871 +2025-06-07 11:11:20.759 initial joint3 -88111 +2025-06-07 11:11:20.808 initial joint4 -25166716 +2025-06-07 11:11:20.840 initial joint1 -527173 +2025-06-07 11:11:20.893 initial joint2 3720872 +2025-06-07 11:11:20.944 initial joint3 -88113 +2025-06-07 11:11:20.997 initial joint4 -25166718 +2025-06-07 11:11:21.015 initial joint1 -527173 +2025-06-07 11:11:21.062 initial joint2 3720873 +2025-06-07 11:11:21.120 initial joint3 -88114 +2025-06-07 11:11:21.159 initial joint4 -25166719 +2025-06-07 11:11:23.393 initial_thread initialized +2025-06-07 11:11:23.393 servo enable +2025-06-07 11:11:23.393 brake open +2025-06-07 11:11:23.394 set_brake_state 0 1 +2025-06-07 11:11:23.606 robot initialized +2025-06-07 11:11:24.160 get_scara_param -36.198002 127.746101 -30.251801 -996.387512 +2025-06-07 11:11:24.160 get_scara_real_coor -36.198101 127.746002 -30.252501 -996.387573 +2025-06-07 11:11:24.160 λɢ +2025-06-07 11:11:24.161 position -527171.625000 3720875.000000 -88114.757813 -25166724.000000 -527175.062500 3720857.250000 -100901.507813 -25231504.000000 +2025-06-07 11:11:24.161 speed 0.236034 0.609398 4389.982422 2668.853760 +2025-06-07 11:11:24.161 set_first_position_after_initial +2025-06-07 11:11:24.162 movej_old start_pos: -36.198002 127.746109 -30.251801 -996.387451 end_pos: -36.198002 127.746109 -30.251801 -996.387451 org_sp 10.000000 end_sp 10.000000 +2025-06-07 11:11:24.464 J3 Belt Meilage=40.868080km +2025-06-07 11:11:26.881 wait_stop in +2025-06-07 11:11:26.927 wait_stop out_0 +2025-06-07 11:11:32.276 _new_stop_move_thread_0 +2025-06-07 11:11:32.276 j1_slow_down_t = 0 +2025-06-07 11:11:32.277 j2_slow_down_t = 1 +2025-06-07 11:11:32.277 j3_slow_down_t = 0 +2025-06-07 11:11:32.277 j4_slow_down_t = 0 +2025-06-07 11:11:32.277 tmp_t[3] = 1 +2025-06-07 11:11:32.277 _new_stop_move_thread_1 +2025-06-07 11:11:32.422 _new_stop_move_thread_2 +2025-06-07 11:11:32.454 _new_stop_move_thread_3 +2025-06-07 11:11:32.454 jog_move_xyzr return 99 ͣ +2025-06-07 11:11:32.455 get_scara_param -36.219700 125.657700 -30.252899 -996.358398 +2025-06-07 11:11:32.455 get_scara_real_coor -36.219700 125.657700 -30.252899 -996.358398 +2025-06-07 11:11:32.455 _new_stop_move_thread_4 +2025-06-07 11:11:32.660 wait_stop in +2025-06-07 11:11:32.700 wait_stop out_0 +2025-06-07 11:11:34.554 _new_stop_move_thread_0 +2025-06-07 11:11:34.554 j1_slow_down_t = 0 +2025-06-07 11:11:34.554 j2_slow_down_t = 1 +2025-06-07 11:11:34.554 j3_slow_down_t = 0 +2025-06-07 11:11:34.554 j4_slow_down_t = 0 +2025-06-07 11:11:34.554 tmp_t[3] = 1 +2025-06-07 11:11:34.554 _new_stop_move_thread_1 +2025-06-07 11:11:34.718 _new_stop_move_thread_2 +2025-06-07 11:11:34.751 _new_stop_move_thread_3 +2025-06-07 11:11:34.751 jog_move_xyzr return 99 ͣ +2025-06-07 11:11:34.752 get_scara_param -36.200500 127.760902 -30.252899 -996.390930 +2025-06-07 11:11:34.752 get_scara_real_coor -36.200500 127.760902 -30.252899 -996.390930 +2025-06-07 11:11:34.752 _new_stop_move_thread_4 +2025-06-07 11:11:34.954 wait_stop in +2025-06-07 11:11:34.991 wait_stop out_0 +2025-06-07 11:11:36.609 _new_stop_move_thread_0 +2025-06-07 11:11:36.609 j1_slow_down_t = 2 +2025-06-07 11:11:36.609 j2_slow_down_t = 0 +2025-06-07 11:11:36.609 j3_slow_down_t = 0 +2025-06-07 11:11:36.610 j4_slow_down_t = 0 +2025-06-07 11:11:36.610 tmp_t[3] = 2 +2025-06-07 11:11:36.610 _new_stop_move_thread_1 +2025-06-07 11:11:36.770 _new_stop_move_thread_2 +2025-06-07 11:11:36.792 _new_stop_move_thread_3 +2025-06-07 11:11:36.792 jog_move_xyzr return 99 ͣ +2025-06-07 11:11:36.792 get_scara_param -33.820202 126.873703 -30.254200 -996.460022 +2025-06-07 11:11:36.792 get_scara_real_coor -33.820202 126.873703 -30.254200 -996.460022 +2025-06-07 11:11:36.792 _new_stop_move_thread_4 +2025-06-07 11:11:37.007 wait_stop in +2025-06-07 11:11:37.059 wait_stop out_0 +2025-06-07 11:11:39.984 _new_stop_move_thread_0 +2025-06-07 11:11:39.984 j1_slow_down_t = 2 +2025-06-07 11:11:39.984 j2_slow_down_t = 0 +2025-06-07 11:11:39.984 j3_slow_down_t = 0 +2025-06-07 11:11:39.984 j4_slow_down_t = 0 +2025-06-07 11:11:39.984 tmp_t[3] = 2 +2025-06-07 11:11:39.985 _new_stop_move_thread_1 +2025-06-07 11:11:40.126 _new_stop_move_thread_2 +2025-06-07 11:11:40.142 jog_move_xyzr return 99 ͣ +2025-06-07 11:11:40.159 _new_stop_move_thread_3 +2025-06-07 11:11:40.159 get_scara_param -36.194099 127.757896 -30.254601 -996.389282 +2025-06-07 11:11:40.159 get_scara_real_coor -36.194099 127.757896 -30.254601 -996.389282 +2025-06-07 11:11:40.159 _new_stop_move_thread_4 +2025-06-07 11:11:40.356 wait_stop in +2025-06-07 11:11:40.383 wait_stop out_0 +2025-06-07 11:11:42.154 _new_stop_move_thread_0 +2025-06-07 11:11:42.154 j1_slow_down_t = 0 +2025-06-07 11:11:42.154 j2_slow_down_t = 0 +2025-06-07 11:11:42.154 j3_slow_down_t = 2 +2025-06-07 11:11:42.155 j4_slow_down_t = 0 +2025-06-07 11:11:42.155 tmp_t[3] = 2 +2025-06-07 11:11:42.155 _new_stop_move_thread_1 +2025-06-07 11:11:42.289 jog_move_xyzr return 99 ͣ +2025-06-07 11:11:42.305 _new_stop_move_thread_2 +2025-06-07 11:11:42.335 _new_stop_move_thread_3 +2025-06-07 11:11:42.335 get_scara_param -36.194099 127.758102 -22.885500 -996.389282 +2025-06-07 11:11:42.335 get_scara_real_coor -36.194099 127.758102 -22.885500 -996.389282 +2025-06-07 11:11:42.336 _new_stop_move_thread_4 +2025-06-07 11:11:42.502 wait_stop in +2025-06-07 11:11:42.538 wait_stop out_0 +2025-06-07 11:11:42.746 _new_stop_move_thread_0 +2025-06-07 11:11:42.746 j1_slow_down_t = 0 +2025-06-07 11:11:42.746 j2_slow_down_t = 0 +2025-06-07 11:11:42.746 j3_slow_down_t = 0 +2025-06-07 11:11:42.746 j4_slow_down_t = 0 +2025-06-07 11:11:42.746 tmp_t[3] = 0 +2025-06-07 11:11:42.746 _new_stop_move_thread_1 +2025-06-07 11:11:42.821 jog_move_xyzr return 99 ͣ +2025-06-07 11:11:42.920 _new_stop_move_thread_2 +2025-06-07 11:11:42.951 _new_stop_move_thread_3 +2025-06-07 11:11:42.951 get_scara_param -36.194099 127.758301 -23.185900 -996.389282 +2025-06-07 11:11:42.951 get_scara_real_coor -36.194099 127.758301 -23.185900 -996.389526 +2025-06-07 11:11:42.951 _new_stop_move_thread_4 +2025-06-07 11:11:43.805 _new_stop_move_thread_0 +2025-06-07 11:11:43.805 j1_slow_down_t = 0 +2025-06-07 11:11:43.805 j2_slow_down_t = 0 +2025-06-07 11:11:43.805 j3_slow_down_t = 3 +2025-06-07 11:11:43.805 j4_slow_down_t = 0 +2025-06-07 11:11:43.805 tmp_t[3] = 3 +2025-06-07 11:11:43.815 _new_stop_move_thread_1 +2025-06-07 11:11:43.852 jog_move_xyzr return 99 ͣ +2025-06-07 11:11:43.975 jog_move_xyzr return 99 ͣ +2025-06-07 11:11:43.991 _new_stop_move_thread_2 +2025-06-07 11:11:44.014 _new_stop_move_thread_3 +2025-06-07 11:11:44.014 get_scara_param -36.194000 127.758598 -28.610100 -996.389221 +2025-06-07 11:11:44.014 get_scara_real_coor -36.194000 127.758598 -28.610100 -996.389221 +2025-06-07 11:11:44.014 _new_stop_move_thread_4 +2025-06-07 11:11:44.066 wait_stop in +2025-06-07 11:11:44.096 wait_stop out_0 +2025-06-07 11:11:44.176 wait_stop in +2025-06-07 11:11:44.208 wait_stop out_0 +2025-06-07 11:11:45.515 _new_stop_move_thread_0 +2025-06-07 11:11:45.515 j1_slow_down_t = 0 +2025-06-07 11:11:45.515 j2_slow_down_t = 0 +2025-06-07 11:11:45.515 j3_slow_down_t = 0 +2025-06-07 11:11:45.515 j4_slow_down_t = 2 +2025-06-07 11:11:45.515 tmp_t[3] = 2 +2025-06-07 11:11:45.515 _new_stop_move_thread_1 +2025-06-07 11:11:45.593 jog_move_xyzr return 99 ͣ +2025-06-07 11:11:45.696 _new_stop_move_thread_2 +2025-06-07 11:11:45.731 _new_stop_move_thread_3 +2025-06-07 11:11:45.731 get_scara_param -36.194000 127.758797 -28.614500 -993.608704 +2025-06-07 11:11:45.731 get_scara_real_coor -36.194000 127.758797 -28.614500 -993.608582 +2025-06-07 11:11:45.731 _new_stop_move_thread_4 +2025-06-07 11:11:45.796 wait_stop in +2025-06-07 11:11:45.843 wait_stop out_0 +2025-06-07 11:11:46.835 _new_stop_move_thread_0 +2025-06-07 11:11:46.835 j1_slow_down_t = 0 +2025-06-07 11:11:46.835 j2_slow_down_t = 0 +2025-06-07 11:11:46.835 j3_slow_down_t = 0 +2025-06-07 11:11:46.835 j4_slow_down_t = 2 +2025-06-07 11:11:46.835 tmp_t[3] = 2 +2025-06-07 11:11:46.835 _new_stop_move_thread_1 +2025-06-07 11:11:46.982 _new_stop_move_thread_2 +2025-06-07 11:11:47.012 _new_stop_move_thread_3 +2025-06-07 11:11:47.012 jog_move_xyzr return 99 ͣ +2025-06-07 11:11:47.012 get_scara_param -36.194000 127.758904 -28.614201 -990.337402 +2025-06-07 11:11:47.012 get_scara_real_coor -36.194000 127.758904 -28.614201 -990.337402 +2025-06-07 11:11:47.012 _new_stop_move_thread_4 +2025-06-07 11:11:47.227 wait_stop in +2025-06-07 11:11:47.258 wait_stop out_0 diff --git a/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog new file mode 100644 index 0000000..016e513 --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Debug/SDK_LOG/id_74_2025-06-09.hilog @@ -0,0 +1,69 @@ +2025-06-09 10:07:41.441 SDK_VERSION_V2.0.0.29_Release +2025-06-09 10:07:41.441 robot connected +2025-06-09 10:07:41.441 26 +2025-06-09 10:07:41.445 current generation=26 +2025-06-09 10:07:41.960 0x1a +2025-06-09 10:07:41.960 initial return 3 ĩ˹ؽڲ޶Χʹjoint_homeʹؽǿƻ +2025-06-09 10:07:45.828 SDK_VERSION_V2.0.0.29_Release +2025-06-09 10:07:45.828 robot connected +2025-06-09 10:07:45.828 26 +2025-06-09 10:07:45.830 current generation=26 +2025-06-09 10:07:46.338 0x1a +2025-06-09 10:07:47.178 initial joint2 2449950 +2025-06-09 10:07:47.178 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist +2025-06-09 10:07:47.178 robot WritePID +2025-06-09 10:07:47.482 initial joint1 -160239 +2025-06-09 10:07:47.528 initial joint2 2449949 +2025-06-09 10:07:47.590 initial joint3 -219820 +2025-06-09 10:07:47.636 initial joint4 -25369361 +2025-06-09 10:07:47.651 initial joint1 -160239 +2025-06-09 10:07:47.700 initial joint2 2449951 +2025-06-09 10:07:47.746 initial joint3 -219825 +2025-06-09 10:07:47.806 initial joint4 -25369361 +2025-06-09 10:07:47.837 initial joint1 -160239 +2025-06-09 10:07:47.878 initial joint2 2449952 +2025-06-09 10:07:47.917 initial joint3 -219826 +2025-06-09 10:07:47.960 initial joint4 -25369362 +2025-06-09 10:07:50.065 initial_thread initialized +2025-06-09 10:07:50.065 servo enable +2025-06-09 10:07:50.065 brake open +2025-06-09 10:07:50.065 set_brake_state 0 1 +2025-06-09 10:07:50.267 robot initialized +2025-06-09 10:07:50.848 get_scara_param -11.002800 84.112503 -75.472298 -1005.720886 +2025-06-09 10:07:50.849 get_scara_real_coor -11.003000 84.112396 -75.472298 -1005.721619 +2025-06-09 10:07:50.849 λɢ +2025-06-09 10:07:50.849 position -160239.890625 2449954.250000 -219829.000000 -25369362.000000 0.000000 0.000000 0.000000 0.000000 +2025-06-09 10:07:50.849 speed 11002.799805 84112.500000 75472.296875 1045185.500000 +2025-06-09 10:07:50.849 set_first_position_after_initial +2025-06-09 10:07:50.849 movej_old start_pos: -11.002800 84.112503 -75.472298 -1005.720886 end_pos: -11.002800 84.112503 -75.472298 -1005.720886 org_sp 10.000000 end_sp 10.000000 +2025-06-09 10:07:51.145 J3 Belt Meilage=40.887051km +2025-06-09 10:07:56.710 _new_stop_move_thread_0 +2025-06-09 10:07:56.710 j1_slow_down_t = 0 +2025-06-09 10:07:56.710 j2_slow_down_t = 1 +2025-06-09 10:07:56.710 j3_slow_down_t = 0 +2025-06-09 10:07:56.715 j4_slow_down_t = 0 +2025-06-09 10:07:56.715 tmp_t[3] = 1 +2025-06-09 10:07:56.715 _new_stop_move_thread_1 +2025-06-09 10:07:56.797 jog_move_xyzr return 99 ͣ +2025-06-09 10:07:56.854 _new_stop_move_thread_2 +2025-06-09 10:07:56.881 _new_stop_move_thread_3 +2025-06-09 10:07:56.881 get_scara_param -10.345300 81.113098 -75.472603 -1005.722290 +2025-06-09 10:07:56.882 get_scara_real_coor -10.345300 81.113098 -75.472603 -1005.722290 +2025-06-09 10:07:56.882 _new_stop_move_thread_4 +2025-06-09 10:07:56.999 wait_stop in +2025-06-09 10:07:57.026 wait_stop out_0 +2025-06-09 10:08:00.028 _new_stop_move_thread_0 +2025-06-09 10:08:00.028 j1_slow_down_t = 0 +2025-06-09 10:08:00.029 j2_slow_down_t = 2 +2025-06-09 10:08:00.029 j3_slow_down_t = 0 +2025-06-09 10:08:00.029 j4_slow_down_t = 0 +2025-06-09 10:08:00.030 tmp_t[3] = 2 +2025-06-09 10:08:00.030 _new_stop_move_thread_1 +2025-06-09 10:08:00.149 jog_move_xyzr return 99 ͣ +2025-06-09 10:08:00.209 _new_stop_move_thread_2 +2025-06-09 10:08:00.234 _new_stop_move_thread_3 +2025-06-09 10:08:00.234 get_scara_param -11.359900 85.814903 -75.472298 -1005.748474 +2025-06-09 10:08:00.234 get_scara_real_coor -11.359900 85.814903 -75.472298 -1005.748596 +2025-06-09 10:08:00.234 _new_stop_move_thread_4 +2025-06-09 10:08:00.354 wait_stop in +2025-06-09 10:08:00.383 wait_stop out_0 diff --git a/HitBotCSharpDemo/bin/x64/Debug/server.exe b/HitBotCSharpDemo/bin/x64/Debug/server.exe new file mode 100644 index 0000000..bdace9b Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/server.exe differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/share.dll b/HitBotCSharpDemo/bin/x64/Debug/share.dll new file mode 100644 index 0000000..e8c06fc Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Debug/share.dll differ diff --git a/HitBotCSharpDemo/bin/x64/Debug/small_scara_interface.dll b/HitBotCSharpDemo/bin/x64/Debug/small_scara_interface.dll new file mode 100644 index 0000000..e8f49f1 Binary files /dev/null and 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b/HitBotCSharpDemo/bin/x64/Release/HitBotCSharpDemo.pdb new file mode 100644 index 0000000..a4f177f Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Release/HitBotCSharpDemo.pdb differ diff --git a/HitBotCSharpDemo/bin/x64/Release/Hitbot_card_set.exe b/HitBotCSharpDemo/bin/x64/Release/Hitbot_card_set.exe new file mode 100644 index 0000000..803f4d4 Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Release/Hitbot_card_set.exe differ diff --git a/HitBotCSharpDemo/bin/x64/Release/Hitbot_card_set_x64.exe b/HitBotCSharpDemo/bin/x64/Release/Hitbot_card_set_x64.exe new file mode 100644 index 0000000..12ae304 Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Release/Hitbot_card_set_x64.exe differ diff --git a/HitBotCSharpDemo/bin/x64/Release/Readme.txt b/HitBotCSharpDemo/bin/x64/Release/Readme.txt new file mode 100644 index 0000000..9794fa4 --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Release/Readme.txt @@ -0,0 +1,7 @@ +Windows通用核心库更新说明 + +版本:release_202100804 +发布时间：20210804 + +更新内容： + 1.修复new_movej_angle/new_movej_xyz_lr因手臂缓存区buf判断长度过出现偶发性抖动的问题； \ No newline at end of file diff --git a/HitBotCSharpDemo/bin/x64/Release/SDK_LOG/id_74_2025-06-06.hilog b/HitBotCSharpDemo/bin/x64/Release/SDK_LOG/id_74_2025-06-06.hilog new file mode 100644 index 0000000..0e7e5b7 --- /dev/null +++ b/HitBotCSharpDemo/bin/x64/Release/SDK_LOG/id_74_2025-06-06.hilog @@ -0,0 +1,45 @@ +2025-06-06 17:39:52.553 ROBOT_ERROR_CODE = 1101 +2025-06-06 17:39:52.554 +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 : 0 0 0 0 0 0 +2025-06-06 17:39:56.186 SDK_VERSION_2021_09_18_Release +2025-06-06 17:39:56.186 robot connected +2025-06-06 17:39:56.187 1 +2025-06-06 17:45:52.691 ROBOT_ERROR_CODE = 1101 +2025-06-06 17:45:52.691 +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 : 0 0 0 0 0 0 +2025-06-06 17:49:11.500 SDK_VERSION_2021_09_18_Release +2025-06-06 17:49:11.500 robot connected +2025-06-06 17:49:11.500 1 +2025-06-06 17:50:07.886 SDK_VERSION_2021_09_18_Release +2025-06-06 17:50:07.886 robot connected +2025-06-06 17:50:07.886 1 diff --git a/HitBotCSharpDemo/bin/x64/Release/Win_C#_x64.7z b/HitBotCSharpDemo/bin/x64/Release/Win_C#_x64.7z new file mode 100644 index 0000000..538638a Binary files /dev/null and b/HitBotCSharpDemo/bin/x64/Release/Win_C#_x64.7z differ diff --git a/HitBotCSharpDemo/bin/x64/Release/Win_C#_x64/ClassLibrary_ControlBean.dll b/HitBotCSharpDemo/bin/x64/Release/Win_C#_x64/ClassLibrary_ControlBean.dll new file mode 100644 index 0000000..2a9cc21 Binary files /dev/null and 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b/HitBotCSharpDemo/bin/x86/Release/Hitbot_card_set.exe new file mode 100644 index 0000000..97d1c0b Binary files /dev/null and b/HitBotCSharpDemo/bin/x86/Release/Hitbot_card_set.exe differ diff --git a/HitBotCSharpDemo/bin/x86/Release/server.exe b/HitBotCSharpDemo/bin/x86/Release/server.exe new file mode 100644 index 0000000..bdf0a60 Binary files /dev/null and b/HitBotCSharpDemo/bin/x86/Release/server.exe differ diff --git a/HitBotCSharpDemo/bin/x86/Release/share.dll b/HitBotCSharpDemo/bin/x86/Release/share.dll new file mode 100644 index 0000000..c20339e Binary files /dev/null and b/HitBotCSharpDemo/bin/x86/Release/share.dll differ diff --git a/HitBotCSharpDemo/bin/x86/Release/small_scara_interface.dll b/HitBotCSharpDemo/bin/x86/Release/small_scara_interface.dll new file mode 100644 index 0000000..8080c2c Binary files /dev/null and b/HitBotCSharpDemo/bin/x86/Release/small_scara_interface.dll differ diff --git a/HitBotCSharpDemo/obj/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs b/HitBotCSharpDemo/obj/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs new file mode 100644 index 0000000..1fa624e --- /dev/null +++ b/HitBotCSharpDemo/obj/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs @@ -0,0 +1,4 @@ +// +using System; +using System.Reflection; +[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = "")] diff --git a/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.AssemblyReference.cache b/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.AssemblyReference.cache new file mode 100644 index 0000000..adbe065 Binary files /dev/null and b/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.AssemblyReference.cache differ diff --git a/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.CoreCompileInputs.cache b/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.CoreCompileInputs.cache new file mode 100644 index 0000000..2d81d7c --- /dev/null +++ b/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.CoreCompileInputs.cache @@ -0,0 +1 @@ +ca9fbcfc72314b68dd1dfe335b0c61f4235ea75b7f4268859fde79419c254db8 diff --git a/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.FileListAbsolute.txt b/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.FileListAbsolute.txt new file mode 100644 index 0000000..4237b2a --- /dev/null +++ b/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.FileListAbsolute.txt @@ -0,0 +1,12 @@ +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\Debug\HitBotCSharpDemo.exe.config +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\Debug\HitBotCSharpDemo.exe +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\Debug\HitBotCSharpDemo.pdb +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\Debug\ClassLibrary_ControlBean.dll +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\Debug\CSharpDemo.csproj.AssemblyReference.cache +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\Debug\HitBotCSharpDemo.ShowForm.resources +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\Debug\HitBotCSharpDemo.Properties.Resources.resources +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\Debug\CSharpDemo.csproj.GenerateResource.cache +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\Debug\CSharpDemo.csproj.CoreCompileInputs.cache +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\Debug\CSharpDemo.csproj.Up2Date +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\Debug\HitBotCSharpDemo.exe +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\Debug\HitBotCSharpDemo.pdb diff --git a/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.GenerateResource.cache b/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.GenerateResource.cache new file mode 100644 index 0000000..8c72c84 Binary files /dev/null and b/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.GenerateResource.cache differ diff --git a/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.Up2Date b/HitBotCSharpDemo/obj/Debug/CSharpDemo.csproj.Up2Date new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/Debug/DesignTimeResolveAssemblyReferences.cache b/HitBotCSharpDemo/obj/Debug/DesignTimeResolveAssemblyReferences.cache new file mode 100644 index 0000000..998f1a5 Binary files /dev/null and b/HitBotCSharpDemo/obj/Debug/DesignTimeResolveAssemblyReferences.cache differ diff --git a/HitBotCSharpDemo/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache 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b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csproj.CopyComplete new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csproj.CoreCompileInputs.cache b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csproj.CoreCompileInputs.cache new file mode 100644 index 0000000..f6ee6fb --- /dev/null +++ b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csproj.CoreCompileInputs.cache @@ -0,0 +1 @@ +3994ee7f05835a34ed64e712ba336041f3c2c520 diff --git a/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csproj.FileListAbsolute.txt b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csproj.FileListAbsolute.txt new file mode 100644 index 0000000..39581f6 --- /dev/null +++ b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csproj.FileListAbsolute.txt @@ -0,0 +1,12 @@ +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\Debug\HitBotStudioDemo.exe.config +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\Debug\HitBotStudioDemo.exe +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\Debug\HitBotStudioDemo.pdb +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\Debug\ClassLibrary_ControlBean.dll +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Debug\HitBotStudioDemo.csprojAssemblyReference.cache +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Debug\HitBotStudioDemo.ShowForm.resources +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Debug\HitBotStudioDemo.Properties.Resources.resources +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Debug\HitBotStudioDemo.csproj.GenerateResource.cache +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Debug\HitBotStudioDemo.csproj.CoreCompileInputs.cache +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Debug\HitBotStudioDemo.csproj.CopyComplete +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Debug\HitBotStudioDemo.exe +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Debug\HitBotStudioDemo.pdb diff --git a/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csproj.GenerateResource.cache b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csproj.GenerateResource.cache new file mode 100644 index 0000000..e1ca704 Binary files /dev/null and b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csproj.GenerateResource.cache differ diff --git a/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csprojAssemblyReference.cache b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csprojAssemblyReference.cache new file mode 100644 index 0000000..7056ad5 Binary files /dev/null and b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.csprojAssemblyReference.cache differ diff --git a/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.exe b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.exe new file mode 100644 index 0000000..0e4a48c Binary files /dev/null and b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.exe differ diff --git a/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.pdb b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.pdb new file mode 100644 index 0000000..6332357 Binary files /dev/null and b/HitBotCSharpDemo/obj/Debug/HitBotStudioDemo.pdb differ diff --git a/HitBotCSharpDemo/obj/Debug/TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs b/HitBotCSharpDemo/obj/Debug/TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/Debug/TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs b/HitBotCSharpDemo/obj/Debug/TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/Debug/TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs b/HitBotCSharpDemo/obj/Debug/TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/Release/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs b/HitBotCSharpDemo/obj/Release/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs new file mode 100644 index 0000000..1fa624e --- /dev/null +++ b/HitBotCSharpDemo/obj/Release/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs @@ -0,0 +1,4 @@ +// +using System; +using System.Reflection; +[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = "")] diff --git a/HitBotCSharpDemo/obj/Release/CSharpDemo.csproj.AssemblyReference.cache b/HitBotCSharpDemo/obj/Release/CSharpDemo.csproj.AssemblyReference.cache new file mode 100644 index 0000000..96eebf1 Binary files /dev/null and b/HitBotCSharpDemo/obj/Release/CSharpDemo.csproj.AssemblyReference.cache differ diff --git a/HitBotCSharpDemo/obj/Release/DesignTimeResolveAssemblyReferences.cache b/HitBotCSharpDemo/obj/Release/DesignTimeResolveAssemblyReferences.cache new file mode 100644 index 0000000..3681ccf Binary files /dev/null and b/HitBotCSharpDemo/obj/Release/DesignTimeResolveAssemblyReferences.cache differ diff --git a/HitBotCSharpDemo/obj/Release/DesignTimeResolveAssemblyReferencesInput.cache b/HitBotCSharpDemo/obj/Release/DesignTimeResolveAssemblyReferencesInput.cache new file mode 100644 index 0000000..fdad43c Binary files /dev/null and b/HitBotCSharpDemo/obj/Release/DesignTimeResolveAssemblyReferencesInput.cache differ diff --git a/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.Properties.Resources.resources b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.Properties.Resources.resources new file mode 100644 index 0000000..6c05a97 Binary files /dev/null and b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.Properties.Resources.resources differ diff --git a/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.ShowForm.resources b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.ShowForm.resources new file mode 100644 index 0000000..6c05a97 Binary files /dev/null and b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.ShowForm.resources differ diff --git a/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.CopyComplete b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.CopyComplete new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.CoreCompileInputs.cache b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.CoreCompileInputs.cache new file mode 100644 index 0000000..56d2297 --- /dev/null +++ b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.CoreCompileInputs.cache @@ -0,0 +1 @@ +d4e0af545389a0c7d49951c7b3ef0e307777e1fc diff --git a/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.FileListAbsolute.txt b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.FileListAbsolute.txt new file mode 100644 index 0000000..9a9608d --- /dev/null +++ b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.FileListAbsolute.txt @@ -0,0 +1,11 @@ +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\Release\HitBotStudioDemo.exe.config +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\Release\HitBotStudioDemo.exe +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\Release\HitBotStudioDemo.pdb +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\Release\ClassLibrary_ControlBean.dll +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Release\HitBotStudioDemo.ShowForm.resources +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Release\HitBotStudioDemo.Properties.Resources.resources +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Release\HitBotStudioDemo.csproj.GenerateResource.cache +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Release\HitBotStudioDemo.csproj.CoreCompileInputs.cache +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Release\HitBotStudioDemo.csproj.CopyComplete +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Release\HitBotStudioDemo.exe +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\Release\HitBotStudioDemo.pdb diff --git a/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.GenerateResource.cache b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.GenerateResource.cache new file mode 100644 index 0000000..e7121e1 Binary files /dev/null and b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.csproj.GenerateResource.cache differ diff --git a/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.exe b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.exe new file mode 100644 index 0000000..0aa5418 Binary files /dev/null and b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.exe differ diff --git a/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.pdb b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.pdb new file mode 100644 index 0000000..e6cf366 Binary files /dev/null and b/HitBotCSharpDemo/obj/Release/HitBotStudioDemo.pdb differ diff --git a/HitBotCSharpDemo/obj/Release/TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs b/HitBotCSharpDemo/obj/Release/TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/Release/TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs b/HitBotCSharpDemo/obj/Release/TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/Release/TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs b/HitBotCSharpDemo/obj/Release/TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x64/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs b/HitBotCSharpDemo/obj/x64/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs new file mode 100644 index 0000000..1fa624e --- /dev/null +++ b/HitBotCSharpDemo/obj/x64/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs @@ -0,0 +1,4 @@ +// +using System; +using System.Reflection; +[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = "")] diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.AssemblyReference.cache b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.AssemblyReference.cache new file mode 100644 index 0000000..376c9ed Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.AssemblyReference.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CopyComplete b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CopyComplete new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache new file mode 100644 index 0000000..2e66003 --- /dev/null +++ b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.CoreCompileInputs.cache @@ -0,0 +1 @@ +0d727208eca3c47038b3513931488e27610437c08abe9796c9d6e14b694471f2 diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.FileListAbsolute.txt b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.FileListAbsolute.txt new file mode 100644 index 0000000..a08b2a8 --- /dev/null +++ b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.FileListAbsolute.txt @@ -0,0 +1,37 @@ +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\HitBotCSharpDemo.exe.config +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\HitBotCSharpDemo.exe +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\HitBotCSharpDemo.pdb +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\ClassLibrary_ControlBean.dll +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.ShowForm.resources +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.Properties.Resources.resources +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.GenerateResource.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.CoreCompileInputs.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.CopyComplete +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.exe +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.pdb +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csprojAssemblyReference.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\HitBotCSharpDemo.exe.config +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\HitBotCSharpDemo.exe +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\HitBotCSharpDemo.pdb +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\ClassLibrary_ControlBean.dll +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csprojAssemblyReference.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.ShowForm.resources +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.Properties.Resources.resources +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.GenerateResource.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.CoreCompileInputs.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.CopyComplete +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.exe +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.pdb +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\HitBotCSharpDemo.exe.config +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\HitBotCSharpDemo.exe +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\HitBotCSharpDemo.pdb +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\ClassLibrary_ControlBean.dll +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.AssemblyReference.cache +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.exe.config +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.ShowForm.resources +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.Properties.Resources.resources +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.GenerateResource.cache +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.CoreCompileInputs.cache +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\CSharpDemo.csproj.Up2Date +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.exe +C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x64\Debug\HitBotCSharpDemo.pdb diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache new file mode 100644 index 0000000..15c5fad Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csproj.GenerateResource.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csprojAssemblyReference.cache b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csprojAssemblyReference.cache new file mode 100644 index 0000000..b10400b Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/CSharpDemo.csprojAssemblyReference.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferences.cache b/HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferences.cache new file mode 100644 index 0000000..998f1a5 Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferences.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferencesInput.cache b/HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferencesInput.cache new file mode 100644 index 0000000..de0f3eb Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/DesignTimeResolveAssemblyReferencesInput.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.Properties.Resources.resources b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.Properties.Resources.resources new file mode 100644 index 0000000..6c05a97 Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.Properties.Resources.resources differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.ShowForm.resources b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.ShowForm.resources new file mode 100644 index 0000000..ee2c527 Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.ShowForm.resources differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe new file mode 100644 index 0000000..48d15b5 Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe.config b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe.config new file mode 100644 index 0000000..731f6de --- /dev/null +++ b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.exe.config @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb new file mode 100644 index 0000000..f7cacdf Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/HitBotCSharpDemo.pdb differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/HitBotStudioDemo.csproj.CoreCompileInputs.cache b/HitBotCSharpDemo/obj/x64/Debug/HitBotStudioDemo.csproj.CoreCompileInputs.cache new file mode 100644 index 0000000..56d2297 --- /dev/null +++ b/HitBotCSharpDemo/obj/x64/Debug/HitBotStudioDemo.csproj.CoreCompileInputs.cache @@ -0,0 +1 @@ +d4e0af545389a0c7d49951c7b3ef0e307777e1fc diff --git a/HitBotCSharpDemo/obj/x64/Debug/TempPE/Properties.Resources.Designer.cs.dll b/HitBotCSharpDemo/obj/x64/Debug/TempPE/Properties.Resources.Designer.cs.dll new file mode 100644 index 0000000..c7edf67 Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Debug/TempPE/Properties.Resources.Designer.cs.dll differ diff --git a/HitBotCSharpDemo/obj/x64/Debug/TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs b/HitBotCSharpDemo/obj/x64/Debug/TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x64/Debug/TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs b/HitBotCSharpDemo/obj/x64/Debug/TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x64/Debug/TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs b/HitBotCSharpDemo/obj/x64/Debug/TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x64/Release/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs b/HitBotCSharpDemo/obj/x64/Release/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs new file mode 100644 index 0000000..1fa624e --- /dev/null +++ b/HitBotCSharpDemo/obj/x64/Release/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs @@ -0,0 +1,4 @@ +// +using System; +using System.Reflection; +[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = "")] diff --git a/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.AssemblyReference.cache b/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.AssemblyReference.cache new file mode 100644 index 0000000..7e13424 Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.AssemblyReference.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.CopyComplete b/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.CopyComplete new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.CoreCompileInputs.cache b/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.CoreCompileInputs.cache new file mode 100644 index 0000000..3879c60 --- /dev/null +++ b/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.CoreCompileInputs.cache @@ -0,0 +1 @@ +cfa268bec02166a6f545c6947143aa21ce43ede313c754910da057bbe8c2da41 diff --git a/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.GenerateResource.cache b/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.GenerateResource.cache new file mode 100644 index 0000000..b89c0b2 Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csproj.GenerateResource.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csprojAssemblyReference.cache b/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csprojAssemblyReference.cache new file mode 100644 index 0000000..53c26ab Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Release/CSharpDemo.csprojAssemblyReference.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Release/CsharpDemo.csproj.FileListAbsolute.txt b/HitBotCSharpDemo/obj/x64/Release/CsharpDemo.csproj.FileListAbsolute.txt new file mode 100644 index 0000000..57ffefe --- /dev/null +++ b/HitBotCSharpDemo/obj/x64/Release/CsharpDemo.csproj.FileListAbsolute.txt @@ -0,0 +1,54 @@ +C:\Users\hitbot_006\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\CsharpDemo.csproj.GenerateResource.cache +C:\Users\hitbot_006\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\CsharpDemo.csproj.CoreCompileInputs.cache +C:\Users\hitbot_006\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\CsharpDemo.csproj.CopyComplete 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new file mode 100644 index 0000000..9168bda --- /dev/null +++ b/HitBotCSharpDemo/obj/x64/Release/HitBotStudioDemo.csproj.FileListAbsolute.txt @@ -0,0 +1,33 @@ +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\x64\Release\HitBotStudioDemo.exe.config +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\x64\Release\HitBotStudioDemo.exe +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\x64\Release\HitBotStudioDemo.pdb +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.csprojAssemblyReference.cache +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.ShowForm.resources +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.Properties.Resources.resources +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.csproj.GenerateResource.cache +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.csproj.CoreCompileInputs.cache +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.csproj.CopyComplete +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.exe +C:\Users\admin\Desktop\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.pdb +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\bin\x64\Release\HitBotStudioDemo.exe.config +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\bin\x64\Release\HitBotStudioDemo.exe +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\bin\x64\Release\HitBotStudioDemo.pdb +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.csprojAssemblyReference.cache +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.ShowForm.resources +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.Properties.Resources.resources +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.csproj.GenerateResource.cache +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.csproj.CoreCompileInputs.cache +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.csproj.CopyComplete +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.exe +D:\FirstDemo\HitBotStudioDemo\HitBotStudioDemo\obj\x64\Release\HitBotStudioDemo.pdb +C:\Users\hitbot_006\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\x64\Release\HitBotStudioDemo.exe.config +C:\Users\hitbot_006\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\x64\Release\HitBotStudioDemo.exe +C:\Users\hitbot_006\Desktop\HitBotStudioDemo\HitBotStudioDemo\bin\x64\Release\HitBotStudioDemo.pdb 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a/HitBotCSharpDemo/obj/x64/Release/HitBotStudioDemo.csproj.GenerateResource.cache b/HitBotCSharpDemo/obj/x64/Release/HitBotStudioDemo.csproj.GenerateResource.cache new file mode 100644 index 0000000..87a25d7 Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Release/HitBotStudioDemo.csproj.GenerateResource.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Release/HitBotStudioDemo.csprojAssemblyReference.cache b/HitBotCSharpDemo/obj/x64/Release/HitBotStudioDemo.csprojAssemblyReference.cache new file mode 100644 index 0000000..6906fe8 Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Release/HitBotStudioDemo.csprojAssemblyReference.cache differ diff --git a/HitBotCSharpDemo/obj/x64/Release/TempPE/Properties.Resources.Designer.cs.dll b/HitBotCSharpDemo/obj/x64/Release/TempPE/Properties.Resources.Designer.cs.dll new file mode 100644 index 0000000..5b5c67d Binary files /dev/null and b/HitBotCSharpDemo/obj/x64/Release/TempPE/Properties.Resources.Designer.cs.dll differ diff --git a/HitBotCSharpDemo/obj/x64/Release/TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs b/HitBotCSharpDemo/obj/x64/Release/TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x64/Release/TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs b/HitBotCSharpDemo/obj/x64/Release/TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x64/Release/TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs b/HitBotCSharpDemo/obj/x64/Release/TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x86/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs b/HitBotCSharpDemo/obj/x86/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs new file mode 100644 index 0000000..1fa624e --- /dev/null +++ b/HitBotCSharpDemo/obj/x86/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs @@ -0,0 +1,4 @@ +// +using System; +using System.Reflection; +[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = "")] diff --git a/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.AssemblyReference.cache b/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.AssemblyReference.cache new file mode 100644 index 0000000..7e13424 Binary files /dev/null and b/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.AssemblyReference.cache differ diff --git a/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.CopyComplete b/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.CopyComplete new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.CoreCompileInputs.cache b/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.CoreCompileInputs.cache new file mode 100644 index 0000000..884297d --- /dev/null +++ b/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.CoreCompileInputs.cache @@ -0,0 +1 @@ +102bf1aa82435f3dd0f2b496dbc2f7687f8fe449c046cd4a978aba782c5c0ffc diff --git a/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.FileListAbsolute.txt b/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.FileListAbsolute.txt new file mode 100644 index 0000000..5cd61b6 --- /dev/null +++ b/HitBotCSharpDemo/obj/x86/Debug/CSharpDemo.csproj.FileListAbsolute.txt @@ -0,0 +1,37 @@ +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Debug\HitBotCSharpDemo.exe.config +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Debug\HitBotCSharpDemo.exe +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Debug\HitBotCSharpDemo.pdb +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Debug\ClassLibrary_ControlBean.dll +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Debug\HitBotCSharpDemo.ShowForm.resources +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Debug\HitBotCSharpDemo.Properties.Resources.resources +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Debug\CSharpDemo.csproj.GenerateResource.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Debug\CSharpDemo.csproj.CoreCompileInputs.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Debug\CSharpDemo.csproj.CopyComplete +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Debug\HitBotCSharpDemo.exe +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Debug\HitBotCSharpDemo.pdb +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Debug\CSharpDemo.csprojAssemblyReference.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Debug\HitBotCSharpDemo.exe.config +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Debug\HitBotCSharpDemo.exe 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new file mode 100644 index 0000000..731f6de --- /dev/null +++ b/HitBotCSharpDemo/obj/x86/Debug/HitBotCSharpDemo.exe.config @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/HitBotCSharpDemo/obj/x86/Debug/HitBotCSharpDemo.pdb b/HitBotCSharpDemo/obj/x86/Debug/HitBotCSharpDemo.pdb new file mode 100644 index 0000000..9bf1b03 Binary files /dev/null and b/HitBotCSharpDemo/obj/x86/Debug/HitBotCSharpDemo.pdb differ diff --git a/HitBotCSharpDemo/obj/x86/Debug/TempPE/Properties.Resources.Designer.cs.dll b/HitBotCSharpDemo/obj/x86/Debug/TempPE/Properties.Resources.Designer.cs.dll new file mode 100644 index 0000000..63ae9c6 Binary files /dev/null and b/HitBotCSharpDemo/obj/x86/Debug/TempPE/Properties.Resources.Designer.cs.dll differ diff --git a/HitBotCSharpDemo/obj/x86/Debug/TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs b/HitBotCSharpDemo/obj/x86/Debug/TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x86/Debug/TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs b/HitBotCSharpDemo/obj/x86/Debug/TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x86/Debug/TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs b/HitBotCSharpDemo/obj/x86/Debug/TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x86/Release/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs b/HitBotCSharpDemo/obj/x86/Release/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs new file mode 100644 index 0000000..1fa624e --- /dev/null +++ b/HitBotCSharpDemo/obj/x86/Release/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs @@ -0,0 +1,4 @@ +// +using System; +using System.Reflection; +[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = "")] diff --git a/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.AssemblyReference.cache b/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.AssemblyReference.cache new file mode 100644 index 0000000..c0f4eb2 Binary files /dev/null and b/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.AssemblyReference.cache differ diff --git a/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.CopyComplete b/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.CopyComplete new file mode 100644 index 0000000..e69de29 diff --git a/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.CoreCompileInputs.cache b/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.CoreCompileInputs.cache new file mode 100644 index 0000000..a5e3fdf --- /dev/null +++ b/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.CoreCompileInputs.cache @@ -0,0 +1 @@ +13856f55965f323acd9b1b15883c8cf3df9faa20 diff --git a/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.FileListAbsolute.txt b/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.FileListAbsolute.txt new file mode 100644 index 0000000..384f78f --- /dev/null +++ b/HitBotCSharpDemo/obj/x86/Release/CSharpDemo.csproj.FileListAbsolute.txt @@ -0,0 +1,22 @@ +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Release\HitBotCSharpDemo.exe.config +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Release\HitBotCSharpDemo.exe +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Release\HitBotCSharpDemo.pdb +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Release\ClassLibrary_ControlBean.dll +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Release\HitBotCSharpDemo.ShowForm.resources +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Release\HitBotCSharpDemo.Properties.Resources.resources +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Release\CSharpDemo.csproj.GenerateResource.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Release\CSharpDemo.csproj.CoreCompileInputs.cache +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Release\CSharpDemo.csproj.CopyComplete +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Release\HitBotCSharpDemo.exe +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Release\HitBotCSharpDemo.pdb +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Release\HitBotCSharpDemo.exe.config +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Release\HitBotCSharpDemo.exe +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Release\HitBotCSharpDemo.pdb +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x86\Release\ClassLibrary_ControlBean.dll +D:\慧灵科技\SDK\天瑞\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\obj\x86\Release\HitBotCSharpDemo.ShowForm.resources 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