2025-06-16 16:46:43.024	ROBOT_ERROR_CODE = 1004
2025-06-16 16:46:43.024	
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 
2025-06-16 16:47:00.542	SDK_VERSION_V2.0.0.29_Release
2025-06-16 16:47:00.542	robot connected
2025-06-16 16:47:00.542	26
2025-06-16 16:47:00.542	current generation=26
2025-06-16 16:47:01.125	0x1a
2025-06-16 16:47:01.968	initial joint2 4432239
2025-06-16 16:47:01.969	C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-16 16:47:01.969	robot WritePID
2025-06-16 16:47:02.275	initial joint1 -1248502
2025-06-16 16:47:02.323	initial joint2 4432240
2025-06-16 16:47:02.379	initial joint3 -13281
2025-06-16 16:47:02.423	initial joint4 -25060087
2025-06-16 16:47:02.440	initial joint1 -1248503
2025-06-16 16:47:02.492	initial joint2 4432238
2025-06-16 16:47:02.539	initial joint3 -13281
2025-06-16 16:47:02.588	initial joint4 -25060089
2025-06-16 16:47:02.622	initial joint1 -1248502
2025-06-16 16:47:02.663	initial joint2 4432239
2025-06-16 16:47:02.706	initial joint3 -13281
2025-06-16 16:47:02.754	initial joint4 -25060089
2025-06-16 16:47:04.876	initial_thread initialized
2025-06-16 16:47:04.876	servo enable
2025-06-16 16:47:04.877	brake open
2025-06-16 16:47:04.880	set_brake_state 0 1
2025-06-16 16:47:05.093	robot initialized
2025-06-16 16:47:05.652	get_scara_param -85.727798 152.168793 -4.559600 -1026.870483
2025-06-16 16:47:05.652	get_scara_real_coor -85.727898 152.168900 -4.559600 -1026.870483
2025-06-16 16:47:05.652	上位机离散数据
2025-06-16 16:47:05.654	position -1248501.500000	4432237.500000	-13280.796875	-25060090.000000	0.000000	0.000000	0.000000	0.000000
2025-06-16 16:47:05.654	speed 85727.796875	152168.796875	4559.600098	1032443.937500
2025-06-16 16:47:05.654	set_first_position_after_initial
2025-06-16 16:47:05.654	movej_old start_pos:	-85.727798	152.168793	-4.559600	-1026.870483	end_pos:	-85.727798	152.168701	-4.559600	-1026.870483	org_sp	10.000000	end_sp	0.660932
2025-06-16 16:47:05.951	J3 Belt Meilage=40.917797km
2025-06-16 16:49:10.728	SDK_VERSION_V2.0.0.29_Release
2025-06-16 16:49:10.728	robot connected
2025-06-16 16:49:10.728	26
2025-06-16 16:49:10.728	current generation=26
2025-06-16 16:49:11.237	0x1a
2025-06-16 16:49:12.043	initial joint2 4432242
2025-06-16 16:49:12.044	C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
2025-06-16 16:49:12.044	robot WritePID
2025-06-16 16:49:12.347	initial joint1 -1248500
2025-06-16 16:49:12.393	initial joint2 4432242
2025-06-16 16:49:12.440	initial joint3 -13281
2025-06-16 16:49:12.485	initial joint4 -25060091
2025-06-16 16:49:12.501	initial joint1 -1248500
2025-06-16 16:49:12.548	initial joint2 4432243
2025-06-16 16:49:12.588	initial joint3 -13281
2025-06-16 16:49:12.636	initial joint4 -25060092
2025-06-16 16:49:12.651	initial joint1 -1248500
2025-06-16 16:49:12.708	initial joint2 4432245
2025-06-16 16:49:12.755	initial joint3 -13281
2025-06-16 16:49:12.793	initial joint4 -25060093
2025-06-16 16:49:14.903	initial_thread initialized
2025-06-16 16:49:14.903	servo enable
2025-06-16 16:49:14.903	brake open
2025-06-16 16:49:14.903	set_brake_state 0 1
2025-06-16 16:49:15.126	robot initialized
2025-06-16 16:49:15.705	get_scara_param -85.727600 152.169098 -4.559600 -1026.870361
2025-06-16 16:49:15.705	get_scara_real_coor -85.727699 152.169098 -4.559600 -1026.870483
2025-06-16 16:49:15.705	上位机离散数据
2025-06-16 16:49:15.706	position -1248498.625000	4432246.000000	-13280.796875	-25060098.000000	0.000000	0.000000	0.000000	0.000000
2025-06-16 16:49:15.706	speed 85727.593750	152169.093750	4559.600098	1032444.250000
2025-06-16 16:49:15.706	set_first_position_after_initial
2025-06-16 16:49:15.707	movej_old start_pos:	-85.727600	152.169098	-4.559600	-1026.870361	end_pos:	-85.727600	152.169098	-4.559600	-1026.870361	org_sp	10.000000	end_sp	10.000000
2025-06-16 16:49:16.015	J3 Belt Meilage=40.917816km
2025-06-16 16:49:25.932	30	30	30	30
2025-06-16 16:49:25.934	new_movej_xyz_lr 274.065002	-137.158203	-75.466103	-1005.721008	100.000000	0.000000	1
2025-06-16 16:49:25.934	goal_angle -67.226128	86.401024
2025-06-16 16:49:25.935	new_movej_angle -67.226128	86.401024	-75.466103	-1005.721008	0.000000	100.000000
2025-06-16 16:49:25.935	z1 -4.559600 z2 -75.466103
2025-06-16 16:49:25.935	angle1_1 -85.727600 angle2_1 152.169098 z1 -4.559600 r1 -1026.870361
2025-06-16 16:49:25.935	angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
2025-06-16 16:49:25.935	speed 100.000000
2025-06-16 16:49:25.935	tcp_distance 217.840149
2025-06-16 16:49:25.937	new_end_speed 100.000000 j1_acc_t 1.089201 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 18.578747
2025-06-16 16:49:25.937	new_end_speed 100.000000 j2_acc_t 1.089201 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.042763
2025-06-16 16:49:25.937	new_end_speed 100.000000 j3_acc_t 1.089201 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.202652
2025-06-16 16:49:25.937	new_end_speed 100.000000 j4_acc_t 1.089201 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 21.237688
2025-06-16 16:49:25.937	end_speed 100.000000
2025-06-16 16:49:25.938	trail_number2.178401
2025-06-16 16:49:25.938	tcp_distance 217.840149
2025-06-16 16:49:25.938	angle1_1 = -85.727600 angle2_1 = 152.169098 z1 = -4.559600 r1 = -1026.870361 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
2025-06-16 16:49:37.836	30	30	30	30
2025-06-16 16:49:37.836	new_movej_xyz_lr 93.989304	-37.882999	-4.457100	-1027.920044	100.000000	0.000000	1
2025-06-16 16:49:37.837	goal_angle -87.199585	152.604431
2025-06-16 16:49:37.837	new_movej_angle -87.199585	152.604431	-4.457100	-1027.920044	0.000000	100.000000
2025-06-16 16:49:37.837	z1 -75.466103 z2 -4.457100
2025-06-16 16:49:37.837	angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
2025-06-16 16:49:37.837	angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
2025-06-16 16:49:37.837	speed 100.000000
2025-06-16 16:49:37.837	tcp_distance 218.265945
2025-06-16 16:49:37.838	new_end_speed 100.000000 j1_acc_t 1.091330 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 20.017746
2025-06-16 16:49:37.838	new_end_speed 100.000000 j2_acc_t 1.091330 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 66.350204
2025-06-16 16:49:37.838	new_end_speed 100.000000 j3_acc_t 1.091330 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 71.166458
2025-06-16 16:49:37.838	new_end_speed 100.000000 j4_acc_t 1.091330 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 22.248268
2025-06-16 16:49:37.838	end_speed 100.000000
2025-06-16 16:49:37.838	trail_number2.182659
2025-06-16 16:49:37.839	tcp_distance 218.265945
2025-06-16 16:49:37.839	angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044