1277 lines
92 KiB
Plaintext
1277 lines
92 KiB
Plaintext
2025-06-11 10:01:05.852 ROBOT_ERROR_CODE = 1004
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2025-06-11 10:01:05.853
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0 : 0 0 0 0 0 0
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1 : 0 0 0 0 0 0
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2 : 0 0 0 0 0 0
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3 : 0 0 0 0 0 0
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4 : 0 0 0 0 0 0
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5 : 0 0 0 0 0 0
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6 : 0 0 0 0 0 0
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7 : 0 0 0 0 0 0
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8 : 0 0 0 0 0 0
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9 : 0 0 0 0 0 0
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10 : 0 0 0 0 0 0
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11 : 0 0 0 0 0 0
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12 : 0 0 0 0 0 0
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13 : 0 0 0 0 0 0
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14 : 0 0 0 0 0 0
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15 : 3963 4137 3951 4135 4137 0
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2025-06-11 10:01:10.332 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 10:01:10.332 robot connected
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2025-06-11 10:01:10.332 26
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2025-06-11 10:01:10.334 current generation=26
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2025-06-11 10:01:10.909 0x1a
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2025-06-11 10:01:10.909 initial return 3 末端关节不在限定范围，可以使用joint_home使关节强制回零
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2025-06-11 10:01:12.871 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 10:01:12.871 robot connected
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2025-06-11 10:01:12.871 26
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2025-06-11 10:01:12.871 current generation=26
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2025-06-11 10:01:13.382 0x1a
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2025-06-11 10:01:14.313 initial joint2 2451785
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2025-06-11 10:01:14.313 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-11 10:01:14.313 robot WritePID
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2025-06-11 10:01:14.616 initial joint1 -160324
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2025-06-11 10:01:14.653 initial joint2 2451786
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2025-06-11 10:01:14.716 initial joint3 -220099
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2025-06-11 10:01:14.766 initial joint4 -25368944
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2025-06-11 10:01:14.783 initial joint1 -160324
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2025-06-11 10:01:14.831 initial joint2 2451785
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2025-06-11 10:01:14.882 initial joint3 -220099
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2025-06-11 10:01:14.932 initial joint4 -25368944
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2025-06-11 10:01:14.950 initial joint1 -160323
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2025-06-11 10:01:15.017 initial joint2 2451785
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2025-06-11 10:01:15.068 initial joint3 -220100
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2025-06-11 10:01:15.117 initial joint4 -25368944
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2025-06-11 10:01:17.275 initial_thread initialized
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2025-06-11 10:01:17.275 servo enable
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2025-06-11 10:01:17.275 brake open
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2025-06-11 10:01:17.275 set_brake_state 0 1
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2025-06-11 10:01:17.488 robot initialized
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2025-06-11 10:01:18.041 get_scara_param -11.008500 84.175400 -75.565598 -1005.671570
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2025-06-11 10:01:18.041 get_scara_real_coor -11.008400 84.175400 -75.565300 -1005.671570
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2025-06-11 10:01:18.041 上位机离散数据
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2025-06-11 10:01:18.043 position -160322.906250 2451786.250000 -220100.750000 -25368942.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-11 10:01:18.043 speed 11008.500977 84175.398438 75565.593750 1045168.250000
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2025-06-11 10:01:18.043 set_first_position_after_initial
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2025-06-11 10:01:18.045 movej_old start_pos: -11.008500 84.175400 -75.565598 -1005.671509 end_pos: -11.008500 84.175400 -75.565598 -1005.671509 org_sp 10.000000 end_sp 10.000000
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2025-06-11 10:01:18.340 J3 Belt Meilage=40.899685km
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2025-06-11 10:13:13.041 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 10:13:13.041 robot connected
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2025-06-11 10:13:13.041 26
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2025-06-11 10:13:13.041 current generation=26
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2025-06-11 10:13:13.551 0x1a
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2025-06-11 10:13:14.388 initial joint2 2451789
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2025-06-11 10:13:14.388 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-11 10:13:14.388 robot WritePID
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2025-06-11 10:13:14.704 initial joint1 -160322
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2025-06-11 10:13:14.751 initial joint2 2451788
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2025-06-11 10:13:14.802 initial joint3 -220104
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2025-06-11 10:13:14.854 initial joint4 -25368944
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2025-06-11 10:13:14.870 initial joint1 -160322
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2025-06-11 10:13:14.920 initial joint2 2451791
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2025-06-11 10:13:14.959 initial joint3 -220108
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2025-06-11 10:13:15.005 initial joint4 -25368946
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2025-06-11 10:13:15.021 initial joint1 -160322
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2025-06-11 10:13:15.070 initial joint2 2451793
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2025-06-11 10:13:15.108 initial joint3 -220110
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2025-06-11 10:13:15.156 initial joint4 -25368948
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2025-06-11 10:13:17.426 initial_thread initialized
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2025-06-11 10:13:17.426 servo enable
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2025-06-11 10:13:17.427 brake open
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2025-06-11 10:13:17.427 set_brake_state 0 1
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2025-06-11 10:13:17.628 robot initialized
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2025-06-11 10:13:18.194 get_scara_param -11.008400 84.175797 -75.569099 -1005.671387
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2025-06-11 10:13:18.195 get_scara_real_coor -11.008300 84.175697 -75.569801 -1005.671509
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2025-06-11 10:13:18.195 上位机离散数据
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2025-06-11 10:13:18.195 position -160321.437500 2451797.750000 -220110.953125 -25368948.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-11 10:13:18.195 speed 11008.399414 84175.796875 75569.101563 1045168.562500
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2025-06-11 10:13:18.195 set_first_position_after_initial
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2025-06-11 10:13:18.197 movej_old start_pos: -11.008400 84.175797 -75.569099 -1005.671448 end_pos: -11.008400 84.175690 -75.569099 -1005.671448 org_sp 10.000000 end_sp 0.793652
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2025-06-11 10:13:18.495 J3 Belt Meilage=40.899982km
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2025-06-11 10:25:15.957 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 10:25:15.958 robot connected
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2025-06-11 10:25:15.958 26
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2025-06-11 10:25:15.958 current generation=26
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2025-06-11 10:25:16.482 0x1a
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2025-06-11 10:25:17.339 initial joint2 2451799
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2025-06-11 10:25:17.344 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-11 10:25:17.344 robot WritePID
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2025-06-11 10:25:17.659 initial joint1 -160320
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2025-06-11 10:25:17.707 initial joint2 2451798
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2025-06-11 10:25:17.759 initial joint3 -220114
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2025-06-11 10:25:17.796 initial joint4 -25368949
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2025-06-11 10:25:17.810 initial joint1 -160320
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2025-06-11 10:25:17.858 initial joint2 2451800
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2025-06-11 10:25:17.908 initial joint3 -220117
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2025-06-11 10:25:17.959 initial joint4 -25368951
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2025-06-11 10:25:17.975 initial joint1 -160320
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2025-06-11 10:25:18.014 initial joint2 2451800
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2025-06-11 10:25:18.060 initial joint3 -220118
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2025-06-11 10:25:18.110 initial joint4 -25368951
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2025-06-11 10:25:20.281 initial_thread initialized
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2025-06-11 10:25:20.282 servo enable
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2025-06-11 10:25:20.282 brake open
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2025-06-11 10:25:20.282 set_brake_state 0 1
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2025-06-11 10:25:20.496 robot initialized
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2025-06-11 10:25:21.062 get_scara_param -11.008300 84.175903 -75.571800 -1005.671387
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2025-06-11 10:25:21.062 get_scara_real_coor -11.008300 84.175903 -75.571800 -1005.671387
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2025-06-11 10:25:21.063 上位机离散数据
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2025-06-11 10:25:21.063 position -160319.984375 2451801.000000 -220118.828125 -25368952.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-11 10:25:21.063 speed 11008.299805 84175.906250 75571.796875 1045168.625000
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2025-06-11 10:25:21.063 set_first_position_after_initial
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2025-06-11 10:25:21.065 movej_old start_pos: -11.008300 84.175903 -75.571800 -1005.671448 end_pos: -11.008300 84.175903 -75.571800 -1005.671448 org_sp 10.000000 end_sp 10.000000
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2025-06-11 10:25:21.348 J3 Belt Meilage=40.900135km
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2025-06-11 10:25:57.915 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 10:25:57.915 robot connected
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2025-06-11 10:25:57.915 26
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2025-06-11 10:25:57.915 current generation=26
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2025-06-11 10:25:58.423 0x1a
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2025-06-11 10:25:59.287 initial joint2 2451807
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2025-06-11 10:25:59.287 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-11 10:25:59.288 robot WritePID
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2025-06-11 10:25:59.588 initial joint1 -160319
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2025-06-11 10:25:59.638 initial joint2 2451808
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2025-06-11 10:25:59.687 initial joint3 -220123
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2025-06-11 10:25:59.738 initial joint4 -25368953
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2025-06-11 10:25:59.753 initial joint1 -160319
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2025-06-11 10:25:59.806 initial joint2 2451811
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2025-06-11 10:25:59.854 initial joint3 -220127
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2025-06-11 10:25:59.904 initial joint4 -25368953
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2025-06-11 10:25:59.921 initial joint1 -160318
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2025-06-11 10:25:59.989 initial joint2 2451814
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2025-06-11 10:26:00.040 initial joint3 -220127
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2025-06-11 10:26:00.088 initial joint4 -25368954
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2025-06-11 10:26:02.176 initial_thread initialized
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2025-06-11 10:26:02.176 servo enable
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2025-06-11 10:26:02.178 brake open
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2025-06-11 10:26:02.178 set_brake_state 0 1
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2025-06-11 10:26:02.392 robot initialized
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2025-06-11 10:26:02.944 get_scara_param -11.008100 84.176399 -75.574898 -1005.671082
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2025-06-11 10:26:02.945 get_scara_real_coor -11.008000 84.176399 -75.575600 -1005.671021
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2025-06-11 10:26:02.945 上位机离散数据
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2025-06-11 10:26:02.945 position -160317.062500 2451815.250000 -220127.843750 -25368954.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-11 10:26:02.945 speed 11008.098633 84176.398438 75574.898438 1045168.687500
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2025-06-11 10:26:02.946 set_first_position_after_initial
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2025-06-11 10:26:02.946 movej_old start_pos: -11.008099 84.176399 -75.574898 -1005.671021 end_pos: -11.008000 84.176399 -75.574898 -1005.671021 org_sp 10.000000 end_sp 1.001936
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2025-06-11 10:26:03.228 J3 Belt Meilage=40.900143km
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2025-06-11 10:26:19.295 30 30 30 30
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2025-06-11 10:26:19.295 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
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2025-06-11 10:26:19.295 goal_angle -44.911705 98.661697
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2025-06-11 10:26:19.295 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
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2025-06-11 10:26:19.295 z1 -75.574898 z2 -75.466103
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2025-06-11 10:26:19.295 angle1_1 -11.008000 angle2_1 84.176399 z1 -75.574898 r1 -1005.671021
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2025-06-11 10:26:19.295 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
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2025-06-11 10:26:19.295 speed 100.000000
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2025-06-11 10:26:19.295 tcp_distance 144.446823
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2025-06-11 10:26:19.295 new_end_speed 100.000000 j1_acc_t 0.722234 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.343678
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2025-06-11 10:26:19.295 new_end_speed 100.000000 j2_acc_t 0.722234 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 21.936497
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2025-06-11 10:26:19.295 new_end_speed 100.000000 j3_acc_t 0.722234 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.164759
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2025-06-11 10:26:19.295 new_end_speed 100.000000 j4_acc_t 0.722234 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.075701
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2025-06-11 10:26:19.295 end_speed 100.000000
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2025-06-11 10:26:19.295 trail_number1.444468
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2025-06-11 10:26:19.307 tcp_distance 144.446823
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2025-06-11 10:26:19.307 angle1_1 = -11.008000 angle2_1 = 84.176399 z1 = -75.574898 r1 = -1005.671021 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
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2025-06-11 10:28:43.944 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 10:28:43.944 robot connected
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2025-06-11 10:28:43.944 26
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2025-06-11 10:28:43.946 current generation=26
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2025-06-11 10:28:44.452 0x1a
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2025-06-11 10:28:45.300 initial joint2 2873736
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2025-06-11 10:28:45.301 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-11 10:28:45.301 robot WritePID
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2025-06-11 10:28:45.602 initial joint1 -654074
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2025-06-11 10:28:45.654 initial joint2 2873733
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2025-06-11 10:28:45.701 initial joint3 -219824
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2025-06-11 10:28:45.725 initial joint4 -24758199
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2025-06-11 10:28:45.755 initial joint1 -654074
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2025-06-11 10:28:45.803 initial joint2 2873736
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2025-06-11 10:28:45.870 initial joint3 -219829
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2025-06-11 10:28:45.919 initial joint4 -24758200
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2025-06-11 10:28:45.935 initial joint1 -654074
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2025-06-11 10:28:45.986 initial joint2 2873737
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2025-06-11 10:28:46.037 initial joint3 -219834
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2025-06-11 10:28:46.087 initial joint4 -24758201
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2025-06-11 10:28:48.232 initial_thread initialized
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2025-06-11 10:28:48.232 servo enable
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2025-06-11 10:28:48.232 brake open
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2025-06-11 10:28:48.232 set_brake_state 0 1
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2025-06-11 10:28:48.434 robot initialized
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2025-06-11 10:28:48.992 get_scara_param -44.911701 98.662003 -75.475304 -1005.721008
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2025-06-11 10:28:48.992 get_scara_real_coor -44.911598 98.662003 -75.475304 -1005.721130
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2025-06-11 10:28:48.992 上位机离散数据
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2025-06-11 10:28:48.992 position -654074.062500 2873739.000000 -219837.750000 -24758200.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-11 10:28:48.993 speed 44911.703125 98662.000000 75475.304688 1020006.437500
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2025-06-11 10:28:48.993 set_first_position_after_initial
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2025-06-11 10:28:48.993 movej_old start_pos: -44.911701 98.662003 -75.475304 -1005.720947 end_pos: -44.911701 98.662003 -75.475304 -1005.720886 org_sp 10.000000 end_sp 10.000000
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2025-06-11 10:28:49.275 J3 Belt Meilage=40.900181km
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2025-06-11 10:43:33.695 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 10:43:33.695 robot connected
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2025-06-11 10:43:33.696 26
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2025-06-11 10:43:33.696 current generation=26
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2025-06-11 10:43:34.199 0x1a
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2025-06-11 10:43:35.053 initial joint2 2873744
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2025-06-11 10:43:35.053 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-11 10:43:35.053 robot WritePID
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2025-06-11 10:43:35.369 initial joint1 -654075
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2025-06-11 10:43:35.420 initial joint2 2873743
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2025-06-11 10:43:35.456 initial joint3 -219842
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2025-06-11 10:43:35.502 initial joint4 -24758200
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2025-06-11 10:43:35.519 initial joint1 -654075
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2025-06-11 10:43:35.568 initial joint2 2873745
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2025-06-11 10:43:35.602 initial joint3 -219843
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2025-06-11 10:43:35.653 initial joint4 -24758200
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2025-06-11 10:43:35.672 initial joint1 -654074
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2025-06-11 10:43:35.738 initial joint2 2873745
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2025-06-11 10:43:35.785 initial joint3 -219845
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2025-06-11 10:43:35.833 initial joint4 -24758201
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2025-06-11 10:43:37.996 initial_thread initialized
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2025-06-11 10:43:37.996 servo enable
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2025-06-11 10:43:37.996 brake open
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2025-06-11 10:43:37.996 set_brake_state 0 1
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2025-06-11 10:43:38.209 robot initialized
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2025-06-11 10:43:38.775 get_scara_param -44.911598 98.662201 -75.478798 -1005.721008
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2025-06-11 10:43:38.775 get_scara_real_coor -44.911598 98.662300 -75.479500 -1005.720825
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2025-06-11 10:43:38.776 上位机离散数据
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2025-06-11 10:43:38.776 position -654072.562500 2873745.000000 -219847.937500 -24758206.000000 0.000000 0.000000 0.000000 0.000000
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2025-06-11 10:43:38.776 speed 44911.601563 98662.203125 75478.796875 1020006.687500
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2025-06-11 10:43:38.776 set_first_position_after_initial
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2025-06-11 10:43:38.777 movej_old start_pos: -44.911598 98.662201 -75.478798 -1005.720947 end_pos: -44.911499 98.662201 -75.478798 -1005.720886 org_sp 10.000000 end_sp 0.938537
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2025-06-11 10:43:39.076 J3 Belt Meilage=40.900356km
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2025-06-11 14:58:05.105 SDK_VERSION_V2.0.0.29_Release
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2025-06-11 14:58:05.105 robot connected
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2025-06-11 14:58:05.105 26
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2025-06-11 14:58:05.105 current generation=26
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2025-06-11 14:58:05.622 0x1a
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2025-06-11 14:58:06.491 initial joint2 2873750
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2025-06-11 14:58:06.491 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
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2025-06-11 14:58:06.492 robot WritePID
|
||
2025-06-11 14:58:06.806 initial joint1 -654072
|
||
2025-06-11 14:58:06.846 initial joint2 2873750
|
||
2025-06-11 14:58:06.890 initial joint3 -219858
|
||
2025-06-11 14:58:06.942 initial joint4 -24758206
|
||
2025-06-11 14:58:06.958 initial joint1 -654072
|
||
2025-06-11 14:58:07.007 initial joint2 2873752
|
||
2025-06-11 14:58:07.058 initial joint3 -219859
|
||
2025-06-11 14:58:07.108 initial joint4 -24758208
|
||
2025-06-11 14:58:07.124 initial joint1 -654073
|
||
2025-06-11 14:58:07.173 initial joint2 2873753
|
||
2025-06-11 14:58:07.223 initial joint3 -219861
|
||
2025-06-11 14:58:07.274 initial joint4 -24758209
|
||
2025-06-11 14:58:09.379 initial_thread initialized
|
||
2025-06-11 14:58:09.379 servo enable
|
||
2025-06-11 14:58:09.379 brake open
|
||
2025-06-11 14:58:09.380 set_brake_state 0 1
|
||
2025-06-11 14:58:09.597 robot initialized
|
||
2025-06-11 14:58:10.146 get_scara_param -44.911598 98.662498 -75.485001 -1005.721008
|
||
2025-06-11 14:58:10.146 get_scara_real_coor -44.911499 98.662598 -75.483597 -1005.720825
|
||
2025-06-11 14:58:10.146 上位机离散数据
|
||
2025-06-11 14:58:10.147 position -654072.562500 2873753.500000 -219866.000000 -24758210.000000 0.000000 0.000000 0.000000 0.000000
|
||
2025-06-11 14:58:10.148 speed 44911.601563 98662.492188 75485.000000 1020006.812500
|
||
2025-06-11 14:58:10.148 set_first_position_after_initial
|
||
2025-06-11 14:58:10.149 movej_old start_pos: -44.911598 98.662498 -75.485001 -1005.720947 end_pos: -44.911499 98.662498 -75.485001 -1005.720886 org_sp 10.000000 end_sp 0.979585
|
||
2025-06-11 14:58:10.447 J3 Belt Meilage=40.902565km
|
||
2025-06-11 15:12:29.819 SDK_VERSION_V2.0.0.29_Release
|
||
2025-06-11 15:12:29.819 robot connected
|
||
2025-06-11 15:12:29.820 26
|
||
2025-06-11 15:12:29.820 current generation=26
|
||
2025-06-11 15:12:30.327 0x1a
|
||
2025-06-11 15:12:31.211 initial joint2 2873760
|
||
2025-06-11 15:12:31.211 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||
2025-06-11 15:12:31.212 robot WritePID
|
||
2025-06-11 15:12:31.512 initial joint1 -654071
|
||
2025-06-11 15:12:31.561 initial joint2 2873758
|
||
2025-06-11 15:12:31.613 initial joint3 -219867
|
||
2025-06-11 15:12:31.661 initial joint4 -24758212
|
||
2025-06-11 15:12:31.678 initial joint1 -654072
|
||
2025-06-11 15:12:31.730 initial joint2 2873759
|
||
2025-06-11 15:12:31.796 initial joint3 -219870
|
||
2025-06-11 15:12:31.849 initial joint4 -24758214
|
||
2025-06-11 15:12:31.880 initial joint1 -654072
|
||
2025-06-11 15:12:31.918 initial joint2 2873763
|
||
2025-06-11 15:12:31.963 initial joint3 -219871
|
||
2025-06-11 15:12:32.013 initial joint4 -24758215
|
||
2025-06-11 15:12:34.184 initial_thread initialized
|
||
2025-06-11 15:12:34.184 servo enable
|
||
2025-06-11 15:12:34.184 brake open
|
||
2025-06-11 15:12:34.185 set_brake_state 0 1
|
||
2025-06-11 15:12:34.400 robot initialized
|
||
2025-06-11 15:12:34.953 get_scara_param -44.911499 98.662804 -75.487701 -1005.720886
|
||
2025-06-11 15:12:34.953 get_scara_real_coor -44.911499 98.662804 -75.488403 -1005.720886
|
||
2025-06-11 15:12:34.953 上位机离散数据
|
||
2025-06-11 15:12:34.954 position -654071.125000 2873762.500000 -219873.859375 -24758214.000000 0.000000 0.000000 0.000000 0.000000
|
||
2025-06-11 15:12:34.954 speed 44911.500000 98662.804688 75487.703125 1020007.000000
|
||
2025-06-11 15:12:34.955 set_first_position_after_initial
|
||
2025-06-11 15:12:34.956 movej_old start_pos: -44.911499 98.662804 -75.487701 -1005.720886 end_pos: -44.911499 98.662804 -75.487701 -1005.720886 org_sp 10.000000 end_sp 10.000000
|
||
2025-06-11 15:12:35.251 J3 Belt Meilage=40.902683km
|
||
2025-06-11 15:12:39.760 30 30 30 30
|
||
2025-06-11 15:12:39.761 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||
2025-06-11 15:12:39.761 goal_angle -87.199585 152.604431
|
||
2025-06-11 15:12:39.761 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||
2025-06-11 15:12:39.763 z1 -75.487701 z2 -4.457100
|
||
2025-06-11 15:12:39.763 angle1_1 -44.911499 angle2_1 98.662804 z1 -75.487701 r1 -1005.720886
|
||
2025-06-11 15:12:39.763 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||
2025-06-11 15:12:39.763 speed 100.000000
|
||
2025-06-11 15:12:39.763 tcp_distance 199.895416
|
||
2025-06-11 15:12:39.764 new_end_speed 100.000000 j1_acc_t 0.999477 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 46.276783
|
||
2025-06-11 15:12:39.764 new_end_speed 100.000000 j2_acc_t 0.999477 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 59.029510
|
||
2025-06-11 15:12:39.765 new_end_speed 100.000000 j3_acc_t 0.999477 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 77.730354
|
||
2025-06-11 15:12:39.765 new_end_speed 100.000000 j4_acc_t 0.999477 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 24.293032
|
||
2025-06-11 15:12:39.765 end_speed 100.000000
|
||
2025-06-11 15:12:39.765 trail_number1.998954
|
||
2025-06-11 15:12:39.765 tcp_distance 199.895416
|
||
2025-06-11 15:12:39.766 angle1_1 = -44.911499 angle2_1 = 98.662804 z1 = -75.487701 r1 = -1005.720886 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||
2025-06-11 15:22:15.701 30 30 30 30
|
||
2025-06-11 15:22:15.701 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:22:15.701 goal_angle -11.002804 84.112190
|
||
2025-06-11 15:22:15.701 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:22:15.701 z1 -4.457100 z2 -75.466103
|
||
2025-06-11 15:22:15.701 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||
2025-06-11 15:22:15.701 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:22:15.701 speed 100.000000
|
||
2025-06-11 15:22:15.701 tcp_distance 288.589417
|
||
2025-06-11 15:22:15.701 new_end_speed 100.000000 j1_acc_t 1.442947 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.756939
|
||
2025-06-11 15:22:15.701 new_end_speed 100.000000 j2_acc_t 1.442947 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.916920
|
||
2025-06-11 15:22:15.701 new_end_speed 100.000000 j3_acc_t 1.442947 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.824619
|
||
2025-06-11 15:22:15.701 new_end_speed 100.000000 j4_acc_t 1.442947 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.826810
|
||
2025-06-11 15:22:15.701 end_speed 100.000000
|
||
2025-06-11 15:22:15.701 trail_number2.885894
|
||
2025-06-11 15:22:15.701 tcp_distance 288.589417
|
||
2025-06-11 15:22:15.701 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:22:56.141 SDK_VERSION_V2.0.0.29_Release
|
||
2025-06-11 15:22:56.141 robot connected
|
||
2025-06-11 15:22:56.141 26
|
||
2025-06-11 15:22:56.141 current generation=26
|
||
2025-06-11 15:22:56.654 0x1a
|
||
2025-06-11 15:22:57.487 initial joint2 2449948
|
||
2025-06-11 15:22:57.487 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||
2025-06-11 15:22:57.487 robot WritePID
|
||
2025-06-11 15:22:57.796 initial joint1 -160238
|
||
2025-06-11 15:22:57.840 initial joint2 2449949
|
||
2025-06-11 15:22:57.890 initial joint3 -219814
|
||
2025-06-11 15:22:57.941 initial joint4 -25369363
|
||
2025-06-11 15:22:57.957 initial joint1 -160238
|
||
2025-06-11 15:22:58.007 initial joint2 2449949
|
||
2025-06-11 15:22:58.057 initial joint3 -219816
|
||
2025-06-11 15:22:58.108 initial joint4 -25369363
|
||
2025-06-11 15:22:58.123 initial joint1 -160238
|
||
2025-06-11 15:22:58.174 initial joint2 2449950
|
||
2025-06-11 15:22:58.224 initial joint3 -219817
|
||
2025-06-11 15:22:58.274 initial joint4 -25369364
|
||
2025-06-11 15:23:00.428 initial_thread initialized
|
||
2025-06-11 15:23:00.428 servo enable
|
||
2025-06-11 15:23:00.428 brake open
|
||
2025-06-11 15:23:00.428 set_brake_state 0 1
|
||
2025-06-11 15:23:00.630 robot initialized
|
||
2025-06-11 15:23:01.195 get_scara_param -11.002600 84.112396 -75.468803 -1005.720886
|
||
2025-06-11 15:23:01.195 get_scara_real_coor -11.002600 84.112396 -75.469498 -1005.720886
|
||
2025-06-11 15:23:01.195 上位机离散数据
|
||
2025-06-11 15:23:01.195 position -160236.984375 2449951.000000 -219818.828125 -25369366.000000 -257222.734375 2624298.000000 -201735.000000 -25341992.000000
|
||
2025-06-11 15:23:01.196 speed 6659.482910 5985.729004 6208.589355 1127.774048
|
||
2025-06-11 15:23:01.196 set_first_position_after_initial
|
||
2025-06-11 15:23:01.196 movej_old start_pos: -11.002601 84.112396 -75.468803 -1005.720886 end_pos: -11.002601 84.112297 -75.468803 -1005.720886 org_sp 10.000000 end_sp 0.687322
|
||
2025-06-11 15:23:01.480 J3 Belt Meilage=40.902878km
|
||
2025-06-11 15:23:10.362 30 30 30 30
|
||
2025-06-11 15:23:10.362 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:23:10.364 goal_angle -11.002804 84.112190
|
||
2025-06-11 15:23:10.364 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:23:10.364 z1 -75.468803 z2 -75.466103
|
||
2025-06-11 15:23:10.364 angle1_1 -11.002601 angle2_1 84.112297 z1 -75.468803 r1 -1005.720886
|
||
2025-06-11 15:23:10.364 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:23:10.364 speed 100.000000
|
||
2025-06-11 15:23:10.364 tcp_distance 0.004214
|
||
2025-06-11 15:23:10.364 new_end_speed 100.000000 j1_acc_t 0.005000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 0.044435
|
||
2025-06-11 15:23:10.364 new_end_speed 100.000000 j2_acc_t 0.005000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 0.023365
|
||
2025-06-11 15:23:10.364 new_end_speed 100.000000 j3_acc_t 0.005000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.590801
|
||
2025-06-11 15:23:10.366 new_end_speed 100.000000 j4_acc_t 0.005000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.026703
|
||
2025-06-11 15:23:10.366 end_speed 100.000000
|
||
2025-06-11 15:23:10.366 trail_number0.010000
|
||
2025-06-11 15:23:10.366 tcp_distance 0.004214
|
||
2025-06-11 15:23:10.366 angle1_1 = -11.002601 angle2_1 = 84.112297 z1 = -75.468803 r1 = -1005.720886 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:23:12.989 30 30 30 30
|
||
2025-06-11 15:23:12.989 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:23:12.989 goal_angle -44.911705 98.661697
|
||
2025-06-11 15:23:12.990 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:23:12.990 z1 -75.466133 z2 -75.466103
|
||
2025-06-11 15:23:12.990 angle1_1 -11.002802 angle2_1 84.112190 z1 -75.466133 r1 -1005.721008
|
||
2025-06-11 15:23:12.990 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:23:12.990 speed 100.000000
|
||
2025-06-11 15:23:12.991 tcp_distance 144.406982
|
||
2025-06-11 15:23:12.991 new_end_speed 100.000000 j1_acc_t 0.722035 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.365738
|
||
2025-06-11 15:23:12.991 new_end_speed 100.000000 j2_acc_t 0.722035 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.039822
|
||
2025-06-11 15:23:12.991 new_end_speed 100.000000 j3_acc_t 0.722035 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000046
|
||
2025-06-11 15:23:12.991 new_end_speed 100.000000 j4_acc_t 0.722035 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:23:12.991 end_speed 100.000000
|
||
2025-06-11 15:23:12.992 trail_number1.444070
|
||
2025-06-11 15:23:12.992 tcp_distance 144.406982
|
||
2025-06-11 15:23:12.992 angle1_1 = -11.002802 angle2_1 = 84.112190 z1 = -75.466133 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:23:15.393 30 30 30 30
|
||
2025-06-11 15:23:15.393 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:23:15.393 goal_angle -67.226128 86.401024
|
||
2025-06-11 15:23:15.405 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:23:15.405 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:23:15.405 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:23:15.405 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:23:15.405 speed 100.000000
|
||
2025-06-11 15:23:15.405 tcp_distance 143.985626
|
||
2025-06-11 15:23:15.405 new_end_speed 100.000000 j1_acc_t 0.719928 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.901131
|
||
2025-06-11 15:23:15.405 new_end_speed 100.000000 j2_acc_t 0.719928 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.626997
|
||
2025-06-11 15:23:15.407 new_end_speed 100.000000 j3_acc_t 0.719928 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:23:15.407 new_end_speed 100.000000 j4_acc_t 0.719928 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:23:15.407 end_speed 100.000000
|
||
2025-06-11 15:23:15.407 trail_number1.439856
|
||
2025-06-11 15:23:15.407 tcp_distance 143.985626
|
||
2025-06-11 15:23:15.408 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:23:17.264 30 30 30 30
|
||
2025-06-11 15:23:17.265 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:23:17.265 goal_angle -60.720737 27.061800
|
||
2025-06-11 15:23:17.265 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:23:17.265 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:23:17.265 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:23:17.266 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:23:17.266 speed 100.000000
|
||
2025-06-11 15:23:17.266 tcp_distance 171.615677
|
||
2025-06-11 15:23:17.266 new_end_speed 100.000000 j1_acc_t 0.858078 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.292104
|
||
2025-06-11 15:23:17.266 new_end_speed 100.000000 j2_acc_t 0.858078 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.636818
|
||
2025-06-11 15:23:17.266 new_end_speed 100.000000 j3_acc_t 0.858078 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:23:17.267 new_end_speed 100.000000 j4_acc_t 0.858078 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:23:17.267 end_speed 100.000000
|
||
2025-06-11 15:23:17.267 trail_number1.716157
|
||
2025-06-11 15:23:17.267 tcp_distance 171.615677
|
||
2025-06-11 15:23:17.268 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:23:27.991 30 30 30 30
|
||
2025-06-11 15:23:27.991 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:23:27.991 goal_angle -67.226128 86.401024
|
||
2025-06-11 15:23:27.992 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:23:27.992 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:23:27.992 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:23:27.992 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:23:27.992 speed 100.000000
|
||
2025-06-11 15:23:27.993 tcp_distance 171.494293
|
||
2025-06-11 15:23:27.993 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
|
||
2025-06-11 15:23:27.993 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
|
||
2025-06-11 15:23:27.993 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:23:27.993 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:23:27.993 end_speed 100.000000
|
||
2025-06-11 15:23:27.994 trail_number1.714943
|
||
2025-06-11 15:23:27.994 tcp_distance 171.494293
|
||
2025-06-11 15:23:27.994 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:23:42.341 30 30 30 30
|
||
2025-06-11 15:23:42.341 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:23:42.341 goal_angle -44.911705 98.661697
|
||
2025-06-11 15:23:42.341 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:23:42.341 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:23:42.341 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:23:42.341 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:23:42.341 speed 100.000000
|
||
2025-06-11 15:23:42.341 tcp_distance 144.069748
|
||
2025-06-11 15:23:42.341 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||
2025-06-11 15:23:42.341 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||
2025-06-11 15:23:42.341 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:23:42.341 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:23:42.341 end_speed 100.000000
|
||
2025-06-11 15:23:42.341 trail_number1.440697
|
||
2025-06-11 15:23:42.341 tcp_distance 144.069748
|
||
2025-06-11 15:23:42.341 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:23:46.719 30 30 30 30
|
||
2025-06-11 15:23:46.719 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:23:46.719 goal_angle -11.002804 84.112190
|
||
2025-06-11 15:23:46.719 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:23:46.719 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:23:46.719 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:23:46.719 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:23:46.719 speed 100.000000
|
||
2025-06-11 15:23:46.719 tcp_distance 144.322098
|
||
2025-06-11 15:23:46.719 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||
2025-06-11 15:23:46.719 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||
2025-06-11 15:23:46.719 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:23:46.719 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:23:46.719 end_speed 100.000000
|
||
2025-06-11 15:23:46.719 trail_number1.443221
|
||
2025-06-11 15:23:46.719 tcp_distance 144.322098
|
||
2025-06-11 15:23:46.719 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:23:49.243 30 30 30 30
|
||
2025-06-11 15:23:49.244 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:23:49.244 goal_angle -60.720737 27.061800
|
||
2025-06-11 15:23:49.244 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:23:49.244 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:23:49.245 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:23:49.245 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:23:49.245 speed 100.000000
|
||
2025-06-11 15:23:49.245 tcp_distance 498.317719
|
||
2025-06-11 15:23:49.245 new_end_speed 100.000000 j1_acc_t 2.491589 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 21.825041
|
||
2025-06-11 15:23:49.245 new_end_speed 100.000000 j2_acc_t 2.491589 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 25.043821
|
||
2025-06-11 15:23:49.246 new_end_speed 100.000000 j3_acc_t 2.491589 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:23:49.246 new_end_speed 100.000000 j4_acc_t 2.491589 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:23:49.246 end_speed 100.000000
|
||
2025-06-11 15:23:49.246 trail_number4.983177
|
||
2025-06-11 15:23:49.246 tcp_distance 498.317719
|
||
2025-06-11 15:23:49.247 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:24:09.142 30 30 30 30
|
||
2025-06-11 15:24:09.142 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:24:09.142 goal_angle -67.226128 86.401024
|
||
2025-06-11 15:24:09.142 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:24:09.144 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:24:09.144 angle1_1 -60.720737 angle2_1 27.061800 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:24:09.144 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:24:09.144 speed 100.000000
|
||
2025-06-11 15:24:09.144 tcp_distance 171.494293
|
||
2025-06-11 15:24:09.144 new_end_speed 100.000000 j1_acc_t 0.857471 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.297963
|
||
2025-06-11 15:24:09.144 new_end_speed 100.000000 j2_acc_t 0.857471 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.690262
|
||
2025-06-11 15:24:09.144 new_end_speed 100.000000 j3_acc_t 0.857471 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:24:09.144 new_end_speed 100.000000 j4_acc_t 0.857471 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:24:09.144 end_speed 100.000000
|
||
2025-06-11 15:24:09.144 trail_number1.714943
|
||
2025-06-11 15:24:09.144 tcp_distance 171.494293
|
||
2025-06-11 15:24:09.144 angle1_1 = -60.720737 angle2_1 = 27.061800 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:24:21.148 30 30 30 30
|
||
2025-06-11 15:24:21.148 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:24:21.148 goal_angle -44.911705 98.661697
|
||
2025-06-11 15:24:21.149 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:24:21.149 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:24:21.149 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:24:21.149 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:24:21.149 speed 100.000000
|
||
2025-06-11 15:24:21.149 tcp_distance 144.069748
|
||
2025-06-11 15:24:21.150 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||
2025-06-11 15:24:21.150 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||
2025-06-11 15:24:21.150 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:24:21.150 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:24:21.150 end_speed 100.000000
|
||
2025-06-11 15:24:21.151 trail_number1.440697
|
||
2025-06-11 15:24:21.151 tcp_distance 144.069748
|
||
2025-06-11 15:24:21.151 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:24:28.491 30 30 30 30
|
||
2025-06-11 15:24:28.492 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:24:28.492 goal_angle -11.002804 84.112190
|
||
2025-06-11 15:24:28.492 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:24:28.492 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:24:28.492 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:24:28.492 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:24:28.492 speed 100.000000
|
||
2025-06-11 15:24:28.494 tcp_distance 144.322098
|
||
2025-06-11 15:24:28.494 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||
2025-06-11 15:24:28.494 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||
2025-06-11 15:24:28.494 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:24:28.495 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:24:28.495 end_speed 100.000000
|
||
2025-06-11 15:24:28.495 trail_number1.443221
|
||
2025-06-11 15:24:28.495 tcp_distance 144.322098
|
||
2025-06-11 15:24:28.496 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:25:09.172 30 30 30 30
|
||
2025-06-11 15:25:09.173 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:25:09.173 goal_angle -44.911705 98.661697
|
||
2025-06-11 15:25:09.173 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:25:09.173 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:25:09.173 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:25:09.173 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:25:09.173 speed 100.000000
|
||
2025-06-11 15:25:09.173 tcp_distance 144.406967
|
||
2025-06-11 15:25:09.173 new_end_speed 100.000000 j1_acc_t 0.722035 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.365715
|
||
2025-06-11 15:25:09.173 new_end_speed 100.000000 j2_acc_t 0.722035 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.039812
|
||
2025-06-11 15:25:09.173 new_end_speed 100.000000 j3_acc_t 0.722035 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:25:09.173 new_end_speed 100.000000 j4_acc_t 0.722035 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:25:09.173 end_speed 100.000000
|
||
2025-06-11 15:25:09.173 trail_number1.444070
|
||
2025-06-11 15:25:09.173 tcp_distance 144.406967
|
||
2025-06-11 15:25:09.176 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:25:11.699 30 30 30 30
|
||
2025-06-11 15:25:11.699 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:25:11.699 goal_angle -67.226128 86.401024
|
||
2025-06-11 15:25:11.699 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:25:11.700 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:25:11.700 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:25:11.700 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:25:11.700 speed 100.000000
|
||
2025-06-11 15:25:11.700 tcp_distance 143.985626
|
||
2025-06-11 15:25:11.700 new_end_speed 100.000000 j1_acc_t 0.719928 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.901131
|
||
2025-06-11 15:25:11.702 new_end_speed 100.000000 j2_acc_t 0.719928 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.626997
|
||
2025-06-11 15:25:11.702 new_end_speed 100.000000 j3_acc_t 0.719928 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:25:11.702 new_end_speed 100.000000 j4_acc_t 0.719928 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:25:11.702 end_speed 100.000000
|
||
2025-06-11 15:25:11.702 trail_number1.439856
|
||
2025-06-11 15:25:11.702 tcp_distance 143.985626
|
||
2025-06-11 15:25:11.703 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:26:03.495 30 30 30 30
|
||
2025-06-11 15:26:03.495 new_movej_xyz_lr 274.065002 -302.743805 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:26:03.495 goal_angle -60.720737 27.061800
|
||
2025-06-11 15:26:03.496 new_movej_angle -60.720737 27.061800 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:26:03.496 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:26:03.496 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:26:03.496 angle1_2 -60.720737 angle2_2 27.061800 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:26:03.496 speed 100.000000
|
||
2025-06-11 15:26:03.497 tcp_distance 171.615677
|
||
2025-06-11 15:26:03.497 new_end_speed 100.000000 j1_acc_t 0.858078 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 8.292104
|
||
2025-06-11 15:26:03.497 new_end_speed 100.000000 j2_acc_t 0.858078 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 75.636818
|
||
2025-06-11 15:26:03.497 new_end_speed 100.000000 j3_acc_t 0.858078 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:26:03.498 new_end_speed 100.000000 j4_acc_t 0.858078 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:26:03.498 end_speed 100.000000
|
||
2025-06-11 15:26:03.498 trail_number1.716157
|
||
2025-06-11 15:26:03.498 tcp_distance 171.615677
|
||
2025-06-11 15:26:03.499 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -60.720737 angle2_2 = 27.061800 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:26:22.781 _new_stop_move_thread_0
|
||
2025-06-11 15:26:22.781 j1_slow_down_t = 2
|
||
2025-06-11 15:26:22.781 j2_slow_down_t = 3
|
||
2025-06-11 15:26:22.781 j3_slow_down_t = 0
|
||
2025-06-11 15:26:22.781 j4_slow_down_t = 0
|
||
2025-06-11 15:26:22.781 tmp_t[3] = 3
|
||
2025-06-11 15:26:22.781 _new_stop_move_thread_1
|
||
2025-06-11 15:26:22.811 jog_move_xyzr return 99 急停中
|
||
2025-06-11 15:26:22.944 _new_stop_move_thread_2
|
||
2025-06-11 15:26:22.967 _new_stop_move_thread_3
|
||
2025-06-11 15:26:22.967 get_scara_param -63.011398 33.656101 -75.469803 -1005.720703
|
||
2025-06-11 15:26:22.967 get_scara_real_coor -63.011398 33.656101 -75.469803 -1005.720825
|
||
2025-06-11 15:26:22.967 _new_stop_move_thread_4
|
||
2025-06-11 15:26:23.029 wait_stop in
|
||
2025-06-11 15:26:23.063 wait_stop out_0
|
||
2025-06-11 15:26:27.588 _new_stop_move_thread_0
|
||
2025-06-11 15:26:27.588 j1_slow_down_t = 1
|
||
2025-06-11 15:26:27.588 j2_slow_down_t = 1
|
||
2025-06-11 15:26:27.588 j3_slow_down_t = 0
|
||
2025-06-11 15:26:27.588 j4_slow_down_t = 0
|
||
2025-06-11 15:26:27.588 tmp_t[3] = 1
|
||
2025-06-11 15:26:27.588 _new_stop_move_thread_1
|
||
2025-06-11 15:26:27.755 _new_stop_move_thread_2
|
||
2025-06-11 15:26:27.787 _new_stop_move_thread_3
|
||
2025-06-11 15:26:27.787 get_scara_param -63.450699 35.006699 -75.470497 -1005.728882
|
||
2025-06-11 15:26:27.788 get_scara_real_coor -63.450699 35.006699 -75.470497 -1005.728882
|
||
2025-06-11 15:26:27.788 _new_stop_move_thread_4
|
||
2025-06-11 15:26:27.802 wait_stop in
|
||
2025-06-11 15:26:27.841 wait_stop out_0
|
||
2025-06-11 15:28:23.046 SDK_VERSION_V2.0.0.29_Release
|
||
2025-06-11 15:28:23.046 robot connected
|
||
2025-06-11 15:28:23.046 26
|
||
2025-06-11 15:28:23.047 current generation=26
|
||
2025-06-11 15:28:23.556 0x1a
|
||
2025-06-11 15:28:24.425 initial joint2 1019769
|
||
2025-06-11 15:28:24.425 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||
2025-06-11 15:28:24.426 robot WritePID
|
||
2025-06-11 15:28:24.741 initial joint1 -924195
|
||
2025-06-11 15:28:24.792 initial joint2 1019767
|
||
2025-06-11 15:28:24.843 initial joint3 -219824
|
||
2025-06-11 15:28:24.894 initial joint4 -23381048
|
||
2025-06-11 15:28:24.909 initial joint1 -924202
|
||
2025-06-11 15:28:24.959 initial joint2 1019769
|
||
2025-06-11 15:28:25.009 initial joint3 -219824
|
||
2025-06-11 15:28:25.059 initial joint4 -23381050
|
||
2025-06-11 15:28:25.075 initial joint1 -924221
|
||
2025-06-11 15:28:25.126 initial joint2 1019771
|
||
2025-06-11 15:28:25.161 initial joint3 -219828
|
||
2025-06-11 15:28:25.208 initial joint4 -23381051
|
||
2025-06-11 15:28:27.318 initial_thread initialized
|
||
2025-06-11 15:28:27.318 servo enable
|
||
2025-06-11 15:28:27.318 brake open
|
||
2025-06-11 15:28:27.318 set_brake_state 0 1
|
||
2025-06-11 15:28:27.530 robot initialized
|
||
2025-06-11 15:28:28.116 get_scara_param -63.462101 35.011101 -75.473602 -1005.725220
|
||
2025-06-11 15:28:28.116 get_scara_real_coor -63.462601 35.011101 -75.473602 -1005.725586
|
||
2025-06-11 15:28:28.116 上位机离散数据
|
||
2025-06-11 15:28:28.116 position -924233.875000 1019772.250000 -219832.796875 -23381052.000000 -903808.437500 897411.000000 -219810.953125 -23353812.000000
|
||
2025-06-11 15:28:28.116 speed 1402.503418 4200.939941 7.499456 1122.253418
|
||
2025-06-11 15:28:28.116 set_first_position_after_initial
|
||
2025-06-11 15:28:28.117 movej_old start_pos: -63.462105 35.011101 -75.473602 -1005.725159 end_pos: -63.462105 35.011101 -75.473602 -1005.725159 org_sp 10.000000 end_sp 10.000000
|
||
2025-06-11 15:28:28.389 J3 Belt Meilage=40.902920km
|
||
2025-06-11 15:28:33.109 30 30 30 30
|
||
2025-06-11 15:28:33.110 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:28:33.110 goal_angle -63.500324 35.083988
|
||
2025-06-11 15:28:33.110 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:28:33.110 z1 -75.473602 z2 -75.466103
|
||
2025-06-11 15:28:33.110 angle1_1 -63.462105 angle2_1 35.011101 z1 -75.473602 r1 -1005.725159
|
||
2025-06-11 15:28:33.110 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:28:33.110 speed 100.000000
|
||
2025-06-11 15:28:33.110 tcp_distance 0.084718
|
||
2025-06-11 15:28:33.112 new_end_speed 2.364955 j1_acc_t 0.017911 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 2.333886
|
||
2025-06-11 15:28:33.112 new_end_speed 2.364955 j2_acc_t 0.017911 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 4.450900
|
||
2025-06-11 15:28:33.112 new_end_speed 2.364955 j3_acc_t 0.017911 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.457972
|
||
2025-06-11 15:28:33.112 new_end_speed 2.364955 j4_acc_t 0.017911 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.253445
|
||
2025-06-11 15:28:33.112 end_speed 2.364955
|
||
2025-06-11 15:28:33.112 trail_number0.035822
|
||
2025-06-11 15:28:33.112 tcp_distance 0.084718
|
||
2025-06-11 15:28:33.112 angle1_1 = -63.462105 angle2_1 = 35.011101 z1 = -75.473602 r1 = -1005.725159 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:28:33.696 30 30 30 30
|
||
2025-06-11 15:28:33.696 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:28:33.696 goal_angle -67.226128 86.401024
|
||
2025-06-11 15:28:33.696 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:28:33.696 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:28:33.696 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:28:33.697 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:28:33.697 speed 100.000000
|
||
2025-06-11 15:28:33.697 tcp_distance 158.906982
|
||
2025-06-11 15:28:33.697 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
|
||
2025-06-11 15:28:33.697 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
|
||
2025-06-11 15:28:33.697 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:28:33.697 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:28:33.698 end_speed 100.000000
|
||
2025-06-11 15:28:33.698 trail_number1.589070
|
||
2025-06-11 15:28:33.698 tcp_distance 158.906982
|
||
2025-06-11 15:28:33.698 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:28:37.402 30 30 30 30
|
||
2025-06-11 15:28:37.402 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:28:37.402 goal_angle -44.911705 98.661697
|
||
2025-06-11 15:28:37.402 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:28:37.402 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:28:37.402 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:28:37.403 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:28:37.403 speed 100.000000
|
||
2025-06-11 15:28:37.403 tcp_distance 144.069748
|
||
2025-06-11 15:28:37.403 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||
2025-06-11 15:28:37.403 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||
2025-06-11 15:28:37.403 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:28:37.403 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:28:37.403 end_speed 100.000000
|
||
2025-06-11 15:28:37.404 trail_number1.440697
|
||
2025-06-11 15:28:37.404 tcp_distance 144.069748
|
||
2025-06-11 15:28:37.405 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:28:49.763 30 30 30 30
|
||
2025-06-11 15:28:49.763 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:28:49.763 goal_angle -63.500324 35.083988
|
||
2025-06-11 15:28:49.763 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:28:49.764 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:28:49.764 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:28:49.764 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:28:49.764 speed 100.000000
|
||
2025-06-11 15:28:49.764 tcp_distance 317.890442
|
||
2025-06-11 15:28:49.764 new_end_speed 100.000000 j1_acc_t 1.589452 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 12.791391
|
||
2025-06-11 15:28:49.764 new_end_speed 100.000000 j2_acc_t 1.589452 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 43.749744
|
||
2025-06-11 15:28:49.764 new_end_speed 100.000000 j3_acc_t 1.589452 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:28:49.764 new_end_speed 100.000000 j4_acc_t 1.589452 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:28:49.765 end_speed 100.000000
|
||
2025-06-11 15:28:49.765 trail_number3.178905
|
||
2025-06-11 15:28:49.765 tcp_distance 317.890442
|
||
2025-06-11 15:28:49.765 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:28:53.946 30 30 30 30
|
||
2025-06-11 15:28:53.946 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:28:53.946 goal_angle -67.226128 86.401024
|
||
2025-06-11 15:28:53.946 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:28:53.946 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:28:53.946 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:28:53.946 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:28:53.947 speed 100.000000
|
||
2025-06-11 15:28:53.947 tcp_distance 158.906982
|
||
2025-06-11 15:28:53.947 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
|
||
2025-06-11 15:28:53.947 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
|
||
2025-06-11 15:28:53.947 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:28:53.947 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:28:53.947 end_speed 100.000000
|
||
2025-06-11 15:28:53.948 trail_number1.589070
|
||
2025-06-11 15:28:53.948 tcp_distance 158.906982
|
||
2025-06-11 15:28:53.950 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:28:56.139 30 30 30 30
|
||
2025-06-11 15:28:56.140 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:28:56.140 goal_angle -44.911705 98.661697
|
||
2025-06-11 15:28:56.140 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:28:56.140 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:28:56.140 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:28:56.141 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:28:56.141 speed 100.000000
|
||
2025-06-11 15:28:56.141 tcp_distance 144.069748
|
||
2025-06-11 15:28:56.141 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||
2025-06-11 15:28:56.141 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||
2025-06-11 15:28:56.141 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:28:56.141 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:28:56.141 end_speed 100.000000
|
||
2025-06-11 15:28:56.141 trail_number1.440697
|
||
2025-06-11 15:28:56.142 tcp_distance 144.069748
|
||
2025-06-11 15:28:56.142 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:28:57.991 30 30 30 30
|
||
2025-06-11 15:28:57.991 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:28:57.991 goal_angle -11.002804 84.112190
|
||
2025-06-11 15:28:57.991 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:28:57.998 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:28:57.998 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:28:57.998 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:28:57.998 speed 100.000000
|
||
2025-06-11 15:28:57.998 tcp_distance 144.322098
|
||
2025-06-11 15:28:57.998 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||
2025-06-11 15:28:57.998 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||
2025-06-11 15:28:57.998 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:28:57.998 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:28:57.998 end_speed 100.000000
|
||
2025-06-11 15:28:57.998 trail_number1.443221
|
||
2025-06-11 15:28:57.998 tcp_distance 144.322098
|
||
2025-06-11 15:28:57.998 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:35:24.683 SDK_VERSION_V2.0.0.29_Release
|
||
2025-06-11 15:35:24.683 robot connected
|
||
2025-06-11 15:35:24.683 26
|
||
2025-06-11 15:35:24.683 current generation=26
|
||
2025-06-11 15:35:25.200 0x1a
|
||
2025-06-11 15:35:26.071 initial joint2 2449951
|
||
2025-06-11 15:35:26.071 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||
2025-06-11 15:35:26.072 robot WritePID
|
||
2025-06-11 15:35:26.372 initial joint1 -160239
|
||
2025-06-11 15:35:26.422 initial joint2 2449950
|
||
2025-06-11 15:35:26.472 initial joint3 -219824
|
||
2025-06-11 15:35:26.538 initial joint4 -25369361
|
||
2025-06-11 15:35:26.554 initial joint1 -160240
|
||
2025-06-11 15:35:26.605 initial joint2 2449950
|
||
2025-06-11 15:35:26.655 initial joint3 -219826
|
||
2025-06-11 15:35:26.703 initial joint4 -25369361
|
||
2025-06-11 15:35:26.722 initial joint1 -160239
|
||
2025-06-11 15:35:26.772 initial joint2 2449951
|
||
2025-06-11 15:35:26.824 initial joint3 -219827
|
||
2025-06-11 15:35:26.873 initial joint4 -25369362
|
||
2025-06-11 15:35:29.043 initial_thread initialized
|
||
2025-06-11 15:35:29.043 servo enable
|
||
2025-06-11 15:35:29.043 brake open
|
||
2025-06-11 15:35:29.043 set_brake_state 0 1
|
||
2025-06-11 15:35:29.259 robot initialized
|
||
2025-06-11 15:35:29.799 get_scara_param -11.002700 84.112297 -75.472900 -1005.720886
|
||
2025-06-11 15:35:29.799 get_scara_real_coor -11.002700 84.112396 -75.472603 -1005.720825
|
||
2025-06-11 15:35:29.799 上位机离散数据
|
||
2025-06-11 15:35:29.799 position -160238.437500 2449948.250000 -219830.750000 -25369362.000000 -960304.250000 2537213.500000 -219810.953125 -24079556.000000
|
||
2025-06-11 15:35:29.799 speed 54936.156250 2996.014648 6.796718 53138.371094
|
||
2025-06-11 15:35:29.799 set_first_position_after_initial
|
||
2025-06-11 15:35:29.799 movej_old start_pos: -11.002701 84.112297 -75.472900 -1005.720886 end_pos: -11.002701 84.112297 -75.472900 -1005.720886 org_sp 10.000000 end_sp 10.000000
|
||
2025-06-11 15:35:30.079 J3 Belt Meilage=40.902985km
|
||
2025-06-11 15:35:39.519 30 30 30 30
|
||
2025-06-11 15:35:39.520 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:35:39.520 goal_angle -63.500324 35.083988
|
||
2025-06-11 15:35:39.520 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:35:39.521 z1 -75.472900 z2 -75.466103
|
||
2025-06-11 15:35:39.521 angle1_1 -11.002701 angle2_1 84.112297 z1 -75.472900 r1 -1005.720886
|
||
2025-06-11 15:35:39.521 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:35:39.521 speed 100.000000
|
||
2025-06-11 15:35:39.521 tcp_distance 482.200104
|
||
2025-06-11 15:35:39.521 new_end_speed 100.000000 j1_acc_t 2.411000 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 23.815550
|
||
2025-06-11 15:35:39.522 new_end_speed 100.000000 j2_acc_t 2.411000 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.241695
|
||
2025-06-11 15:35:39.522 new_end_speed 100.000000 j3_acc_t 2.411000 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.003084
|
||
2025-06-11 15:35:39.522 new_end_speed 100.000000 j4_acc_t 2.411000 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000055
|
||
2025-06-11 15:35:39.522 end_speed 100.000000
|
||
2025-06-11 15:35:39.522 trail_number4.822001
|
||
2025-06-11 15:35:39.522 tcp_distance 482.200104
|
||
2025-06-11 15:35:39.523 angle1_1 = -11.002701 angle2_1 = 84.112297 z1 = -75.472900 r1 = -1005.720886 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:43:02.230 SDK_VERSION_V2.0.0.29_Release
|
||
2025-06-11 15:43:02.231 robot connected
|
||
2025-06-11 15:43:02.231 26
|
||
2025-06-11 15:43:02.231 current generation=26
|
||
2025-06-11 15:43:02.735 0x1a
|
||
2025-06-11 15:43:03.603 initial joint2 1021898
|
||
2025-06-11 15:43:03.604 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||
2025-06-11 15:43:03.604 robot WritePID
|
||
2025-06-11 15:43:03.919 initial joint1 -924765
|
||
2025-06-11 15:43:03.970 initial joint2 1021899
|
||
2025-06-11 15:43:04.021 initial joint3 -219826
|
||
2025-06-11 15:43:04.072 initial joint4 -23381086
|
||
2025-06-11 15:43:04.088 initial joint1 -924764
|
||
2025-06-11 15:43:04.137 initial joint2 1021900
|
||
2025-06-11 15:43:04.204 initial joint3 -219826
|
||
2025-06-11 15:43:04.238 initial joint4 -23381087
|
||
2025-06-11 15:43:04.271 initial joint1 -924774
|
||
2025-06-11 15:43:04.311 initial joint2 1021902
|
||
2025-06-11 15:43:04.354 initial joint3 -219829
|
||
2025-06-11 15:43:04.404 initial joint4 -23381090
|
||
2025-06-11 15:43:06.543 initial_thread initialized
|
||
2025-06-11 15:43:06.543 servo enable
|
||
2025-06-11 15:43:06.544 brake open
|
||
2025-06-11 15:43:06.544 set_brake_state 0 1
|
||
2025-06-11 15:43:06.758 robot initialized
|
||
2025-06-11 15:43:07.327 get_scara_param -63.498901 35.084202 -75.473297 -1005.719727
|
||
2025-06-11 15:43:07.328 get_scara_real_coor -63.499901 35.084202 -75.472603 -1005.720703
|
||
2025-06-11 15:43:07.328 set_first_position_after_initial
|
||
2025-06-11 15:43:07.330 movej_old start_pos: -63.498901 35.084202 -75.473297 -1005.719727 end_pos: -63.498901 35.084202 -75.473297 -1005.719727 org_sp 10.000000 end_sp 10.000000
|
||
2025-06-11 15:43:07.611 J3 Belt Meilage=40.903053km
|
||
2025-06-11 15:43:11.324 30 30 30 30
|
||
2025-06-11 15:43:11.324 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||
2025-06-11 15:43:11.329 goal_angle -87.199585 152.604431
|
||
2025-06-11 15:43:11.329 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||
2025-06-11 15:43:11.329 z1 -75.473297 z2 -4.457100
|
||
2025-06-11 15:43:11.329 angle1_1 -63.498901 angle2_1 35.084202 z1 -75.473297 r1 -1005.719727
|
||
2025-06-11 15:43:11.329 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||
2025-06-11 15:43:11.329 speed 100.000000
|
||
2025-06-11 15:43:11.329 tcp_distance 346.690033
|
||
2025-06-11 15:43:11.330 new_end_speed 100.000000 j1_acc_t 1.733450 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.954351
|
||
2025-06-11 15:43:11.330 new_end_speed 100.000000 j2_acc_t 1.733450 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.151398
|
||
2025-06-11 15:43:11.330 new_end_speed 100.000000 j3_acc_t 1.733450 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.808884
|
||
2025-06-11 15:43:11.330 new_end_speed 100.000000 j4_acc_t 1.733450 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.007670
|
||
2025-06-11 15:43:11.330 end_speed 100.000000
|
||
2025-06-11 15:43:11.330 trail_number3.466900
|
||
2025-06-11 15:43:11.330 tcp_distance 346.690033
|
||
2025-06-11 15:43:11.331 angle1_1 = -63.498901 angle2_1 = 35.084202 z1 = -75.473297 r1 = -1005.719727 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||
2025-06-11 15:51:56.162 SDK_VERSION_V2.0.0.29_Release
|
||
2025-06-11 15:51:56.162 robot connected
|
||
2025-06-11 15:51:56.162 26
|
||
2025-06-11 15:51:56.162 current generation=26
|
||
2025-06-11 15:51:56.666 0x1a
|
||
2025-06-11 15:51:57.501 initial joint2 4444934
|
||
2025-06-11 15:51:57.501 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||
2025-06-11 15:51:57.501 robot WritePID
|
||
2025-06-11 15:51:57.818 initial joint1 -1269935
|
||
2025-06-11 15:51:57.869 initial joint2 4444932
|
||
2025-06-11 15:51:57.915 initial joint3 -12991
|
||
2025-06-11 15:51:57.967 initial joint4 -25056187
|
||
2025-06-11 15:51:57.983 initial joint1 -1269935
|
||
2025-06-11 15:51:58.049 initial joint2 4444934
|
||
2025-06-11 15:51:58.086 initial joint3 -12991
|
||
2025-06-11 15:51:58.153 initial joint4 -25056188
|
||
2025-06-11 15:51:58.169 initial joint1 -1269935
|
||
2025-06-11 15:51:58.220 initial joint2 4444936
|
||
2025-06-11 15:51:58.268 initial joint3 -12991
|
||
2025-06-11 15:51:58.319 initial joint4 -25056188
|
||
2025-06-11 15:52:00.420 initial_thread initialized
|
||
2025-06-11 15:52:00.420 servo enable
|
||
2025-06-11 15:52:00.421 brake open
|
||
2025-06-11 15:52:00.421 set_brake_state 0 1
|
||
2025-06-11 15:52:00.623 robot initialized
|
||
2025-06-11 15:52:01.175 get_scara_param -87.199501 152.604904 -4.460400 -1027.919678
|
||
2025-06-11 15:52:01.175 get_scara_real_coor -87.199501 152.604797 -4.460100 -1027.919922
|
||
2025-06-11 15:52:01.175 上位机离散数据
|
||
2025-06-11 15:52:01.175 position -1269934.750000 4444940.000000 -12991.857422 -25056186.000000 -917530.375000 1035455.937500 -219811.140625 -23399966.000000
|
||
2025-06-11 15:52:01.176 speed 24197.687500 117055.343750 71005.765625 68234.164063
|
||
2025-06-11 15:52:01.176 set_first_position_after_initial
|
||
2025-06-11 15:52:01.176 movej_old start_pos: -87.199501 152.604904 -4.460400 -1027.919678 end_pos: -87.199501 152.604904 -4.460400 -1027.919678 org_sp 10.000000 end_sp 10.000000
|
||
2025-06-11 15:52:01.459 J3 Belt Meilage=40.903183km
|
||
2025-06-11 15:52:08.261 30 30 30 30
|
||
2025-06-11 15:52:08.262 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:52:08.262 goal_angle -63.500324 35.083988
|
||
2025-06-11 15:52:08.263 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:52:08.263 z1 -4.460400 z2 -75.466103
|
||
2025-06-11 15:52:08.263 angle1_1 -87.199501 angle2_1 152.604904 z1 -4.460400 r1 -1027.919678
|
||
2025-06-11 15:52:08.263 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:52:08.263 speed 100.000000
|
||
2025-06-11 15:52:08.264 tcp_distance 347.516144
|
||
2025-06-11 15:52:08.264 new_end_speed 100.000000 j1_acc_t 1.737581 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917852
|
||
2025-06-11 15:52:08.264 new_end_speed 100.000000 j2_acc_t 1.737581 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975555
|
||
2025-06-11 15:52:08.264 new_end_speed 100.000000 j3_acc_t 1.737581 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.695755
|
||
2025-06-11 15:52:08.264 new_end_speed 100.000000 j4_acc_t 1.737581 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973333
|
||
2025-06-11 15:52:08.264 end_speed 100.000000
|
||
2025-06-11 15:52:08.265 trail_number3.475162
|
||
2025-06-11 15:52:08.265 tcp_distance 347.516144
|
||
2025-06-11 15:52:08.265 angle1_1 = -87.199501 angle2_1 = 152.604904 z1 = -4.460400 r1 = -1027.919678 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:52:21.043 30 30 30 30
|
||
2025-06-11 15:52:21.043 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:52:21.045 goal_angle -67.226128 86.401024
|
||
2025-06-11 15:52:21.045 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:52:21.045 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:52:21.045 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:52:21.046 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:52:21.046 speed 100.000000
|
||
2025-06-11 15:52:21.046 tcp_distance 158.906982
|
||
2025-06-11 15:52:21.046 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
|
||
2025-06-11 15:52:21.046 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
|
||
2025-06-11 15:52:21.046 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:52:21.046 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:52:21.046 end_speed 100.000000
|
||
2025-06-11 15:52:21.047 trail_number1.589070
|
||
2025-06-11 15:52:21.047 tcp_distance 158.906982
|
||
2025-06-11 15:52:21.047 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:52:31.683 30 30 30 30
|
||
2025-06-11 15:52:31.683 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:52:31.683 goal_angle -44.911705 98.661697
|
||
2025-06-11 15:52:31.683 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:52:31.683 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:52:31.683 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:52:31.683 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:52:31.683 speed 100.000000
|
||
2025-06-11 15:52:31.683 tcp_distance 144.069748
|
||
2025-06-11 15:52:31.683 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||
2025-06-11 15:52:31.683 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||
2025-06-11 15:52:31.683 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:52:31.689 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:52:31.689 end_speed 100.000000
|
||
2025-06-11 15:52:31.689 trail_number1.440697
|
||
2025-06-11 15:52:31.689 tcp_distance 144.069748
|
||
2025-06-11 15:52:31.689 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:52:40.684 30 30 30 30
|
||
2025-06-11 15:52:40.684 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:52:40.684 goal_angle -11.002804 84.112190
|
||
2025-06-11 15:52:40.684 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:52:40.684 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:52:40.684 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:52:40.684 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:52:40.684 speed 100.000000
|
||
2025-06-11 15:52:40.684 tcp_distance 144.322098
|
||
2025-06-11 15:52:40.684 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||
2025-06-11 15:52:40.686 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||
2025-06-11 15:52:40.686 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:52:40.686 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:52:40.686 end_speed 100.000000
|
||
2025-06-11 15:52:40.686 trail_number1.443221
|
||
2025-06-11 15:52:40.686 tcp_distance 144.322098
|
||
2025-06-11 15:52:40.687 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:53:08.833 30 30 30 30
|
||
2025-06-11 15:53:08.833 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:53:08.833 goal_angle -44.911705 98.661697
|
||
2025-06-11 15:53:08.833 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:53:08.835 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:53:08.835 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:53:08.835 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:53:08.835 speed 100.000000
|
||
2025-06-11 15:53:08.835 tcp_distance 144.406967
|
||
2025-06-11 15:53:08.835 new_end_speed 100.000000 j1_acc_t 0.722035 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.365715
|
||
2025-06-11 15:53:08.836 new_end_speed 100.000000 j2_acc_t 0.722035 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.039812
|
||
2025-06-11 15:53:08.836 new_end_speed 100.000000 j3_acc_t 0.722035 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:53:08.836 new_end_speed 100.000000 j4_acc_t 0.722035 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:53:08.836 end_speed 100.000000
|
||
2025-06-11 15:53:08.836 trail_number1.444070
|
||
2025-06-11 15:53:08.836 tcp_distance 144.406967
|
||
2025-06-11 15:53:08.837 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:53:11.125 30 30 30 30
|
||
2025-06-11 15:53:11.126 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:53:11.126 goal_angle -67.226128 86.401024
|
||
2025-06-11 15:53:11.126 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:53:11.126 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:53:11.126 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:53:11.127 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:53:11.127 speed 100.000000
|
||
2025-06-11 15:53:11.127 tcp_distance 143.985626
|
||
2025-06-11 15:53:11.127 new_end_speed 100.000000 j1_acc_t 0.719928 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.901131
|
||
2025-06-11 15:53:11.127 new_end_speed 100.000000 j2_acc_t 0.719928 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.626997
|
||
2025-06-11 15:53:11.127 new_end_speed 100.000000 j3_acc_t 0.719928 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:53:11.128 new_end_speed 100.000000 j4_acc_t 0.719928 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:53:11.128 end_speed 100.000000
|
||
2025-06-11 15:53:11.128 trail_number1.439856
|
||
2025-06-11 15:53:11.128 tcp_distance 143.985626
|
||
2025-06-11 15:53:11.129 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:53:13.027 30 30 30 30
|
||
2025-06-11 15:53:13.027 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 15:53:13.027 goal_angle -63.500324 35.083988
|
||
2025-06-11 15:53:13.027 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 15:53:13.027 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 15:53:13.027 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:53:13.027 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 15:53:13.027 speed 100.000000
|
||
2025-06-11 15:53:13.027 tcp_distance 158.969009
|
||
2025-06-11 15:53:13.030 new_end_speed 100.000000 j1_acc_t 0.794845 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.126908
|
||
2025-06-11 15:53:13.030 new_end_speed 100.000000 j2_acc_t 0.794845 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.615028
|
||
2025-06-11 15:53:13.030 new_end_speed 100.000000 j3_acc_t 0.794845 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 15:53:13.030 new_end_speed 100.000000 j4_acc_t 0.794845 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 15:53:13.030 end_speed 100.000000
|
||
2025-06-11 15:53:13.030 trail_number1.589690
|
||
2025-06-11 15:53:13.030 tcp_distance 158.969009
|
||
2025-06-11 15:53:13.031 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 15:53:24.691 30 30 30 30
|
||
2025-06-11 15:53:24.692 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||
2025-06-11 15:53:24.692 goal_angle -87.199585 152.604431
|
||
2025-06-11 15:53:24.692 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||
2025-06-11 15:53:24.692 z1 -75.466103 z2 -4.457100
|
||
2025-06-11 15:53:24.692 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 15:53:24.692 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||
2025-06-11 15:53:24.692 speed 100.000000
|
||
2025-06-11 15:53:24.692 tcp_distance 346.692505
|
||
2025-06-11 15:53:24.692 new_end_speed 100.000000 j1_acc_t 1.733463 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.953341
|
||
2025-06-11 15:53:24.694 new_end_speed 100.000000 j2_acc_t 1.733463 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 74.150970
|
||
2025-06-11 15:53:24.694 new_end_speed 100.000000 j3_acc_t 1.733463 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.804005
|
||
2025-06-11 15:53:24.694 new_end_speed 100.000000 j4_acc_t 1.733463 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 14.006761
|
||
2025-06-11 15:53:24.694 end_speed 100.000000
|
||
2025-06-11 15:53:24.694 trail_number3.466925
|
||
2025-06-11 15:53:24.694 tcp_distance 346.692505
|
||
2025-06-11 15:53:24.694 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||
2025-06-11 15:55:49.028 SDK_VERSION_V2.0.0.29_Release
|
||
2025-06-11 15:55:49.028 robot connected
|
||
2025-06-11 15:55:49.028 26
|
||
2025-06-11 15:55:49.028 current generation=26
|
||
2025-06-11 15:55:49.545 0x1a
|
||
2025-06-11 15:55:50.435 initial joint2 4444931
|
||
2025-06-11 15:55:50.435 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||
2025-06-11 15:55:50.435 robot WritePID
|
||
2025-06-11 15:55:50.748 initial joint1 -1269935
|
||
2025-06-11 15:55:50.814 initial joint2 4444931
|
||
2025-06-11 15:55:50.855 initial joint3 -12992
|
||
2025-06-11 15:55:50.896 initial joint4 -25056186
|
||
2025-06-11 15:55:50.915 initial joint1 -1269935
|
||
2025-06-11 15:55:50.964 initial joint2 4444932
|
||
2025-06-11 15:55:51.014 initial joint3 -12992
|
||
2025-06-11 15:55:51.064 initial joint4 -25056187
|
||
2025-06-11 15:55:51.069 initial joint1 -1269935
|
||
2025-06-11 15:55:51.132 initial joint2 4444933
|
||
2025-06-11 15:55:51.182 initial joint3 -12993
|
||
2025-06-11 15:55:51.232 initial joint4 -25056188
|
||
2025-06-11 15:55:53.421 initial_thread initialized
|
||
2025-06-11 15:55:53.421 servo enable
|
||
2025-06-11 15:55:53.421 brake open
|
||
2025-06-11 15:55:53.421 set_brake_state 0 1
|
||
2025-06-11 15:55:53.636 robot initialized
|
||
2025-06-11 15:55:54.188 get_scara_param -87.199501 152.604706 -4.461100 -1027.919922
|
||
2025-06-11 15:55:54.188 get_scara_real_coor -87.199501 152.604706 -4.461100 -1027.919922
|
||
2025-06-11 15:55:54.188 上位机离散数据
|
||
2025-06-11 15:55:54.188 position -1269934.750000 4444934.500000 -12993.895508 -25056190.000000 -924849.750000 1023527.187500 -219810.953125 -23381802.000000
|
||
2025-06-11 15:55:54.190 speed 23695.107422 117464.695313 71005.007813 68982.664063
|
||
2025-06-11 15:55:54.190 set_first_position_after_initial
|
||
2025-06-11 15:55:54.190 movej_old start_pos: -87.199501 152.604721 -4.461100 -1027.919922 end_pos: -87.199501 152.604721 -4.461100 -1027.919922 org_sp 10.000000 end_sp 10.000000
|
||
2025-06-11 15:55:54.488 J3 Belt Meilage=40.903347km
|
||
2025-06-11 16:00:40.335 SDK_VERSION_V2.0.0.29_Release
|
||
2025-06-11 16:00:40.335 robot connected
|
||
2025-06-11 16:00:40.335 26
|
||
2025-06-11 16:00:40.335 current generation=26
|
||
2025-06-11 16:00:40.851 0x1a
|
||
2025-06-11 16:00:41.720 initial joint2 4444939
|
||
2025-06-11 16:00:41.721 C:\Users\fusy_\source\repos\HitBotCSharpDemo_x64\HitBotCSharpDemo\HitBotCSharpDemo\bin\x64\Debug\\j4_pid.txt do not exist
|
||
2025-06-11 16:00:41.721 robot WritePID
|
||
2025-06-11 16:00:42.023 initial joint1 -1269934
|
||
2025-06-11 16:00:42.073 initial joint2 4444938
|
||
2025-06-11 16:00:42.122 initial joint3 -12994
|
||
2025-06-11 16:00:42.173 initial joint4 -25056189
|
||
2025-06-11 16:00:42.188 initial joint1 -1269934
|
||
2025-06-11 16:00:42.239 initial joint2 4444940
|
||
2025-06-11 16:00:42.289 initial joint3 -12994
|
||
2025-06-11 16:00:42.356 initial joint4 -25056190
|
||
2025-06-11 16:00:42.374 initial joint1 -1269935
|
||
2025-06-11 16:00:42.423 initial joint2 4444942
|
||
2025-06-11 16:00:42.462 initial joint3 -12994
|
||
2025-06-11 16:00:42.507 initial joint4 -25056191
|
||
2025-06-11 16:00:44.594 initial_thread initialized
|
||
2025-06-11 16:00:44.594 servo enable
|
||
2025-06-11 16:00:44.594 brake open
|
||
2025-06-11 16:00:44.594 set_brake_state 0 1
|
||
2025-06-11 16:00:44.810 robot initialized
|
||
2025-06-11 16:00:45.392 get_scara_param -87.199501 152.604996 -4.461400 -1027.919800
|
||
2025-06-11 16:00:45.392 get_scara_real_coor -87.199501 152.604996 -4.461400 -1027.919800
|
||
2025-06-11 16:00:45.392 上位机离散数据
|
||
2025-06-11 16:00:45.392 position -1269934.750000 4444942.500000 -12994.769531 -25056192.000000 0.000000 0.000000 0.000000 0.000000
|
||
2025-06-11 16:00:45.392 speed 87199.500000 152604.984375 4461.399902 1032283.375000
|
||
2025-06-11 16:00:45.393 set_first_position_after_initial
|
||
2025-06-11 16:00:45.393 movej_old start_pos: -87.199501 152.604996 -4.461400 -1027.919800 end_pos: -87.199501 152.604996 -4.461400 -1027.919800 org_sp 10.000000 end_sp 10.000000
|
||
2025-06-11 16:00:45.667 J3 Belt Meilage=40.903397km
|
||
2025-06-11 16:00:50.268 30 30 30 30
|
||
2025-06-11 16:00:50.269 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 16:00:50.269 goal_angle -63.500324 35.083988
|
||
2025-06-11 16:00:50.276 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 16:00:50.281 z1 -4.461400 z2 -75.466103
|
||
2025-06-11 16:00:50.281 angle1_1 -87.199501 angle2_1 152.604996 z1 -4.461400 r1 -1027.919800
|
||
2025-06-11 16:00:50.281 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 16:00:50.281 speed 100.000000
|
||
2025-06-11 16:00:50.282 tcp_distance 347.516388
|
||
2025-06-11 16:00:50.282 new_end_speed 100.000000 j1_acc_t 1.737582 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917840
|
||
2025-06-11 16:00:50.282 new_end_speed 100.000000 j2_acc_t 1.737582 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975548
|
||
2025-06-11 16:00:50.282 new_end_speed 100.000000 j3_acc_t 1.737582 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.695087
|
||
2025-06-11 16:00:50.282 new_end_speed 100.000000 j4_acc_t 1.737582 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973400
|
||
2025-06-11 16:00:50.283 end_speed 100.000000
|
||
2025-06-11 16:00:50.283 trail_number3.475164
|
||
2025-06-11 16:00:50.283 tcp_distance 347.516388
|
||
2025-06-11 16:00:50.283 angle1_1 = -87.199501 angle2_1 = 152.604996 z1 = -4.461400 r1 = -1027.919800 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 16:01:02.057 30 30 30 30
|
||
2025-06-11 16:01:02.057 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 16:01:02.057 goal_angle -67.226128 86.401024
|
||
2025-06-11 16:01:02.057 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 16:01:02.057 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 16:01:02.058 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 16:01:02.058 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 16:01:02.058 speed 100.000000
|
||
2025-06-11 16:01:02.058 tcp_distance 158.906982
|
||
2025-06-11 16:01:02.058 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
|
||
2025-06-11 16:01:02.059 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
|
||
2025-06-11 16:01:02.059 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 16:01:02.059 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 16:01:02.059 end_speed 100.000000
|
||
2025-06-11 16:01:02.059 trail_number1.589070
|
||
2025-06-11 16:01:02.060 tcp_distance 158.906982
|
||
2025-06-11 16:01:02.061 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 16:01:04.576 30 30 30 30
|
||
2025-06-11 16:01:04.577 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 16:01:04.577 goal_angle -44.911705 98.661697
|
||
2025-06-11 16:01:04.577 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 16:01:04.577 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 16:01:04.578 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 16:01:04.578 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 16:01:04.578 speed 100.000000
|
||
2025-06-11 16:01:04.578 tcp_distance 144.069748
|
||
2025-06-11 16:01:04.578 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||
2025-06-11 16:01:04.578 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||
2025-06-11 16:01:04.578 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 16:01:04.579 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 16:01:04.579 end_speed 100.000000
|
||
2025-06-11 16:01:04.579 trail_number1.440697
|
||
2025-06-11 16:01:04.579 tcp_distance 144.069748
|
||
2025-06-11 16:01:04.580 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 16:01:06.772 30 30 30 30
|
||
2025-06-11 16:01:06.772 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 16:01:06.772 goal_angle -11.002804 84.112190
|
||
2025-06-11 16:01:06.772 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 16:01:06.772 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 16:01:06.772 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 16:01:06.774 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 16:01:06.774 speed 100.000000
|
||
2025-06-11 16:01:06.774 tcp_distance 144.322098
|
||
2025-06-11 16:01:06.774 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||
2025-06-11 16:01:06.774 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||
2025-06-11 16:01:06.774 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 16:01:06.774 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 16:01:06.774 end_speed 100.000000
|
||
2025-06-11 16:01:06.774 trail_number1.443221
|
||
2025-06-11 16:01:06.774 tcp_distance 144.322098
|
||
2025-06-11 16:01:06.776 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 16:01:08.967 30 30 30 30
|
||
2025-06-11 16:01:08.967 new_movej_xyz_lr 93.989304 -37.882999 -4.457100 -1027.920044 100.000000 0.000000 1
|
||
2025-06-11 16:01:08.967 goal_angle -87.199585 152.604431
|
||
2025-06-11 16:01:08.969 new_movej_angle -87.199585 152.604431 -4.457100 -1027.920044 0.000000 100.000000
|
||
2025-06-11 16:01:08.969 z1 -75.466103 z2 -4.457100
|
||
2025-06-11 16:01:08.969 angle1_1 -11.002804 angle2_1 84.112190 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 16:01:08.969 angle1_2 -87.199585 angle2_2 152.604431 z2 -4.457100 r2 -1027.920044
|
||
2025-06-11 16:01:08.969 speed 100.000000
|
||
2025-06-11 16:01:08.970 tcp_distance 288.737366
|
||
2025-06-11 16:01:08.970 new_end_speed 100.000000 j1_acc_t 1.443687 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 57.727364
|
||
2025-06-11 16:01:08.970 new_end_speed 100.000000 j2_acc_t 1.443687 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 51.890335
|
||
2025-06-11 16:01:08.970 new_end_speed 100.000000 j3_acc_t 1.443687 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 53.797054
|
||
2025-06-11 16:01:08.970 new_end_speed 100.000000 j4_acc_t 1.443687 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 16.818187
|
||
2025-06-11 16:01:08.970 end_speed 100.000000
|
||
2025-06-11 16:01:08.971 trail_number2.887374
|
||
2025-06-11 16:01:08.971 tcp_distance 288.737366
|
||
2025-06-11 16:01:08.971 angle1_1 = -11.002804 angle2_1 = 84.112190 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -87.199585 angle2_2 = 152.604431 z2 = -4.457100 r2 = -1027.920044
|
||
2025-06-11 16:01:18.896 30 30 30 30
|
||
2025-06-11 16:01:18.896 new_movej_xyz_lr 274.065002 -292.061096 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 16:01:18.896 goal_angle -63.500324 35.083988
|
||
2025-06-11 16:01:18.896 new_movej_angle -63.500324 35.083988 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 16:01:18.896 z1 -4.457100 z2 -75.466103
|
||
2025-06-11 16:01:18.896 angle1_1 -87.199585 angle2_1 152.604431 z1 -4.457100 r1 -1027.920044
|
||
2025-06-11 16:01:18.896 angle1_2 -63.500324 angle2_2 35.083988 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 16:01:18.896 speed 100.000000
|
||
2025-06-11 16:01:18.896 tcp_distance 347.514679
|
||
2025-06-11 16:01:18.896 new_end_speed 100.000000 j1_acc_t 1.737573 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 14.917970
|
||
2025-06-11 16:01:18.896 new_end_speed 100.000000 j2_acc_t 1.737573 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 73.975578
|
||
2025-06-11 16:01:18.896 new_end_speed 100.000000 j3_acc_t 1.737573 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 44.698025
|
||
2025-06-11 16:01:18.896 new_end_speed 100.000000 j4_acc_t 1.737573 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 13.973623
|
||
2025-06-11 16:01:18.896 end_speed 100.000000
|
||
2025-06-11 16:01:18.896 trail_number3.475147
|
||
2025-06-11 16:01:18.896 tcp_distance 347.514679
|
||
2025-06-11 16:01:18.896 angle1_1 = -87.199585 angle2_1 = 152.604431 z1 = -4.457100 r1 = -1027.920044 angle1_2 = -63.500324 angle2_2 = 35.083988 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 16:01:28.712 30 30 30 30
|
||
2025-06-11 16:01:28.712 new_movej_xyz_lr 274.065002 -137.158203 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 16:01:28.712 goal_angle -67.226128 86.401024
|
||
2025-06-11 16:01:28.713 new_movej_angle -67.226128 86.401024 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 16:01:28.713 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 16:01:28.713 angle1_1 -63.500324 angle2_1 35.083988 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 16:01:28.713 angle1_2 -67.226128 angle2_2 86.401024 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 16:01:28.713 speed 100.000000
|
||
2025-06-11 16:01:28.714 tcp_distance 158.906982
|
||
2025-06-11 16:01:28.714 new_end_speed 100.000000 j1_acc_t 0.794535 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 5.128908
|
||
2025-06-11 16:01:28.714 new_end_speed 100.000000 j2_acc_t 0.794535 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 70.642578
|
||
2025-06-11 16:01:28.714 new_end_speed 100.000000 j3_acc_t 0.794535 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 16:01:28.714 new_end_speed 100.000000 j4_acc_t 0.794535 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 16:01:28.714 end_speed 100.000000
|
||
2025-06-11 16:01:28.715 trail_number1.589070
|
||
2025-06-11 16:01:28.715 tcp_distance 158.906982
|
||
2025-06-11 16:01:28.716 angle1_1 = -63.500324 angle2_1 = 35.083988 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -67.226128 angle2_2 = 86.401024 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 16:01:40.018 30 30 30 30
|
||
2025-06-11 16:01:40.018 new_movej_xyz_lr 274.065002 5.965300 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 16:01:40.018 goal_angle -44.911705 98.661697
|
||
2025-06-11 16:01:40.018 new_movej_angle -44.911705 98.661697 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 16:01:40.018 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 16:01:40.018 angle1_1 -67.226128 angle2_1 86.401024 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 16:01:40.018 angle1_2 -44.911705 angle2_2 98.661697 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 16:01:40.018 speed 100.000000
|
||
2025-06-11 16:01:40.018 tcp_distance 144.069748
|
||
2025-06-11 16:01:40.018 new_end_speed 100.000000 j1_acc_t 0.720349 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 33.881371
|
||
2025-06-11 16:01:40.027 new_end_speed 100.000000 j2_acc_t 0.720349 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 18.616140
|
||
2025-06-11 16:01:40.027 new_end_speed 100.000000 j3_acc_t 0.720349 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 16:01:40.027 new_end_speed 100.000000 j4_acc_t 0.720349 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 16:01:40.027 end_speed 100.000000
|
||
2025-06-11 16:01:40.027 trail_number1.440697
|
||
2025-06-11 16:01:40.027 tcp_distance 144.069748
|
||
2025-06-11 16:01:40.027 angle1_1 = -67.226128 angle2_1 = 86.401024 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -44.911705 angle2_2 = 98.661697 z2 = -75.466103 r2 = -1005.721008
|
||
2025-06-11 16:01:48.415 30 30 30 30
|
||
2025-06-11 16:01:48.415 new_movej_xyz_lr 274.065002 149.383698 -75.466103 -1005.721008 100.000000 0.000000 1
|
||
2025-06-11 16:01:48.415 goal_angle -11.002804 84.112190
|
||
2025-06-11 16:01:48.430 new_movej_angle -11.002804 84.112190 -75.466103 -1005.721008 0.000000 100.000000
|
||
2025-06-11 16:01:48.430 z1 -75.466103 z2 -75.466103
|
||
2025-06-11 16:01:48.430 angle1_1 -44.911705 angle2_1 98.661697 z1 -75.466103 r1 -1005.721008
|
||
2025-06-11 16:01:48.430 angle1_2 -11.002804 angle2_2 84.112190 z2 -75.466103 r2 -1005.721008
|
||
2025-06-11 16:01:48.430 speed 100.000000
|
||
2025-06-11 16:01:48.430 tcp_distance 144.322098
|
||
2025-06-11 16:01:48.430 new_end_speed 100.000000 j1_acc_t 0.721610 j1_avg_time 0.000000 j1_max_acc 237.000000 j1_max_sp 51.395920
|
||
2025-06-11 16:01:48.430 new_end_speed 100.000000 j2_acc_t 0.721610 j2_avg_time 0.000000 j2_max_acc 2566.500000 j2_max_sp 22.052773
|
||
2025-06-11 16:01:48.430 new_end_speed 100.000000 j3_acc_t 0.721610 j3_avg_time 0.000000 j3_max_acc 3869.100098 j3_max_sp 0.000000
|
||
2025-06-11 16:01:48.430 new_end_speed 100.000000 j4_acc_t 0.721610 j4_avg_time 0.000000 j4_max_acc 1572.900024 j4_max_sp 0.000000
|
||
2025-06-11 16:01:48.430 end_speed 100.000000
|
||
2025-06-11 16:01:48.430 trail_number1.443221
|
||
2025-06-11 16:01:48.430 tcp_distance 144.322098
|
||
2025-06-11 16:01:48.430 angle1_1 = -44.911705 angle2_1 = 98.661697 z1 = -75.466103 r1 = -1005.721008 angle1_2 = -11.002804 angle2_2 = 84.112190 z2 = -75.466103 r2 = -1005.721008
|