######## 位置C == お手本: 閉じるまでの j4 の最小 / 閉じた瞬間 (j0..j5) demo 192343 j4最小 -70.3 (閉じる 1.4 秒前, j0 -27.6 j1 +58.1 j2 +19.7) 閉じた瞬間 [ -27.7 +63.7 +14.1 -7.6 -61.2 -27.9] demo 192438 j4最小 -70.6 (閉じる 1.4 秒前, j0 -27.8 j1 +58.1 j2 +19.6) 閉じた瞬間 [ -27.8 +63.7 +14.1 -7.7 -61.4 -27.3] demo 192539 j4最小 -70.3 (閉じる 1.4 秒前, j0 -28.4 j1 +58.1 j2 +19.7) 閉じた瞬間 [ -27.2 +63.7 +14.1 -7.7 -61.4 -27.3] demo 192633 j4最小 -70.4 (閉じる 1.4 秒前, j0 -28.2 j1 +58.1 j2 +19.7) 閉じた瞬間 [ -27.4 +63.7 +14.1 -7.6 -61.4 -27.2] == 実機: 閉じるまでの中継点 (チャンク.ステップ 目標 j0 j1 j2 j3 j4 j5 | 実測 j4 | j4 目標−実測 | 着いた) -- 115823 入った 閉じる指令 チャンク04 00.2 [ -1.8 +4.8 +0.7 -0.2 -4.0 -29.7] | -2.7 | -1.3 | True 00.5 [ -4.8 +11.7 +2.2 -1.0 -12.2 -29.2] | -11.2 | -0.9 | True 00.8 [ -8.1 +18.5 +4.3 -2.0 -20.7 -28.7] | -20.3 | -0.4 | True 00.9 [ -9.2 +21.0 +4.9 -2.2 -23.4 -28.5] | -23.3 | -0.1 | True 01.2 [ -12.7 +27.7 +6.5 -2.7 -30.5 -28.2] | -30.2 | -0.3 | True 01.5 [ -16.2 +34.7 +8.6 -2.7 -39.1 -28.1] | -38.8 | -0.4 | True 01.8 [ -19.7 +41.8 +10.8 -2.5 -47.6 -28.1] | -47.3 | -0.3 | True 01.9 [ -20.5 +43.6 +11.2 -2.5 -49.9 -28.1] | -50.0 | +0.1 | True 02.2 [ -23.9 +50.6 +13.2 -2.9 -59.3 -28.0] | -58.9 | -0.5 | True 02.5 [ -26.6 +56.4 +15.3 -2.8 -66.2 -28.0] | -65.8 | -0.4 | True 02.8 [ -27.6 +58.3 +16.4 -2.4 -68.2 -27.9] | -68.6 | +0.5 | True 02.9 [ -27.7 +58.4 +16.4 -2.3 -68.4 -27.9] | -68.6 | +0.2 | True 03.2 [ -27.9 +60.5 +17.1 -2.1 -70.1 -27.9] | -70.4 | +0.3 | True 03.5 [ -27.6 +61.1 +16.6 -2.7 -69.5 -27.8] | -70.4 | +0.9 | True 03.8 [ -27.8 +62.6 +14.3 -4.6 -66.4 -27.7] | -67.6 | +1.2 | True 03.9 [ -27.8 +63.0 +13.7 -4.9 -65.7 -27.7] | -66.3 | +0.7 | True 04.2 [ -27.6 +64.9 +11.8 -6.3 -63.2 -27.7] | -63.6 | +0.5 | True 04.5 [ -27.7 +65.4 +11.4 -6.8 -62.4 -27.7] | -63.4 | +1.0 | True 04.6 [ -27.7 +65.4 +11.4 -6.8 -62.4 -27.7] | -63.2 | +0.8 | True -- 120644 入った 閉じる指令 チャンク04 00.2 [ -2.4 +5.8 +2.8 -0.4 -5.3 -29.6] | -4.3 | -1.0 | True 00.5 [ -5.5 +12.7 +4.8 -1.4 -13.6 -28.8] | -12.5 | -1.1 | True 00.8 [ -8.6 +19.3 +6.7 -2.4 -21.5 -27.9] | -21.2 | -0.4 | True 00.9 [ -9.7 +21.5 +7.2 -2.7 -24.1 -27.7] | -24.0 | -0.1 | True 01.2 [ -13.8 +28.4 +9.2 -3.4 -32.3 -27.4] | -32.0 | -0.3 | True 01.5 [ -17.5 +35.5 +11.5 -3.2 -41.7 -27.3] | -41.3 | -0.4 | True 01.8 [ -21.1 +43.0 +13.7 -2.8 -51.4 -27.2] | -51.1 | -0.3 | True 01.9 [ -22.1 +45.1 +14.2 -2.7 -54.0 -27.2] | -54.2 | +0.2 | True 02.2 [ -25.2 +52.2 +16.1 -3.2 -63.1 -27.2] | -62.7 | -0.4 | True 02.5 [ -27.4 +56.7 +17.8 -3.0 -68.1 -27.2] | -68.0 | -0.1 | True 02.8 [ -28.4 +58.5 +18.6 -2.5 -69.3 -27.1] | -69.2 | -0.2 | True 02.9 [ -28.2 +58.5 +18.5 -2.4 -69.1 -27.2] | -69.2 | +0.0 | True 03.2 [ -28.2 +59.5 +18.7 -2.5 -69.8 -27.1] | -69.5 | -0.3 | True 03.5 [ -27.9 +60.3 +17.9 -3.3 -69.1 -27.1] | -69.6 | +0.5 | True 03.8 [ -28.0 +61.5 +16.1 -4.6 -66.6 -27.1] | -67.9 | +1.4 | True 03.9 [ -28.1 +62.0 +15.5 -5.0 -65.8 -27.1] | -66.6 | +0.8 | True 04.2 [ -27.9 +63.5 +13.8 -6.2 -63.5 -27.1] | -64.0 | +0.5 | True 04.5 [ -27.8 +63.9 +13.2 -6.8 -62.6 -27.1] | -63.4 | +0.8 | True 04.6 [ -27.8 +63.9 +13.2 -6.8 -62.6 -27.1] | -63.3 | +0.7 | True -- 121202 入った 閉じる指令 チャンク03 00.2 [ -2.6 +5.5 +2.9 -0.5 -4.9 -29.8] | -4.2 | -0.7 | True 00.5 [ -5.5 +11.6 +4.6 -1.3 -12.1 -29.1] | -11.2 | -1.0 | True 00.8 [ -8.8 +17.8 +6.6 -2.1 -19.9 -28.4] | -19.3 | -0.5 | True 00.9 [ -9.8 +19.6 +7.1 -2.3 -21.6 -28.2] | -22.1 | +0.5 | True 01.2 [ -13.3 +26.5 +9.0 -3.0 -29.7 -27.8] | -29.3 | -0.4 | True 01.5 [ -17.1 +33.5 +11.2 -3.1 -38.5 -27.7] | -38.2 | -0.3 | True 01.8 [ -20.4 +40.3 +13.3 -3.0 -47.8 -27.6] | -47.1 | -0.6 | True 01.9 [ -21.6 +42.6 +13.9 -3.0 -50.7 -27.6] | -50.9 | +0.2 | True 02.2 [ -24.9 +49.1 +15.8 -3.4 -59.4 -27.5] | -58.9 | -0.5 | True 02.5 [ -27.4 +54.4 +17.7 -3.2 -64.9 -27.5] | -65.2 | +0.3 | True 02.8 [ -28.4 +56.1 +18.9 -2.6 -66.5 -27.4] | -66.9 | +0.4 | True 02.9 [ -28.4 +56.2 +18.9 -2.6 -66.5 -27.4] | -66.9 | +0.4 | True 03.2 [ -29.0 +57.5 +19.6 -2.4 -67.9 -27.4] | -67.8 | -0.1 | True 03.8 [ -28.7 +59.6 +17.7 -3.9 -66.7 -27.4] | -67.8 | +1.1 | True 03.9 [ -28.7 +59.6 +17.7 -3.9 -66.7 -27.4] | -67.8 | +1.1 | True -- 121650 入った 閉じる指令 チャンク04 00.2 [ -2.5 +5.7 +3.0 -0.3 -5.5 -29.7] | -4.7 | -0.8 | True 00.5 [ -5.8 +12.3 +5.0 -1.4 -13.5 -28.9] | -12.5 | -1.0 | True 00.8 [ -9.0 +18.5 +7.1 -2.3 -21.2 -28.2] | -20.7 | -0.5 | True 00.9 [ -10.0 +20.3 +7.7 -2.5 -23.4 -28.0] | -23.7 | +0.4 | True 01.2 [ -13.8 +27.4 +9.6 -3.2 -31.7 -27.6] | -31.1 | -0.6 | True 01.5 [ -17.5 +34.5 +11.8 -3.1 -40.9 -27.6] | -40.7 | -0.2 | True 01.8 [ -21.2 +42.2 +14.1 -2.9 -50.5 -27.5] | -50.1 | -0.4 | True 01.9 [ -22.4 +44.6 +14.6 -2.9 -53.3 -27.4] | -53.7 | +0.4 | True 02.2 [ -25.4 +51.4 +16.4 -3.2 -61.7 -27.4] | -61.2 | -0.5 | True 02.5 [ -27.7 +56.5 +18.3 -3.1 -67.0 -27.4] | -67.1 | +0.0 | True 02.8 [ -28.4 +57.9 +19.2 -2.6 -68.7 -27.3] | -68.5 | -0.2 | True 02.9 [ -28.6 +57.9 +19.4 -2.5 -68.7 -27.3] | -68.5 | -0.2 | True 03.2 [ -28.7 +58.6 +19.7 -2.4 -69.6 -27.3] | -69.4 | -0.2 | True 03.5 [ -28.3 +59.3 +18.9 -3.0 -69.1 -27.3] | -69.4 | +0.4 | True 03.8 [ -28.3 +60.7 +17.3 -4.3 -67.1 -27.3] | -68.5 | +1.4 | True 03.9 [ -28.2 +61.3 +16.6 -4.7 -66.2 -27.3] | -67.1 | +0.8 | True 04.2 [ -27.9 +62.7 +14.9 -6.1 -63.9 -27.3] | -64.2 | +0.3 | True 04.5 [ -27.8 +63.7 +13.6 -7.0 -62.0 -27.3] | -62.8 | +0.8 | True 04.8 [ -27.7 +63.7 +13.5 -7.2 -61.9 -27.3] | -62.7 | +0.8 | True -- 122156 入った 閉じる指令 チャンク04 00.2 [ -2.7 +6.3 +2.7 -0.2 -5.9 -29.6] | -4.6 | -1.4 | True 00.5 [ -5.7 +12.8 +4.6 -1.1 -13.5 -28.8] | -12.6 | -1.0 | True 00.8 [ -8.9 +19.5 +6.7 -2.0 -21.7 -27.8] | -21.3 | -0.4 | True 00.9 [ -10.1 +21.6 +7.2 -2.3 -24.1 -27.5] | -24.0 | -0.1 | True 01.2 [ -13.9 +28.4 +9.2 -2.9 -32.1 -27.2] | -31.9 | -0.2 | True 01.5 [ -17.7 +35.6 +11.5 -2.7 -41.6 -27.2] | -41.1 | -0.5 | True 01.8 [ -21.3 +42.7 +13.4 -2.6 -50.7 -27.2] | -50.2 | -0.5 | True 01.9 [ -22.5 +45.0 +14.0 -2.6 -53.2 -27.1] | -53.6 | +0.4 | True 02.2 [ -25.6 +51.9 +15.7 -3.0 -62.0 -27.1] | -61.4 | -0.6 | True 02.5 [ -28.4 +57.3 +17.5 -2.8 -67.8 -27.1] | -67.5 | -0.3 | True 02.8 [ -29.5 +59.0 +18.5 -2.3 -69.7 -27.0] | -69.8 | +0.1 | True 02.9 [ -29.6 +59.1 +18.4 -2.2 -69.7 -27.0] | -69.8 | +0.1 | True 03.2 [ -29.4 +59.6 +18.0 -2.6 -69.3 -27.0] | -70.3 | +1.0 | True 03.5 [ -29.1 +60.6 +16.6 -3.7 -67.4 -27.0] | -69.5 | +2.1 | True 03.8 [ -29.0 +62.3 +14.7 -5.0 -65.0 -27.0] | -65.0 | +0.0 | True 03.9 [ -28.9 +62.7 +14.3 -5.3 -64.4 -27.0] | -65.0 | +0.6 | True 04.2 [ -28.9 +64.0 +12.9 -6.2 -62.6 -27.0] | -63.0 | +0.4 | True 04.5 [ -28.9 +64.0 +12.7 -6.4 -62.5 -27.0] | -62.9 | +0.4 | True ######## 位置D == お手本: 閉じるまでの j4 の最小 / 閉じた瞬間 (j0..j5) demo 193404 j4最小 -76.2 (閉じる 1.4 秒前, j0 -59.9 j1 +55.3 j2 +22.6) 閉じた瞬間 [ -61.6 +62.5 +14.8 +1.5 -60.7 -32.4] demo 193459 j4最小 -76.6 (閉じる 1.5 秒前, j0 -59.9 j1 +55.3 j2 +22.5) 閉じた瞬間 [ -61.6 +62.4 +14.8 +1.1 -60.8 -31.7] demo 193617 j4最小 -76.6 (閉じる 1.5 秒前, j0 -60.1 j1 +55.3 j2 +22.5) 閉じた瞬間 [ -61.7 +62.4 +14.8 +1.1 -60.8 -31.7] demo 193825 j4最小 -76.3 (閉じる 2.0 秒前, j0 -59.9 j1 +55.3 j2 +22.5) 閉じた瞬間 [ -61.5 +62.3 +13.9 +1.3 -58.0 -32.4] demo 193932 j4最小 -76.2 (閉じる 1.4 秒前, j0 -59.9 j1 +55.3 j2 +22.5) 閉じた瞬間 [ -61.6 +62.5 +14.8 +1.2 -60.7 -31.6] == 実機: 閉じるまでの中継点 (チャンク.ステップ 目標 j0 j1 j2 j3 j4 j5 | 実測 j4 | j4 目標−実測 | 着いた) -- 122909 入らなかった 閉じる指令 チャンク04 00.2 [ -4.6 +5.4 +3.0 +0.4 -5.7 -30.4] | -4.7 | -1.0 | True 00.5 [ -10.9 +11.4 +4.8 +0.4 -13.5 -30.7] | -12.4 | -1.1 | True 00.8 [ -17.6 +17.5 +6.7 +0.4 -21.4 -31.0] | -21.2 | -0.2 | True 00.9 [ -19.8 +19.6 +7.5 +0.4 -24.0 -31.1] | -24.0 | -0.0 | True 01.2 [ -25.7 +25.5 +9.8 +0.9 -32.5 -31.2] | -31.8 | -0.7 | True 01.5 [ -32.8 +31.6 +12.2 +0.9 -41.3 -31.2] | -40.8 | -0.5 | True 01.8 [ -39.9 +38.2 +14.5 +0.8 -50.7 -31.2] | -50.4 | -0.3 | True 01.9 [ -41.7 +40.3 +15.1 +0.8 -53.5 -31.2] | -54.2 | +0.7 | True 02.2 [ -48.8 +46.1 +16.9 +1.4 -62.6 -31.3] | -61.4 | -1.1 | True 02.5 [ -55.2 +51.9 +19.2 +1.7 -70.5 -31.3] | -69.6 | -0.9 | True 02.8 [ -59.3 +55.5 +21.3 +1.9 -74.8 -31.3] | -75.1 | +0.4 | True 02.9 [ -59.6 +55.6 +21.6 +1.9 -74.7 -31.4] | -75.1 | +0.5 | True 03.2 [ -59.9 +57.1 +20.7 +1.9 -74.2 -31.4] | -75.1 | +0.9 | True 03.5 [ -59.9 +59.3 +18.2 +1.6 -70.1 -31.4] | -71.5 | +1.4 | True 03.8 [ -60.1 +61.3 +16.2 +1.2 -66.0 -31.4] | -64.7 | -1.4 | True 03.9 [ -60.2 +61.7 +15.7 +1.2 -65.2 -31.4] | -64.5 | -0.7 | True 04.2 [ -60.4 +63.0 +14.5 +1.2 -62.0 -31.5] | -62.8 | +0.7 | True 04.5 [ -60.4 +62.7 +14.5 +1.2 -61.1 -31.5] | -62.4 | +1.3 | True -- 123158 入らなかった 閉じる指令 チャンク04 00.2 [ -3.3 +4.1 +2.6 +0.3 -4.0 -30.4] | -2.6 | -1.4 | True 00.5 [ -9.4 +9.4 +4.3 +0.4 -11.4 -30.7] | -10.8 | -0.6 | True 00.8 [ -15.6 +15.2 +6.1 +0.4 -19.4 -31.0] | -18.7 | -0.7 | True 00.9 [ -17.6 +17.1 +6.7 +0.4 -21.7 -31.1] | -22.4 | +0.7 | True 01.2 [ -23.5 +22.7 +8.8 +0.9 -29.8 -31.4] | -27.8 | -2.0 | True 01.5 [ -30.2 +28.4 +11.1 +1.0 -38.0 -31.5] | -36.9 | -1.1 | True 01.8 [ -36.6 +34.8 +13.2 +0.9 -46.9 -31.4] | -46.6 | -0.4 | True 01.9 [ -37.8 +36.7 +13.6 +1.0 -49.5 -31.5] | -49.6 | +0.1 | True 02.2 [ -45.5 +42.6 +15.8 +1.1 -58.5 -31.5] | -58.2 | -0.3 | True 02.5 [ -52.8 +49.0 +17.9 +1.6 -67.5 -31.5] | -66.8 | -0.7 | True 02.8 [ -58.2 +53.8 +19.9 +1.8 -73.6 -31.5] | -73.2 | -0.4 | True 02.9 [ -58.9 +54.5 +20.2 +1.8 -74.1 -31.5] | -74.1 | -0.0 | True 03.2 [ -59.5 +55.6 +21.0 +1.9 -74.1 -31.6] | -74.6 | +0.5 | True 03.5 [ -59.8 +57.1 +19.5 +1.8 -71.2 -31.6] | -72.9 | +1.6 | True 03.8 [ -60.1 +59.8 +16.6 +1.4 -66.3 -31.7] | -67.2 | +1.0 | True 03.9 [ -60.1 +60.4 +15.8 +1.4 -65.1 -31.7] | -65.7 | +0.5 | True 04.2 [ -60.6 +62.2 +14.0 +1.3 -61.9 -31.7] | -62.5 | +0.6 | True 04.5 [ -60.5 +62.4 +13.9 +1.3 -60.9 -31.7] | -61.4 | +0.5 | True 04.6 [ -60.5 +62.4 +13.9 +1.3 -60.9 -31.7] | -61.3 | +0.5 | True -- 124104 入らなかった 閉じる指令 チャンク04 00.2 [ -3.8 +4.7 +3.0 +0.3 -4.7 -30.4] | -4.0 | -0.8 | True 00.5 [ -10.1 +10.3 +5.0 +0.3 -12.4 -30.7] | -11.7 | -0.7 | True 00.8 [ -16.4 +16.0 +6.8 +0.3 -20.1 -31.0] | -19.7 | -0.4 | True 00.9 [ -18.3 +17.7 +7.5 +0.3 -22.6 -31.1] | -22.8 | +0.1 | True 01.2 [ -24.4 +23.4 +9.7 +0.8 -31.1 -31.2] | -30.5 | -0.6 | True 01.5 [ -31.4 +29.2 +12.1 +0.9 -39.8 -31.3] | -39.3 | -0.5 | True 01.8 [ -38.0 +35.4 +14.3 +0.8 -49.3 -31.3] | -48.9 | -0.4 | True 01.9 [ -40.0 +37.6 +14.9 +0.7 -52.6 -31.3] | -53.1 | +0.5 | True 02.2 [ -47.5 +43.6 +17.1 +1.1 -61.7 -31.4] | -61.3 | -0.4 | True 02.5 [ -54.5 +49.5 +19.5 +1.6 -70.4 -31.4] | -69.4 | -0.9 | True 02.8 [ -59.3 +53.8 +21.9 +1.8 -76.2 -31.4] | -76.1 | -0.1 | True 02.9 [ -60.0 +54.3 +22.4 +1.8 -76.8 -31.4] | -76.2 | -0.6 | True 03.2 [ -60.1 +55.1 +21.7 +1.6 -75.5 -31.5] | -76.7 | +1.2 | True 03.5 [ -60.3 +57.3 +19.2 +1.2 -71.5 -31.6] | -60.1 | -11.4 | False ← 未到達 03.8 [ -60.8 +59.5 +17.1 +1.1 -67.5 -31.6] | -68.5 | +1.0 | True 03.9 [ -60.9 +60.0 +16.6 +1.1 -66.5 -31.6] | -67.1 | +0.6 | True 04.2 [ -61.4 +61.9 +14.6 +1.1 -62.1 -31.6] | -62.6 | +0.5 | True 04.5 [ -61.5 +62.4 +14.1 +1.2 -59.7 -31.7] | -61.0 | +1.3 | True 04.7 [ -61.5 +62.2 +14.3 +1.2 -59.6 -31.7] | -60.8 | +1.2 | True -- 124830 入った 閉じる指令 チャンク04 00.2 [ -2.9 +3.7 +2.7 +0.3 -3.5 -30.3] | -1.8 | -1.8 | True 00.5 [ -9.4 +9.3 +4.3 +0.3 -11.5 -30.6] | -10.5 | -1.0 | True 00.8 [ -16.0 +15.0 +6.0 +0.4 -19.2 -30.8] | -18.7 | -0.5 | True 00.9 [ -18.4 +16.9 +6.6 +0.5 -21.7 -30.9] | -22.1 | +0.4 | True 01.2 [ -24.5 +22.8 +8.8 +0.8 -30.1 -31.0] | -29.5 | -0.5 | True 01.5 [ -31.5 +29.0 +11.2 +0.9 -38.7 -31.1] | -38.3 | -0.4 | True 01.8 [ -38.2 +35.6 +13.4 +0.7 -48.1 -31.1] | -47.6 | -0.5 | True 01.9 [ -40.1 +38.0 +13.9 +0.6 -51.2 -31.1] | -51.7 | +0.5 | True 02.2 [ -47.5 +43.6 +16.0 +1.0 -60.1 -31.1] | -59.3 | -0.8 | True 02.5 [ -54.3 +49.5 +18.0 +1.4 -68.6 -31.2] | -68.0 | -0.6 | True 02.8 [ -59.1 +54.2 +20.1 +1.6 -74.8 -31.2] | -74.9 | +0.1 | True 02.9 [ -60.0 +54.8 +20.5 +1.6 -75.3 -31.2] | -75.4 | +0.1 | True 03.2 [ -60.3 +55.5 +20.9 +1.7 -75.9 -31.3] | -75.8 | -0.1 | True 03.5 [ -60.5 +57.0 +19.5 +1.5 -74.2 -31.3] | -75.8 | +1.7 | True 03.8 [ -60.7 +59.3 +17.0 +1.2 -69.6 -31.4] | -71.0 | +1.4 | True 03.9 [ -60.8 +60.0 +16.3 +1.1 -68.4 -31.4] | -69.2 | +0.8 | True 04.2 [ -61.1 +62.0 +13.7 +0.8 -63.9 -31.4] | -64.1 | +0.1 | True 04.5 [ -61.2 +62.9 +12.6 +0.7 -60.6 -31.5] | -61.1 | +0.4 | True 04.8 [ -61.5 +62.7 +12.6 +0.8 -60.0 -31.5] | -60.6 | +0.7 | True -- 125314 入らなかった 閉じる指令 チャンク04 00.2 [ -3.9 +4.9 +2.8 +0.2 -5.1 -30.4] | -3.9 | -1.3 | True 00.5 [ -10.2 +10.7 +4.6 +0.2 -12.6 -30.7] | -11.5 | -1.1 | True 00.8 [ -16.8 +16.7 +6.5 +0.2 -20.4 -30.9] | -20.0 | -0.4 | True 00.9 [ -19.0 +18.7 +7.1 +0.2 -23.0 -31.0] | -22.9 | -0.1 | True 01.2 [ -24.8 +24.6 +9.2 +0.7 -31.3 -31.1] | -30.7 | -0.6 | True 01.5 [ -31.5 +30.8 +11.3 +0.7 -40.0 -31.2] | -39.5 | -0.4 | True 01.8 [ -37.9 +37.4 +13.5 +0.4 -49.3 -31.1] | -49.0 | -0.3 | True 01.9 [ -40.4 +39.8 +14.2 +0.3 -52.4 -31.1] | -52.7 | +0.3 | True 02.2 [ -47.4 +45.5 +16.2 +0.8 -61.5 -31.2] | -61.2 | -0.3 | True 02.5 [ -54.2 +51.5 +18.2 +1.1 -69.6 -31.2] | -69.1 | -0.5 | True 02.8 [ -59.0 +56.0 +20.4 +1.3 -75.0 -31.2] | -75.1 | +0.1 | True 02.9 [ -59.4 +56.5 +20.7 +1.3 -75.5 -31.2] | -75.1 | -0.4 | True 03.2 [ -59.8 +57.8 +20.3 +1.3 -76.4 -31.3] | -69.0 | -7.4 | False ← 未到達 03.5 [ -59.6 +59.8 +18.3 +0.9 -73.9 -31.4] | -72.6 | -1.3 | True 03.8 [ -60.0 +61.4 +16.3 +0.6 -69.4 -31.5] | -70.4 | +1.0 | True 03.9 [ -60.1 +61.9 +15.9 +0.5 -68.2 -31.5] | -68.9 | +0.7 | True 04.2 [ -60.2 +63.3 +13.8 +0.3 -63.4 -31.5] | -63.9 | +0.5 | True 04.5 [ -60.5 +63.8 +12.9 +0.5 -59.7 -31.7] | -61.4 | +1.7 | True 04.8 [ -60.6 +63.5 +12.6 +1.1 -57.2 -32.0] | -59.6 | +2.3 | True 04.9 [ -60.6 +63.5 +12.6 +1.1 -57.2 -32.0] | -59.5 | +2.3 | True -- 125528 数に入れない 閉じる指令 チャンク02 00.2 [ -3.7 +5.0 +3.0 +0.2 -5.1 -30.3] | -4.0 | -1.2 | True 00.5 [ -9.6 +10.8 +4.8 +0.2 -12.8 -30.5] | -11.9 | -0.9 | True 00.8 [ -15.8 +17.0 +6.9 +0.2 -20.7 -30.7] | -20.1 | -0.5 | True 00.9 [ -17.5 +19.0 +7.5 +0.3 -23.1 -30.8] | -23.0 | -0.1 | True 01.2 [ -23.7 +25.1 +9.7 +0.6 -31.5 -30.9] | -30.8 | -0.8 | True 01.5 [ -30.7 +31.2 +11.8 +0.7 -40.4 -30.8] | -40.1 | -0.4 | True 01.8 [ -37.3 +37.6 +14.0 +0.6 -49.8 -30.9] | -13.1 | -36.7 | False ← 未到達 01.9 [ -39.0 +39.6 +14.6 +0.5 -33.1 -30.8] | -33.6 | +0.5 | True 02.2 [ -45.7 +45.3 +16.4 +1.1 -42.6 -30.9] | -42.1 | -0.6 | True 02.5 [ -52.2 +51.4 +18.5 +1.2 -51.8 -30.9] | -50.4 | -1.3 | True 02.8 [ -57.3 +57.1 +20.4 +1.2 -59.3 -30.9] | -59.1 | -0.1 | True 02.9 [ -58.0 +58.1 +20.8 +1.2 -60.5 -30.9] | -60.9 | +0.4 | True ######## 位置E == お手本: 閉じるまでの j4 の最小 / 閉じた瞬間 (j0..j5) demo 194818 j4最小 -65.4 (閉じる 1.3 秒前, j0 +12.4 j1 +46.2 j2 +30.3) 閉じた瞬間 [ +13.2 +60.0 +19.5 -2.5 -61.5 -26.7] demo 194913 j4最小 -65.7 (閉じる 1.4 秒前, j0 +12.3 j1 +45.5 j2 +30.9) 閉じた瞬間 [ +12.8 +60.0 +19.4 -3.6 -61.6 -26.7] demo 195023 j4最小 -65.4 (閉じる 1.4 秒前, j0 +12.9 j1 +45.3 j2 +31.1) 閉じた瞬間 [ +12.8 +60.0 +19.4 -3.4 -61.5 -26.7] demo 195120 j4最小 -65.2 (閉じる 1.4 秒前, j0 +12.9 j1 +45.3 j2 +31.1) 閉じた瞬間 [ +12.9 +60.0 +19.4 -3.1 -61.5 -26.7] == 実機: 閉じるまでの中継点 (チャンク.ステップ 目標 j0 j1 j2 j3 j4 j5 | 実測 j4 | j4 目標−実測 | 着いた) -- 145207 入った 閉じる指令 チャンク04 00.2 [ +0.7 +5.5 +4.4 -0.6 -6.3 -29.6] | -4.8 | -1.5 | True 00.5 [ +2.0 +10.5 +7.9 -1.5 -13.2 -28.7] | -12.3 | -0.9 | True 00.8 [ +3.6 +15.8 +12.0 -2.6 -20.6 -27.7] | -20.0 | -0.6 | True 00.9 [ +4.4 +17.7 +13.1 -2.9 -23.4 -27.4] | -23.2 | -0.2 | True 01.2 [ +5.9 +23.6 +16.9 -3.4 -32.1 -26.9] | -31.5 | -0.6 | True 01.5 [ +7.7 +29.6 +20.9 -3.5 -41.2 -26.8] | -41.0 | -0.3 | True 01.8 [ +9.0 +35.3 +24.8 -3.7 -49.6 -26.7] | -49.2 | -0.4 | True 01.9 [ +9.3 +36.8 +25.3 -3.6 -51.5 -26.7] | -51.9 | +0.4 | True 02.2 [ +10.4 +42.8 +29.2 -4.0 -60.0 -26.6] | -58.7 | -1.3 | True 02.5 [ +11.0 +46.4 +31.1 -4.0 -63.8 -26.6] | -63.9 | +0.1 | True 02.8 [ +10.9 +46.6 +30.9 -3.9 -64.0 -26.6] | -63.9 | -0.1 | True 02.9 [ +11.0 +46.6 +30.5 -3.8 -63.9 -26.6] | -63.9 | +0.0 | True 03.2 [ +11.1 +48.6 +30.0 -3.7 -64.2 -26.6] | -64.0 | -0.3 | True 03.5 [ +11.3 +51.9 +27.3 -3.8 -63.6 -26.7] | -64.0 | +0.3 | True 03.8 [ +11.4 +55.4 +23.9 -3.8 -62.4 -26.7] | -63.8 | +1.4 | True 03.9 [ +11.6 +56.2 +23.2 -3.7 -62.2 -26.7] | -63.1 | +0.9 | True 04.2 [ +11.8 +59.7 +20.4 -3.7 -61.6 -26.8] | -62.6 | +1.0 | True 04.5 [ +11.9 +59.8 +20.3 -3.7 -61.4 -26.8] | -62.6 | +1.1 | True -- 145641 入らなかった 閉じる指令 チャンク04 00.2 [ +0.5 +5.9 +4.8 -0.3 -6.9 -29.4] | -5.5 | -1.4 | True 00.5 [ +1.6 +11.2 +8.3 -0.9 -14.3 -28.6] | -13.4 | -0.9 | True 00.8 [ +2.9 +16.5 +12.2 -1.5 -21.5 -27.6] | -21.2 | -0.3 | True 00.9 [ +3.3 +18.0 +13.1 -1.7 -23.2 -27.4] | -23.0 | -0.2 | True 01.2 [ +4.8 +23.9 +16.6 -2.2 -31.6 -26.9] | -31.1 | -0.5 | True 01.5 [ +6.6 +30.0 +20.5 -2.1 -41.1 -26.8] | -40.7 | -0.4 | True 01.8 [ +8.2 +35.9 +24.2 -2.2 -50.2 -26.8] | -49.8 | -0.3 | True 01.9 [ +8.8 +37.8 +25.2 -2.3 -52.7 -26.8] | -52.6 | -0.0 | True 02.2 [ +9.7 +43.5 +29.0 -2.7 -60.7 -26.7] | -59.9 | -0.7 | True 02.5 [ +10.2 +46.8 +31.1 -2.7 -63.8 -26.7] | -65.1 | +1.4 | True 02.8 [ +10.2 +47.5 +31.3 -2.5 -64.2 -26.7] | -65.1 | +0.9 | True 02.9 [ +10.2 +47.5 +31.1 -2.5 -64.3 -26.7] | -65.1 | +0.8 | True 03.2 [ +10.5 +51.4 +28.5 -2.4 -64.2 -26.7] | -64.8 | +0.5 | True 03.5 [ +10.9 +55.4 +25.3 -2.5 -63.5 -26.7] | -63.9 | +0.4 | True 03.8 [ +10.8 +58.6 +22.4 -2.5 -62.8 -26.8] | -63.7 | +0.9 | True 03.9 [ +10.8 +59.2 +21.6 -2.5 -62.7 -26.8] | -63.7 | +1.0 | True 04.2 [ +10.8 +60.6 +20.5 -2.5 -62.4 -26.8] | -63.5 | +1.0 | True 04.3 [ +10.8 +60.6 +20.5 -2.5 -62.4 -26.8] | -63.5 | +1.0 | True -- 145851 入った 閉じる指令 チャンク04 00.2 [ +0.6 +5.2 +4.2 -0.5 -6.2 -29.3] | -4.7 | -1.4 | True 00.5 [ +1.9 +11.0 +8.5 -1.4 -15.2 -28.5] | -14.1 | -1.2 | True 00.8 [ +3.3 +16.6 +12.6 -2.2 -23.7 -27.5] | -23.0 | -0.6 | True 00.9 [ +3.9 +18.6 +14.0 -2.5 -26.5 -27.2] | -27.1 | +0.6 | True 01.2 [ +5.3 +23.9 +17.6 -2.9 -34.8 -26.9] | -34.2 | -0.6 | True 01.5 [ +7.2 +29.7 +21.6 -3.0 -44.1 -26.8] | -43.5 | -0.6 | True 01.8 [ +8.9 +35.8 +25.6 -3.2 -54.1 -26.7] | -53.8 | -0.3 | True 01.9 [ +9.3 +37.7 +26.7 -3.2 -56.9 -26.6] | -57.2 | +0.3 | True 02.2 [ +10.3 +42.9 +29.9 -3.4 -63.8 -26.6] | -63.5 | -0.4 | True 02.5 [ +10.8 +45.1 +30.9 -3.3 -65.5 -26.6] | -66.2 | +0.7 | True 02.8 [ +10.7 +45.1 +30.3 -3.2 -65.1 -26.6] | -66.2 | +1.1 | True 02.9 [ +10.8 +45.2 +29.9 -3.2 -65.1 -26.6] | -66.2 | +1.1 | True 03.2 [ +11.0 +48.6 +27.5 -3.2 -64.3 -26.6] | -65.0 | +0.7 | True 03.5 [ +11.2 +52.4 +24.6 -3.2 -63.2 -26.7] | -63.6 | +0.4 | True 03.8 [ +11.0 +56.0 +21.8 -3.3 -62.4 -26.7] | -62.8 | +0.3 | True 03.9 [ +11.0 +57.0 +20.9 -3.3 -62.2 -26.7] | -62.5 | +0.3 | True 04.2 [ +11.1 +59.8 +18.6 -3.3 -61.7 -26.7] | -62.3 | +0.6 | True 04.4 [ +11.1 +59.9 +18.6 -3.3 -61.6 -26.7] | -62.1 | +0.6 | True -- 150534 入った 閉じる指令 チャンク04 00.2 [ +0.4 +6.6 +4.8 -0.2 -8.2 -29.4] | -7.5 | -0.8 | True 00.5 [ +1.4 +12.5 +8.6 -0.8 -16.7 -28.6] | -15.8 | -0.9 | True 00.8 [ +2.6 +17.9 +12.3 -1.3 -24.0 -27.6] | -23.5 | -0.6 | True 00.9 [ +3.3 +19.6 +13.5 -1.4 -26.1 -27.3] | -26.6 | +0.6 | True 01.2 [ +4.7 +25.6 +17.1 -2.1 -34.3 -26.9] | -33.8 | -0.6 | True 01.5 [ +6.7 +32.0 +21.2 -2.1 -44.1 -26.9] | -43.5 | -0.6 | True 01.8 [ +8.5 +38.1 +25.1 -2.1 -52.9 -26.9] | -52.5 | -0.4 | True 01.9 [ +9.0 +39.6 +26.0 -2.1 -55.3 -26.8] | -55.8 | +0.5 | True 02.2 [ +9.5 +44.9 +29.2 -2.5 -62.1 -26.8] | -61.1 | -1.0 | True 02.5 [ +9.8 +46.3 +30.2 -2.5 -63.2 -26.8] | -62.9 | -0.3 | True 02.8 [ +9.8 +46.7 +29.8 -2.5 -63.1 -26.8] | -62.9 | -0.2 | True 02.9 [ +9.9 +47.0 +29.4 -2.5 -63.1 -26.8] | -62.9 | -0.2 | True 03.2 [ +10.1 +51.2 +26.1 -2.5 -63.0 -26.8] | -62.9 | -0.1 | True 03.5 [ +10.6 +54.7 +23.2 -2.5 -62.4 -26.8] | -62.9 | +0.6 | True 03.8 [ +10.7 +57.4 +20.8 -2.6 -61.9 -26.9] | -62.9 | +1.0 | True 03.9 [ +10.7 +58.0 +20.3 -2.5 -61.9 -26.8] | -62.8 | +1.0 | True 04.2 [ +10.7 +59.8 +19.1 -2.6 -61.6 -26.9] | -62.4 | +0.8 | True 04.4 [ +10.7 +59.6 +19.2 -2.6 -61.7 -26.9] | -62.4 | +0.7 | True -- 150950 入らなかった 閉じる指令 チャンク04 00.2 [ +0.8 +5.9 +4.6 -0.3 -6.9 -29.5] | -5.5 | -1.3 | True 00.5 [ +1.8 +11.9 +8.3 -1.1 -14.8 -28.4] | -13.8 | -1.0 | True 00.8 [ +3.2 +17.1 +12.1 -1.8 -21.4 -27.4] | -21.2 | -0.2 | True 00.9 [ +3.8 +18.6 +13.0 -1.9 -23.5 -27.2] | -23.5 | -0.0 | True 01.2 [ +5.1 +23.9 +16.6 -2.6 -31.3 -26.6] | -30.7 | -0.6 | True 01.5 [ +6.7 +29.8 +20.6 -2.8 -41.0 -26.5] | -40.7 | -0.3 | True 01.8 [ +7.8 +35.6 +24.6 -2.8 -50.3 -26.5] | -50.0 | -0.3 | True 01.9 [ +8.0 +36.7 +25.4 -2.7 -52.0 -26.4] | -52.1 | +0.1 | True 02.2 [ +8.9 +42.6 +29.1 -2.9 -60.2 -26.5] | -59.9 | -0.3 | True 02.5 [ +9.5 +45.6 +30.9 -2.8 -63.6 -26.5] | -64.3 | +0.7 | True 02.8 [ +9.3 +45.8 +30.6 -2.6 -63.2 -26.4] | -64.3 | +1.1 | True 02.9 [ +9.4 +45.7 +30.3 -2.6 -62.9 -26.4] | -63.9 | +1.0 | True 03.2 [ +9.5 +47.8 +28.9 -2.5 -63.5 -26.4] | -63.5 | +0.1 | True 03.5 [ +9.8 +51.6 +25.5 -2.5 -62.9 -26.5] | -63.5 | +0.6 | True 03.8 [ +9.8 +55.3 +22.3 -2.5 -62.1 -26.6] | -62.3 | +0.2 | True 03.9 [ +9.8 +56.0 +21.5 -2.5 -61.9 -26.6] | -62.3 | +0.4 | True 04.2 [ +9.9 +59.0 +19.4 -2.6 -61.6 -26.6] | -62.0 | +0.5 | True 04.4 [ +9.8 +59.0 +19.4 -2.6 -61.6 -26.6] | -62.0 | +0.3 | True